Hi all,

I'm trying to move my UR5 with the posbasedcontroller from urmoderndriver package. I set up everything in order to make my robot reach the desired position through MoveIt!. However, I have a problem in executing the trajectories I plan. If I plan a certain trajectory in order to make the robot avoid the obstacles, the execution starts but interpolates the planned trajectory, making it collide with the obstacles! The error message is the following in the rviz terminal:

ABORTED: Solution found but controller failed during execution

and in ur5moveitplanning_execution.launch terminal:

[ WARN] [1530629395.996768981]: Controller /pos_based_pos_traj_controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1530629395.996872138]: Controller handle /pos_based_pos_traj_controller reports status ABORTED
[ INFO] [1530629396.013969937]: Completed trajectory execution with status ABORTED ... 

I am using the roscontrol based approach. I noticed that there is a "servoj" parameter in the ur5ros_control.launch file that i can play with. For example I added the line:

<param name="servoj_lookahead_time" type="double" value="0.2" />

in order to make the robot reach the desired position without oscillations. And I tried to change that parameter and the gain parameter, but with negative results.

Does anyone have any suggestion? Thanks in advance for the help.

Ros version: kinetic ubuntu 16.04