Plan execution problems on using Rviz to navigate the blueRov heavy

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We try to use moveit and Rviz to control our blueRov so that the robot can move by the trajectories generated by the Rviz GUI. However, the problem is coming out.

Problem: The plan trajectories can be successfully set by Rviz GUI (we use mode GUIDED) and Move Group Python Interface, but the plan execution of the blueRov failed. Specifically, the blueRov can move a little, but it will get back to its original position.

Here are our experimental results. Rov moving by using moveit. link text

The first one is the plan trajectories in the Rviz. The second one is the moving of the BlueRov2 heavy.

The ROV doesn’t follow the commander in Rviz. So, what I can do to fix this problem?

Thanks all for any help.