ABORTED: Solution found but controller failed during execution
Hello everyone,
I am working on a UR5e robot with a Robotiq 2f 85 gripper directly attached. After doing the interpolation of the posiiton of some objects, I send this positions to MoveIt to get directly the Inverse Kinematics of the desired position and orientation of the end-effector depending on the object detected. But when I send the Pose goal to the robot he giveme this error:
ABORTED: Solution found but controller failed during execution.
...and starts to make strange and dangerous movements that can collide with other objects around. I tried various planners as RRTConnect, PRM or TRRT but no one worked. I tried also Kinematic solvers as KDL and Trac-IK but always gave me the problem.
This is the Summary when I bringup the robot:
SUMMARY
========
PARAMETERS
* /controller_stopper/consistent_controllers: ['joint_state_con...
* /force_torque_sensor_controller/publish_rate: 500
* /force_torque_sensor_controller/type: force_torque_sens...
* /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
* /forward_cartesian_traj_controller/type: pass_through_cont...
* /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
* /forward_joint_traj_controller/type: pass_through_cont...
* /hardware_control_loop/loop_hz: 500
* /joint_based_cartesian_traj_controller/base: base
* /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
* /joint_based_cartesian_traj_controller/tip: tool0
* /joint_based_cartesian_traj_controller/type: position_controll...
* /joint_group_vel_controller/joints: ['shoulder_pan_jo...
* /joint_group_vel_controller/type: velocity_controll...
* /joint_state_controller/publish_rate: 500
* /joint_state_controller/type: joint_state_contr...
* /pos_joint_traj_controller/action_monitor_rate: 20
* /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
* /pos_joint_traj_controller/constraints/goal_time: 0.6
* /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
* /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
* /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
* /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
* /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
* /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
* /pos_joint_traj_controller/state_publish_rate: 500
* /pos_joint_traj_controller/stop_trajectory_duration: 0.5
* /pos_joint_traj_controller/type: position_controll...
* /pose_based_cartesian_traj_controller/base: base
* /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
* /pose_based_cartesian_traj_controller/tip: tool0_controller
* /pose_based_cartesian_traj_controller/type: pose_controllers/...
* /robot_description: <?xml version="1....
* /robot_status_controller/handle_name: industrial_robot_...
* /robot_status_controller/publish_rate: 10
* /robot_status_controller/type: industrial_robot_...
* /rosdistro: melodic
* /rosversion: 1.14.12
* /scaled_pos_joint_traj_controller/action_monitor_rate: 20
* /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
* /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
* /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
* /scaled_pos_joint_traj_controller/state_publish_rate: 500
* /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
* /scaled_pos_joint_traj_controller/type: position_controll...
* /scaled_vel_joint_traj_controller/action_monitor_rate: 20
* /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
* /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
* /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
* /scaled_vel_joint_traj_controller/gains/elbow_joint/i ...
Double post of https://github.com/UniversalRobots/Un...
I see 3 different execution attempts in your output:
goaltopic to investigate) and then where that invalid goal comes from.Regarding the :dangerous motions": Did you create your own MoveIt! config containing your extended robot (with the gripper) and your environments? If the environment objects aren't known to MoveIt! there's not much it can do to prevent collisions with them.
Yes this was the issue for the “dangerous motions” problem. To solve it I had to create my own MoveIt config and then add on the planning scene the objects around the robot. For the invalid goal the problem was probably because I was using the default UR5e moveIt config in robot with a gripper so the target pose was wrong. I am not sure, for the bringup of a UR5e is better to set the limited flag to True? Now I fixed all this problems but a new problem occurs, and seems very complicated. Can you please have a look to this one? https://answers.ros.org/question/4030...