Solution found but controller failed during execution

edit

Hello
This problem has been asked several times before, but I could not find a solution.

I am sending Execute (-60) and Execute(+60) orders to robotic arm.
The robot arm works for 3 hours and there is no problem. After 3 hours, I encounter the error in the picture.

By the way, I know my orders are outside the limits of the joint. Even if the orders are within the limits of the joint, I am encountering this error.



Invalid Trajectory: start point deviates from current robot state more than 0.01 joint 'j1': expected: 0.523559, current: -0.52352

Move2Angles3Plan();

MoveItErrorCode KRVizMoveGroupSystem::Move2Angles3Plan( string from, Plan& plan, std::map<std::string, double> goals, double velScale, double accScale )
{
    std::stringstream ss;
    ss << "tool:" << from << "::";
    for ( int data = 0; data < JOINT_COUNT; data++ )
        ss << JOINT_NAMES[data] << ":" << goals[JOINT_NAMES[data]] * rad2deg << "|";
    LOG_INFO( ss.str() );

    kPyGlobals.move_group_end->setMaxVelocityScalingFactor( velScale );
    kPyGlobals.move_group_end->setMaxAccelerationScalingFactor( accScale );
    kPyGlobals.move_group_end->setJointValueTarget( goals );
    WaitForReady();
    kPyGlobals.move_group_end->plan( plan );

    MoveItErrorCode status = Execute( plan );
    //
    if ( !waitForDeadBand( plan ) )
        return MoveItErrorCode::FAILURE;
    return status;
}

Controller;

# RVIZ -> GAZEBO/HARDWARE : JOINT EMIRLERI
rviz_to_controller_cmd:
    #publish_rate: 500
    type: position_controllers/JointTrajectoryController
    joints:
        - j1
        - j2
        - j3
        - j4
        - j5
        - j6
    stop_trajectory_duration: 0.25
    state_publish_rate:  500
    action_monitor_rate: 10

#SPACE MOUSE > GAZEBO/CONTROLLER : JOINT EMIRLERI
sm_to_controller_cmd:
    #publish_rate: 500
    type: position_controllers/JointGroupPositionController
    joints:
        - j1
        - j2
        - j3
        - j4
        - j5
        - j6

    #pid: { p: 100, i: 0, d: 0 }

# GAZEBO/CONTROLLER -> RVIZ : JOINT ACILARI
controller_joint_states:
    type: joint_state_controller/JointStateController
    publish_rate: 500

controller_list:
  - name: rviz_to_controller_cmd
    action_ns: "follow_joint_trajectory"
    type: FollowJointTrajectory
    default: true
    joints:
      - j1
      - j2
      - j3
      - j4
      - j5
      - j6