Hi,

I'm trying to use Sawyer Robot to perform a simple pick and place operation using Gazebo. I'm using the Sawyer simulator and Intera packages provided by Rethink. Everything is installed and setup correctly.

Right now, I don't even have a cube, I just have a simple table spawned in front of it and I'm trying to test if it is able to go to all the points I'm assigning using end effector coordinates to the movegroup. I get this error: "ABORTED: Solution found but controller failed during execution". It does not have any other collision objects around it except for the table in front. It goes to the initial hover position and plunges in successfully, but then I see the aforementioned error. I see this on my Gazebo terminal:

[ERROR] [1565389479.334761, 694.528000]: /sawyer_joint_trajectory_action_server: Exceeded Error Threshold on right_j5: 0.200208911683 [ERROR] [1565389573.732108, 782.282000]: /sawyer_joint_trajectory_action_server: Exceeded Error Threshold on right_j3: -0.205340058591

However, on the contrary, Moveit terminal says:

``` [ INFO] [1565389577.638358346, 785.921000000]: RRTConnect: Starting planning with 1 states already in datastructure [ INFO] [1565389577.661307829, 785.941000000]: RRTConnect: Created 4 states (2 start + 2 goal) [ INFO] [1565389577.661343030, 785.941000000]: Solution found in 0.023122 seconds [ INFO] [1565389577.674926954, 785.958000000]: SimpleSetup: Path simplification took 0.013543 seconds and changed from 3 to 2 states [ INFO] [1565389578.420923250, 786.668000000]: Completed trajectory execution with status SUCCEEDED ...

```

No matter what coordinates I change, this happens. I suspect that there is a difference between the assigned joint angles and the executed joint angles in Gazebo and this is beyond the error threshold and is causing the controller to fail.

Am I on the right track? Is there a fix for this? Kindly help.

Many thanks!