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GOAL_TOLERANCE_VIOLATED ros trajectory control

i have an in house parallel delta robot im controller with the jointtrajectorycontroller.

I wrote an action client with a action done callback registered to know when the trajectory has terminated. Unfortunately, every trajectory i execute is returning errorcode: -5 (GOALTOLERANCE_VIOLATED),

To be sure, i tried setting the goal tolerances for the action AND the joints to a exteremely high number (5000000.0), thinking that there is no way it would fail.. but it does, each time.

What can possibly be the cause of this ?

Asked by JadTawil on 2019-01-26 19:10:36 UTC

Comments

Not an answer, but: this is the only place where GOAL_TOLERANCE_VIOLATED occurs in the ..

Asked by gvdhoorn on 2019-01-27 04:48:09 UTC

.. sources of joint_trajectory_controller. I don't know why it fails for you, but I would check what happens / is that state of your system when the code reaches that point.

Asked by gvdhoorn on 2019-01-27 04:48:43 UTC

Also: you might want to include some examples of goals that you're sending the controller.

Right now your question is rather vague (in the details I mean).

Asked by gvdhoorn on 2019-01-27 04:49:59 UTC

Answers