Very close to a singularity, emergency stop - MoveIt servoing

asked 2022-12-05 20:10:41 -0500

akumar3.1428 gravatar image

## Background I am trying to mimic the MoveIt Servoing Tutorial


I am following the tutorial command

1. roslaunch ur_gazebo ur5.launch 2. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true 3. roslaunch ur5_moveit_config moveit_rviz.launch config:=true 4.rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller'] stop_controllers: ['arm_controller'] strictness: 0 start_asap: false timeout: 0.0" 5. roslaunch moveit_servo spacenav_cpp.launch 6. rostopic pub -r 100 -s /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto twist: linear: x: 0.0 y: 0.01 z: -0.01 angular: x: 0.0 y: 0.0 z: 0.0"

Sometimes the robot move, however many times it gives out the following error, I also tried moving it using rviz to avoid singularity.

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