Solution found but controller failed during execution gripper cmd

asked 2020-12-05 09:59:00 -0500

AleCasc95 gravatar image

updated 2022-04-30 13:31:09 -0500

lucasw gravatar image

I'm trying to simulate a pick and place task for my 6 DOFs robot (e.DO robot) but i'm encoutering some problems during grasp. Specifically, when valid grasps are calculated, they are passed within the MoveGroupInterface class pick function. At this point, the robot moves towards the object, but once in the pre grasp position it locks and not forward to grab the object.When the robot reaches the pre-grasp position, in the moveit terminal i have the follwing error: "Solution found but controller failed during execution gripper cmd". So the grasp movement is planned, but during execution the robot locks in the pre-grasp position. So the last error in the moveit terminal is: "Completed trajectory execution with status ABORTED".

I'm using the position_controllers/JointTrajecoryController for the arm and position_controllers/GripperActionCommand for the finger gripper for gazebo. Are there any particular parameters to set inside the gripper controller?

I will really appreciate any help to fix this.

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