MoveIt & Ros-Control, path execution aborted

asked 2017-01-15 15:15:41 -0600

k29 gravatar image

updated 2017-01-16 00:45:42 -0600


I am using Moveit with Ros-Control for doing path planning on a custom robotic arm.

For Ros Control, ros-control-boileplate is being used, and read write with actuator is being done on serial. Moveit/Rviz plans the necessary path for the required goal position, however after pressing execute following error occurs:

 [ WARN] [1484402519.787975773]: Controller xyz/position_trajectory_controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1484402519.788105613]: Controller xyz/position_trajectory_controller reports status ABORTED
[ INFO] [1484402519.936339345]: ABORTED: Solution found but controller failed during execution

I am executing, robot_moveit_config -> demo.launch, and robot_hardware.launch from ros_control_boilerplate

I tried playing with goal and path parameters of the joint trajectory controller through the .yaml file, however the same error continued.

Please let me know, if anyone can offer insight on this. Thanks

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