Robotic arm in Rviz is able to execute predefined positions but not random

asked 2019-04-26 08:49:41 -0500

kump gravatar image

updated 2019-05-02 07:07:51 -0500

I have a robot integrated with MoveIt! that you can find in this repository. When I launch it the way it is described in the Control with Rviz section of the in the repository, in Rviz 'Planning' tab of the MotionPlanning Display, I can set the goal state to any predefined pose (predefined in the MoveIt Setup Assistant, saved in the robots.srdf file) and the the robot is able to plan and execute the trajectory.

However, when I set the goal position to random (and the random position is valid) and click 'Plan and Execute', the robotic arm does not move, the planning command buttons for 'Plan and Execute' and 'Execute' become inactive and I get an error:

[ERROR] [1556285238.937765458, 2694.755000000]: Planning pipeline threw an exception: Duration is out of dual 32-bit range
terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range
[move_group-1] process has died [pid 1842, exit code -6, cmd /home/linux/catkin_ws/devel/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/linux/.ros/log/b7a4c02e-6820-11e9-a7f6-b8ca3aa30f44/move_group-1.log].
log file: /home/linux/.ros/log/b7a4c02e-6820-11e9-a7f6-b8ca3aa30f44/move_group-1*.log

What could be wrong and how to fix this?

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Did you try move_group.launch?

pmuthu2s gravatar image pmuthu2s  ( 2019-04-29 09:49:39 -0500 )edit

@pmuthu2s that is part of my launching file, yes.

kump gravatar image kump  ( 2019-04-30 10:02:05 -0500 )edit

Hey, I tried working with your repo, can you give some more details on which URDF file you used to configure moveit? So that it would be easier for me to debug!

pmuthu2s gravatar image pmuthu2s  ( 2019-04-30 15:21:05 -0500 )edit

@pmuthu2s The robotic_arm_description/urdf/robotic_arm_simulator.xacro is the file that includes all parts of the robotic arm. It is the file that I use as the robotic arm decription for simulation and MoveIt! Setup Assistant.

kump gravatar image kump  ( 2019-05-02 02:04:22 -0500 )edit