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Moveit tutorial cartesian path error, missing valid timestamp data?

asked 2019-05-03 03:38:27 -0500

nd gravatar image

updated 2019-05-06 07:40:54 -0500

Hello,

I am following tutorial for Cartesian path using move_group c++ interface. But I am getting error when I send this trajectory to motoman robot.

[ERROR] [1556871367.163994139]: Validation failed: Missing valid timestamp data for trajectory pt 1
[ERROR] [1556871371.219235895]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.056057 seconds). Stopping trajectory

source code I am executing is,

      static const std::string PLANNING_GROUP = "arm";

   // The :move_group_interface:`MoveGroup` class can be easily
   // setup using just the name of the planning group you would like to control and plan for.
      moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);

   // We will use the :planning_scene_interface:`PlanningSceneInterface`
   // class to add and remove collision objects in our "virtual world" scene
      moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

   // Raw pointers are frequently used to refer to the planning group for improved performance.
      const robot_state::JointModelGroup* joint_model_group = move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
      geometry_msgs::Pose target_pose2 = move_group.getCurrentPose().pose;

      std::vector<geometry_msgs::Pose> waypoints;
      waypoints.push_back(target_pose2);
      //geometry_msgs::Pose target_pose3 = target_pose2;
      target_pose2.position.z -= 0.4;
      waypoints.push_back(target_pose2);

      target_pose2.position.x += 0.4;
      waypoints.push_back(target_pose2);

      move_group.setMaxVelocityScalingFactor(0.1);


      moveit_msgs::RobotTrajectory trajectory;
      const double jump_thresold = 0.0;
      const double eef_step = 0.01;
      move_group.computeCartesianPath(waypoints, eef_step, jump_thresold, trajectory);
      moveit::planning_interface::MoveGroupInterface::Plan my_plan1;
      my_plan1.trajectory_ = trajectory;
      move_group.execute(my_plan1);

How can I solve this?

thanks.

...................................................................................................

[ERROR] [1557146297.748611305] [/motion_streaming_interface] [ros.motoman_driver]: Validation failed: Missing valid timestamp data for trajectory pt 1
[ERROR] [1557146299.550803668] [/move_group] [ros.moveit_ros_planning.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 1.804171 seconds). Stopping trajectory.
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Comments

Not an answer but an observation: you may want to change your ROS logging configuration to include the name of the node and/or the logger so that you can more easily determine where certain log lines are coming from.

Example:

ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}] [${logger}]: ${message}'

The "validation failed" line is most likely coming from motoman_driver.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-03 04:16:44 -0500 )edit

what can be possible answer? is there any mistake in code? robot is moving in rviz but not in real.

nd gravatar image nd  ( 2019-05-03 04:59:16 -0500 )edit

Please update the error lines with the updated rosconsole format config first.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-03 07:54:51 -0500 )edit

sorry but I could not figured out how to update that list.

but when I set first target pose1 and then using cartesian path from that pose(target pose1) to new target pose2 then It is working. but directly getting pose from move_group.getCurrentPose().pose is not working on real robot.

nd gravatar image nd  ( 2019-05-06 05:02:10 -0500 )edit

sorry but I could not figured out how to update that list.

add the line I showed you to your $HOME/.bashrc (prefix it with export), start a new terminal and rerun your code.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-06 06:58:20 -0500 )edit

updated...

nd gravatar image nd  ( 2019-05-06 07:41:13 -0500 )edit

Can you read out the trajectory.joint_trajectory.points[point number].time_from_start.toSec(). For every point of the trajectory will be check for a time_from_start that is not 0.ONLY THE FIRST POINT OF THE TRAJECTORY HAS A TIME_FROM_START OF 0. If the second point has a time value of 0, that means the robot does not need to move from points.

Kluun gravatar image Kluun  ( 2019-05-15 08:12:02 -0500 )edit

I am facing same issue when using KDL with cartesian paths, I dont know how this can be tackled down, computeCartesianPath() takes vector<geometryPose> which indeed lacks the header and leading this error

Fetullah Atas gravatar image Fetullah Atas  ( 2020-08-14 02:50:56 -0500 )edit

1 Answer

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answered 2021-04-29 11:07:13 -0500

luowei gravatar image

hello, i am face the same problem in the use real robot of staubli tx90 ,after reference the comment above i solve my issue.(i am a chinese,and my english is not well) my issue as follow: this ERROR is from link text it has follow code in line 359-360 :

  1. if ((i > 0) && (pt.time_from_start.toSec() == 0))
  2. ROS_ERROR_RETURN(false, "Validation failed: Missing valid timestamp data for trajectory pt %d", i);

the i is the number of point of this trajectory which was generate by compute_cartesian_path(),so i remove the current position point from waypoints,then add the other points to waypoints,and adjust eef_step to make secs and nsecs starting with the second point in the trajectory points is not 0 ,the output of trajectory will like follow:


points:

- 
  positions: [2.108776330947876, -1.9812618494033813, 1.9390465021133423, -0.5018525719642639, 0.5606833696365356, -3.183285713195801]
  velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  accelerations: [0.8235095563086486, 0.0, 0.0, 0.0, 0.0, 0.0]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:         0
- 
  positions: [2.1089364101262262, -1.9812590654326576, 1.9389832311590194, -0.5019567354049222, 0.5607331482680914, -3.183351569435987]
  velocities: [0.014828695025699192, 0.00025848478191981743, -0.005865001402171719, -0.009645346020956728, 0.004613587043633859, -0.0061049437144617275]
  accelerations: [0.9886697575487532, 0.01728195425169232, -0.3913577021689268, -0.6427849328498018, 0.307795562008559, -0.40739227930748345]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  19717330
- 
  positions: [2.109096447290984, -1.9812562733384256, 1.9389199174983955, -0.5020608168453513, 0.5607829497680554, -3.1834174745134054]
  velocities: [0.014547021024027582, 0.00025392540918097015, -0.00575598233144198, -0.00945979402778211, 0.004527334312262674, -0.0059918148431933145]
  accelerations: [-0.9775614481946764, -0.017036846470972623, 0.38661387642784256, 0.6359013889656868, -0.30413611428222415, 0.40240419108740666]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  27147549
- 
  positions: [2.109256457452625, -1.981253476197224, 1.9388565758948926, -0.5021648393599629, 0.5608327635832869, -3.183483418893228]
  velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  accelerations: [-0.7134973773185114, -0.012472663553533377, 0.2824449866871931, 0.4638442371177143, -0.22212355863775582, 0.2940509625747436]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:  48325922
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This solution worked for ABB IRB120 robot. Thank you.

RROS_Rohit gravatar image RROS_Rohit  ( 2022-06-09 01:03:58 -0500 )edit

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Asked: 2019-05-03 03:38:27 -0500

Seen: 512 times

Last updated: May 06 '19