Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 1.639534 seconds). Stopping trajectory.

[nicholashojunhui]

Using ROS 1 Noetic Ninjemys, Raspberry Pi 3B+ for turtlebot3 with open manipulator-x

Commands or instructions that reproduce the issue:

1. Switched on TB3 (with OM) and activated Bringup
2. Ran Bringup node for OM on TB3 (on new terminal): $ roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
3. Ran move_group node: $ roslaunch turtlebot3_manipulation_moveit_config move_group.launch
4. Ran the below node: $ rosrun autonomous OM_DEMO.py OM_DEMO.py code can be found in the following link: https://github.com/nicholashojunhui/autonomous/blob/main/src/OM_DEMO.py

Error messages on terminal: "Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was XXXXX seconds). Stopping trajectory."

Issues Described in detail:

1. Unable to move the arm (as part of the Turtlebot3_Manipulation system) properly using "moveit_commander"
2. Keep encountering the following error message: "Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was XXXXX seconds). Stopping trajectory."
3. The 4 normal joints unable to move properly (i.e. jerking manner or will not move) and kept aborting: "ABORTED: TIMED_OUT"
4. Gripper has no issue moving at all unlike the other 4 joints
5. The PC will hang every time after code execution

Previously used in ROS Kinetic and it works very well

• No issues at all with the above python node when I used ROS Kinetic

The weird thing is that I am able to run the above python node in the simulation mode in Gazebo

• Simulated Turtlebot3_Manipulation in Gazebo has no issues at all with the above python node (using ROS Noetic)

[eRobotclub]

I am also facing a similar problem when controlling OpenManipulator-X on TB3 with ROS Noetic by GUI interface:

Any update about this issue?

[sunghowoo]

@nicholashojunhui Sorry for late reply. There has been a lack of attention to package version management. Switching to the develop branch should resolve this issue: git clone --branch develop https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git Demo video: https://drive.google.com/file/d/1WG7eOessCJFXNVrK0Efks_Z46yi0Wjx_/view?usp=sharing

[sunghowoo]

I am closing this issue due to inactivity.