[MoveIt/Gazebo] Error Controller uvbot_v1/arm_controller failed with error code GOAL_TOLERANCE_VIOLATED

asked 2018-08-24 01:59:40 -0600

Robo_Panda gravatar image

When Executing path on Rviz I get failed error with the following warnings in the terminal. How do i change the tolerance? I have changed the goal tolerance margin in Rviz gui but then also i get the same error. Do i need to change the mass value or friction and damping value in th URDF?

[ WARN] [1535093077.556047667, 156.816000000]: Controller uvbot_v1/arm_controller failed with error code GOAL_TOLERANCE_VIOLATED
[ WARN] [1535093077.556170194, 156.816000000]: Controller handle uvbot_v1/arm_controller reports status ABORTED
[ INFO] [1535093077.632925092, 156.884000000]: Completed trajectory execution with status ABORTED ...
[ INFO] [1535093077.722510041, 156.968000000]: ABORTED: Solution found but controller failed during execution
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Additional Info: On doing rostopic echo /uvbot_v1/arm_controller/follow_joint_trajectory/goal I am getting blank path and goal tolerances path_tolerance: [] goal_tolerance: [] goal_time_tolerance: secs: 0 nsecs: 0

Robo_Panda gravatar imageRobo_Panda ( 2018-08-24 02:16:32 -0600 )edit

@Robo_Panda were you able to find a fix for this ? Im experiencing the same issue. Any help would be appreciated.

akcast gravatar imageakcast ( 2018-11-26 06:34:29 -0600 )edit

You will need to edit the controllers.yaml for the gazebo controller. I made changes to the constraints goals, it works when the goal tolerance is 0. Please refer to here

tanyouliang gravatar imagetanyouliang ( 2019-10-16 00:44:05 -0600 )edit