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Motion planning from moveIt to robot studio..execution time problem

asked 2017-02-23 14:20:20 -0600

Muneeb gravatar image

updated 2017-02-23 14:46:12 -0600

gvdhoorn gravatar image

Working on IRB2400 robot and ROS_Industrial abb-indigo package

I have successfully planned the motion in moveit and simulate it on robot studio but the motion in robot studio is very slow and taking too much time , because of this problem the robot at the Robot Studio side is not ablle to complete the planned trajectory ..i am getting the following error on linux side.. PLease help me, how to takle this problem: Thanks!

[ERROR] [1487880741.130427078]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 5.791247 seconds). Stopping trajectory.
[ INFO] [1487880741.130543359]: MoveitSimpleControllerManager: Cancelling execution for 
[ INFO] [1487880741.130783310]: Execution completed: TIMED_OUT
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answered 2017-02-23 14:50:56 -0600

gvdhoorn gravatar image

You're running into the MoveIt Trajectory Execution Manager stepping in and aborting the trajectory execution because of a violation of the timing constraints.

See #q196586 for a related question and answer.

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I did changes as mentioned in #q196586 but that didn't work for me. Then i increased the value of "allowed_goal_duration_margin" from 0.5 to 3 in "trajectory_execution.launch.xml" : after that it works fine for me

Muneeb gravatar image Muneeb  ( 2017-02-24 12:04:34 -0600 )edit

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Asked: 2017-02-23 14:20:20 -0600

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Last updated: Feb 23 '17