goal tolerance
Hello, I am using Franka Panda Arm with MoveIt!. However, when running the robot arm, I encountered the error Controller position_joint_trajectory_controller failed with error GOAL_TOLERANCE_VIOLATED.
After searching on this forum and googling for solutions, I tried to change the values of goal_time, stopped_velocity_tolerance, and goal constraints as this post described.
However, as I tried to modify these values in the .yaml file containing "position_joint_trajectory_controller", the corresponding values in runtime do not change accordingly, resulting in the same error code. Therefore, I want to ask how to change the position_joint_trajectory_controller values before compiling. Thank you!
position_joint_trajectory_controller:
type: position_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0
panda_joint1: {goal: 0.1}
panda_joint2: {goal: 0.1}