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[Moveit/Gazebo] Controller failed with error code GOAL_TOLERANCE_VIOLATED

asked 2017-10-05 03:49:43 -0500

Fiddle gravatar image

Hi, I am trying to connect robot simulated in Gazebo to Moveit. Now, the controllers are connected, and I can plan a path to new position, but when I try to execute it I get a message that says

[ INFO] [1507192012.340879633, 58.846000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1507192012.340990598, 58.846000000]: Starting state is just outside bounds (joint 'joint2'). Assuming within bounds.
[ INFO] [1507192012.341003464, 58.846000000]: Starting state is just outside bounds (joint 'joint4'). Assuming within bounds.
[ INFO] [1507192012.341313537, 58.846000000]: Planner configuration 'kuka' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1507192012.341597193, 58.846000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.341756257, 58.846000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.342560344, 58.847000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.342642863, 58.847000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.353487056, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.353923877, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.354079380, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.358001607, 58.861000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1507192012.358222673, 58.861000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.016743 seconds
[ INFO] [1507192012.358406268, 58.861000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.358705754, 58.862000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.359034194, 58.862000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.359382341, 58.862000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.359898198, 58.863000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.360337949, 58.863000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.360951677, 58.864000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.362140260, 58.865000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.362277038, 58.865000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.003942 seconds
[ INFO] [1507192012.362589475, 58.866000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.362900075, 58.866000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.363273005, 58.866000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.364108091, 58.867000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.364281877, 58.867000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.001912 seconds
[ INFO] [1507192012.365300323, 58.868000000]: SimpleSetup: Path simplification took 0.000936 seconds and changed from 3 to 17 states
[ INFO] [1507192012.365906995, 58.869000000]: Planning adapters have added states at index positions: [ 0 ]
[ INFO] [1507192012.886224556, 59.389000000]: Execution request received for ExecuteTrajectory action.
[ WARN] [1507192015.295975945, 61.796000000]: Controller kuka_kr3/joint_trajectory_controller/ failed with error code GOAL_TOLERANCE_VIOLATED
[ WARN] [1507192015.296218437, 61.796000000]: Controller handle kuka_kr3/joint_trajectory_controller ...
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answered 2017-10-05 04:00:18 -0500

Sounds like the setup of your JointTrajectoryController for Gazebo has too narrow tolerances and/or the PID values for the arm do not allow it to reach the goal position within the specified tolerances. See the parameters description here for a description of parameters for the controller.

A example Gazebo ros control setup for another arm is this one: default_controllers.yaml. Yours should look somewhat similar.

Does the arm move at all?

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I've changed some of the PID values, but the problem remains, do I need to find the right values? Does the controller prevent the robot from high overshoot or oscillations on joints? The arm still won't move an inch.

Fiddle gravatar image Fiddle  ( 2017-10-05 04:43:47 -0500 )edit

But it also does not collapse? Can you control it using http://wiki.ros.org/rqt_joint_traject... ?

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2017-10-05 05:47:01 -0500 )edit

The robot collapses when spawned into Gazebo. Do I run rqt_joint_trajectory using roslaunch?

Fiddle gravatar image Fiddle  ( 2017-10-05 06:21:29 -0500 )edit

Ok, in that case something is very wrong with your controllers, possibly not PIDs set at all? You can run it using rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2017-10-05 07:01:18 -0500 )edit

When I run rqt_joint_trajectory_controller I get this error message: https://imgur.com/a/7QXTa

Fiddle gravatar image Fiddle  ( 2017-10-05 07:21:52 -0500 )edit

Did you install it properly (e.g. sudo apt-get install ros-indigo-rqt-joint-trajectory-controller)? As long as your robot collapses instantly, you don't really have to care about the UI anyways :)

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2017-10-05 07:27:53 -0500 )edit

Ok, so even though those errors are still present I managed to turn the rqt_joint_trajectory_controller , when I try to start it with a button i get this error message: https://imgur.com/a/VEM2D

Fiddle gravatar image Fiddle  ( 2017-10-05 08:14:24 -0500 )edit

Shooting in the dark here, but my guess is the joint might not be setup in the URDF correctly and max_vel is 0.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2017-10-05 08:22:13 -0500 )edit

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Asked: 2017-10-05 03:49:43 -0500

Seen: 3,106 times

Last updated: Oct 05 '17