UR5e + ROS + MoveIt real robot PROTECTIVE STOP

edit

Hi everyone,

I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver.

When I send some pose target to the robot through MoveIt, the robot starts well to reach this goal but then it starts some strange movements and then it stops to move, but without any collision. In the bringup log I see the message of PROTECTIVE STOP.

Do you know the motivation why this occurs?? And do you know any way to avoid this problem?

Thank you very much!! I would appreciate a lot your help!!!