I am trying to learn of to do path planning with RVIZ+MoveIt for a UR5 arm. For now I'm trying to simulate only. I use Gazebo4, RVIZ+MoveIt and universal_robot packages that I built from source for ROS Indigo.
I run these 3 command in 3 different terminal, as written in the universal_robot's README :
roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
I have several issues and I don't really now what is the origin. I tried to do path planning from RVIZ, on a simple path from home to up position and from up to home. Sometimes I have "Failed" message in the GUI, sometimes it works. But most of the time it didn't. I struggle to find proper documentation to use the motion planning panel
I have the following error messages
Terminal #2 :
[ WARN] [1430368642.447147735, 185.001000000]: Controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1430368642.447324161, 185.001000000]: Controller handle reports status ABORTED
Terminal #3:
[ WARN] [1430368548.820347974, 107.047000000]: Fail: ABORTED: Motion plan was found but it seems to be invalid (possibly due to postprocessing). Not executing.
If I use the Moveit command-line commander
rosrun moveit_commander moveit_commander_cmdline.py
And try to "go goal" with goal from "rec c" then modifiy joint angles. Sometimes it works, but I still have this bug sometimes :
manipulator> go goal
[ INFO] [1430370662.457107039, 2110.983000000]: ABORTED: Solution found but controller failed during execution
Failed while moving to goal
I run it in VirtualBox and I can have 8 FPS in RVIZ.
EDIT : I notice than even if I ask for simple joint movement
group.set_joint_value_target([1.5, 0, 1.5, 0, 0, 0])
group.go()
I have the error
[ WARN] [1430368642.447147735, 185.001000000]: Controller failed with error code PATH_TOLERANCE_VIOLATED
Originally posted by Arowana on ROS Answers with karma: 381 on 2015-04-30
Post score: 2
Original comments
Comment by 130s on 2015-04-30:
Are you using the pkg from apt-get, or github? If you were the one who created the moveit_config package you're using, I would say you just have to create controller configs (see this.
Comment by Arowana on 2015-04-30:
from apt-get for all of them except universal_robot packages, I build it from indigo branch of the git repo,
The arm move most of the time, it means that the controller is configured.
I have the errors messages but not always.
Moreover I don't have any message related to wrong controller config.