Real UR5 doesn't stop moving when it should

edit

In gazebo the giving the ur5 coordinate goals is working perfectly. However, with the real ur5 there are some existing disparities with its movements.

Here are my start up commands:

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOTIP [reverse_port:=REVERSE_PORT]
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true

I am using the TracIK plugin for my kinematics solver. The following code is how i define the ur5 to move 0.1 meters in the y direction.

pose_goal = geometry_msgs.msg.Pose()
pose_goal.position.x = group.get_current_pose().pose.position.x;
pose_goal.position.y = group.get_current_pose().pose.position.y + 0.1;
pose_goal.position.z = group.get_current_pose().pose.position.z;
pose_goal.orientation.x = group.get_current_pose().pose.orientation.x;
pose_goal.orientation.y = group.get_current_pose().pose.orientation.y;
pose_goal.orientation.z = group.get_current_pose().pose.orientation.z;
pose_goal.orientation.w = group.get_current_pose().pose.orientation.w;
group.set_pose_target(pose_goal)

The ur5 is moving in the correct direction every time, but there's quite a lot of inaccuracy in its expected and actual end-effector positions after stopping, the largest of which I've seen is an actual y coordinate of 0.43 versus an expected y coordinate of 0.508. The disparity between the actual and expected coordinates is not the same every time.

Can someone point me in the right direction of where I should be looking to fix this issue? Please let me know if I need to post more information.

Edit - now with full planning execution log after switching to UniversalRobots/Universal_Robots_ROS_Driver:

    shu@sewts-ideapad-002:/opt/ros/kinetic/share/ur5_moveit_config/config$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
... logging to /home/shu/.ros/log/0c4ff900-0c7b-11ea-abbf-98fa9b14f60a/roslaunch-sewts-ideapad-002-28607.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sewts-ideapad-002:43151/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type ...