Sawyer Robot MoveGroup Error

asked 2019-08-09 17:46:47 -0600

Prasanth Suresh gravatar image

updated 2019-08-09 17:53:12 -0600


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:

However, on the contrary, Moveit terminal says:

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!

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