Trajectory time exceeded and current robot state not at goal, last point required [closed]

asked 2017-01-06 07:58:47 -0600

Lileping gravatar image

updated 2017-01-06 07:59:52 -0600

When I used ur_driver and MoveIt to control real UR5, the UR5 can move but can't reach to the goal pose.In the ur_bringup terminal ,an [WARN] occurred

[2016-12-29 22:35:28.417916] on_goal

[WARN] [WallTime: 1483022131.205065] Trajectory time exceeded and current robot state not at goal, last point required [WARN] [WallTime: 1483022131.205451] Current trajectory time: 2.78684282303, last point time: 2.779444779

Desired: [0.42070332844406366, -0.5392611878419296, 1.2213945445207879, -0.014400772983208299, -0.02953762591350824, 0.020142455794848496]

actual: [0.40468594431877136, -0.7387240568744105, 1.479959487915039, -0.6717637220965784, 0.7213889360427856, -0.06885129610170537]

velocity: [0.013294500298798084, 0.14815698564052582, -0.19076329469680786, 0.4873025715351105, -0.5491651296615601, 0.056661415845155716]

[2016-12-29 22:35:31.724464] Out: Braking

After running the ur5_bringup.launch , my move_group.launch(generated by moveit_setup_assistant),and the moveit_ik_demo.py,The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't reach to the desired pose. The warning is "Trajectory time exceeded and current robot state not at goal, last point required". I do not know how to set trajectory time.I also don't know the reason that caused the problem.

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by NEngelhard
close date 2017-01-06 08:14:22.206071

Comments

NEngelhard gravatar image NEngelhard  ( 2017-01-06 08:14:16 -0600 )edit