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pos_based_controller fails in execution

asked 2018-07-03 10:05:01 -0500

enrico gravatar image

Hi all,

I'm trying to move my UR5 with the pos_based_controller from ur_modern_driver 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 ur5_moveit_planning_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 ros_control based approach. I noticed that there is a "servoj" parameter in the ur5_ros_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

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answered 2018-10-11 15:56:04 -0500

enrico gravatar image

It ended up I had to adjust the values of parameters until I got better results. In particular, im my case, good values of [servoj_gain] and [servoj_lookahead_time] are respectively [800] and [0.07]

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Asked: 2018-07-03 10:05:01 -0500

Seen: 467 times

Last updated: Oct 11 '18