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2019-09-11 02:50:42 -0500	received badge	● Famous Question (source)
2017-06-25 15:42:02 -0500	received badge	● Notable Question (source)
2017-05-30 10:33:46 -0500	received badge	● Nice Question (source)
2017-05-21 02:18:44 -0500	received badge	● Popular Question (source)
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2017-01-29 19:55:34 -0500	received badge	● Notable Question (source)
2017-01-06 07:58:47 -0500	asked a question	Trajectory time exceeded and current robot state not at goal, last point required When I used ur_driver and MoveIt to control real UR5, the UR5 can move but can't reach to the goal pose.In the ur_bringup terminal ,an [WARN] occurred [2016-12-29 22:35:28.417916] on_goal [WARN] [WallTime: 1483022131.205065] Trajectory time exceeded and current robot state not at goal, last point required [WARN] [WallTime: 1483022131.205451] Current trajectory time: 2.78684282303, last point time: 2.779444779 Desired: [0.42070332844406366, -0.5392611878419296, 1.2213945445207879, -0.014400772983208299, -0.02953762591350824, 0.020142455794848496] actual: [0.40468594431877136, -0.7387240568744105, 1.479959487915039, -0.6717637220965784, 0.7213889360427856, -0.06885129610170537] velocity: [0.013294500298798084, 0.14815698564052582, -0.19076329469680786, 0.4873025715351105, -0.5491651296615601, 0.056661415845155716] [2016-12-29 22:35:31.724464] Out: Braking After running the ur5_bringup.launch , my move_group.launch(generated by moveit_setup_assistant),and the moveit_ik_demo.py,The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't reach to the desired pose. The warning is "Trajectory time exceeded and current robot state not at goal, last point required". I do not know how to set trajectory time.I also don't know the reason that caused the problem.
2017-01-06 00:15:47 -0500	received badge	● Notable Question (source)
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2017-01-05 20:43:01 -0500	commented question	Using universal_robot pkg and moveIt to control real UR5 robot.UR5 can move but can't move to the desired pose.It saied "time exceeded and current robot state not at goal, last point required" Yes, the teach pendant had a maximal speed limit.But when I use ur_bringup.launch,The teaching box does not work well.
2017-01-05 03:15:23 -0500	commented answer	can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant] Thank you very much. You are right. The nesting catkin workspace is uncommon. I rebuild my catkin workspace and now moveit works well. Thanks a lot
2017-01-04 19:04:31 -0500	received badge	● Popular Question (source)
2017-01-04 06:29:36 -0500	asked a question	can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant] Because the moveit is updated recently.So I use "sudo apt-get remove ros-indigo-moveit" to remove moveit.And then I used "sudo apt-get install ros-indigo-moveit" to reinstall moveit.It can be found in http://moveit.ros.org/install/ . After that I open a new terminal. I can rospack find moveit_setup_assistant in opt/ros/indigo/share. But when I run “roslaunch moveit_setup_assistant setup_assistant.launch” It appeared error `ERROR: cannot launch node of type [moveit_setup_assistant/moveit_setup_assistant]: can't locate node [moveit_setup_assistant] in package [moveit_setup_assistant]` After I run "`source /opt/ros/indigo/setup.bash`" in the terminal.The moveit_setup_assistant works well. I must source /opt/ros/indigo/setup.bash can I use moveit_setup_assistant.However, after source /opt/...,I can't rospack find the packages in catkin_ws.So after source /opt/...When I run `move_group.launch`, It appeared error. `ERROR: cannot launch node of type [moveit_ros_move_group/move_group]: can't locate node [move_group] in package [moveit_ros_move_group]` I must source `~/catkin_ws/devel/setup.bash` can I use the packages in catkin_ws. However this way I can't use setup_assistant.launch The bottom lines of my ~/.bashrc file is `source /home/robot508/catkin_ws/catkin_industrial/devel/setup.bash source /home/robot508/catkin_ws/le_myself/devel/setup.bash source /home/robot508/catkin_ws/devel/setup.bash` When I add the source /opt/ros/indigo/setup.bash to the last line,It also can't work. How can I find the `moveit_setup_assistant.launch` and `move_group.launch` at the same time.
2017-01-03 20:18:01 -0500	received badge	● Famous Question (source)
2017-01-03 06:53:33 -0500	commented answer	Unable to locate package ros-indigo-moveit-full I agree with you
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2017-01-03 06:52:55 -0500	commented answer	Unable to locate package ros-indigo-moveit-full Thanks a lot.I will wait for it. I am hurry to use moveit to control real UR5.The universal robot pkg needs moveit_kinematics.
2017-01-03 04:50:25 -0500	received badge	● Notable Question (source)
2017-01-03 04:43:04 -0500	commented answer	Unable to locate package ros-indigo-moveit-full When I run "sudo apt-get install ros-indigo-moveit-"tab tab ,It didn't show ros-indigo-moveit-full, just appeared ros-indigo-moveit and others
2017-01-03 04:38:27 -0500	commented answer	Unable to locate package ros-indigo-moveit-full I have done "rosdep update and sudo apt-get update".as said here. And created an workspace named "ws_moveit".Then I can use move_group.launch But when I run a moveit_ik demo,it said "AttributeError: 'module' object has no attribute 'MoveGroupInterface'".
2017-01-03 03:24:05 -0500	received badge	● Student (source)
2017-01-03 03:23:22 -0500	received badge	● Popular Question (source)
2017-01-03 02:52:50 -0500	commented answer	Unable to locate package ros-indigo-moveit-full Thanks a lot .I haved tried sourced again. In ~/.bashrc file,the last line is "source /opt/ros/indigo/setup.bash". But I still can't use move_group.launch .and "sudo apt-get install ros-indigo-moveit-full", Unable to locate package ros-indigo-moveit-full.
2017-01-03 01:30:25 -0500	asked a question	Unable to locate package ros-indigo-moveit-full I want to use ros-planning/moveit pkg.Because it includes moveit_kinematics.But After I run "sudo apt-get remove ros-indigo-moveit-full",I can't use moveit.When I run "sudo apt-get install ros-indigo-moveit-full" again,It appeared "Unable to locate package ros-indigo-moveit-full" .
2016-12-30 07:34:46 -0500	received badge	● Popular Question (source)
2016-12-27 01:23:28 -0500	asked a question	Using universal_robot pkg and moveIt to control real UR5 robot.UR5 can move but can't move to the desired pose.It saied "time exceeded and current robot state not at goal, last point required" When I use Universal_robot pkg and moveIt to control real UR5. The UR5 can't move to the desired pose.It stopped at a pose which is belong to the trajectory.My steps of operation are as follows 1."roslaunch ur_bringup ur_bringup.launch robot_ip:=192.168.1.160"which appears the connection is correct."The action server for this driver has been started" 2.Launch my moveit config file"roslaunch ur5_moveit_config_myself move_group.launch".The config file is generated by moveit_setup_assistant.and I add controller.yaml and ur5_moveit_controller_manager.launch.xml 3."rosrun rviz rviz" 4."rosrun le_node moveit_ik_demo.py" The file moveit_ik_demo.py is shown below. After I run the moceit_ik_demo.py. The UR5 begins to move toward the desired pose.But it came to a sudden stop in the journey .and can't attach to the desired pose. In the first terminal(launching the ur_bringup.launch),it appead that "[WARN] [WallTime: 1482755354.085866] Trajectory time exceeded and current robot state not at goal, last point required [WARN] [WallTime: 1482755354.086135] Current trajectory time: 1.92857694626, last point time: 1.913815417 [WARN] [WallTime: 1482755354.086456] Desired: [1.5887987717921845, -0.0001816342668607831, 0.0009067557118833066, -0.0009527113572694361, -0.0007133560068905353, -4.268342442810536e-05] actual: [1.6035473346710205, -0.6335380713092249, 0.2663407325744629, -0.233499828969137, -0.04164582887758428, -0.24181014696230108] velocity: [-0.003962783608585596, 0.1539221853017807, -0.06261198222637177, 0.06792659312486649, 0.009731191210448742, 0.060160811990499496] [2016-12-26 20:29:15.983806] Out: Braking" Maybe the reason is the time of the trajectory is limited. and I tried many times with the same peogram (the desired pose is different).The trajectory time is no more than 3 seconds. But I don't konw how to modify the limit of trajectory time. The moveit_ik_demo.py is as follows import rospy, sys import moveit_commander from moveit_msgs.msg import RobotTrajectory from trajectory_msgs.msg import JointTrajectoryPoint from geometry_msgs.msg import PoseStamped, Pose from tf.transformations import euler_from_quaternion, quaternion_from_euler class MoveItDemo: def __init__(self): # Initialize the move_group API moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('moveit_demo') # Initialize the move group for the right arm right_arm = moveit_commander.MoveGroupCommander('right_arm') # Get the name of the end-effector link end_effector_link = right_arm.get_end_effector_link() # Set the reference frame for pose targets reference_frame = 'desk ' # Set the right arm reference frame accordingly right_arm.set_pose_reference_frame(reference_frame) # Allow replanning to increase the odds of a solution right_arm.allow_replanning(True) # Allow some leeway in position (meters) and orientation (radians) right_arm.set_goal_position_tolerance(0.01) right_arm.set_goal_orientation_tolerance(0.05) # Start the arm in the "resting" pose stored in the SRDF file right_arm.set_named_target('pose_2') right_arm.go() rospy.sleep(2) target_pose = PoseStamped() target_pose.header.frame_id = reference_frame target_pose.header.stamp = rospy.Time.now() target_pose.pose.position.x = 0.5 target_pose.pose.position.y = -0.5 target_pose.pose.position.z = 0.500 target_pose.pose.orientation.x = 0.0 target_pose.pose.orientation.y = 0.0 target_pose.pose.orientation.z = 0.0 target_pose.pose.orientation.w = -1.0 # Set the start state to the current state right_arm.set_start_state_to_current_state() # Set the goal pose of the end effector to the stored pose right_arm.set_pose_target(target_pose, end_effector_link) # Plan the trajectory to ... (more)