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RethinkRobotics / sawyer_moveit

MoveIt! configurations and plugins for the Sawyer robot.
http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial
Apache License 2.0
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moveit execution fails on real robot #28

Closed GavinStrunk closed 6 years ago

GavinStrunk commented 6 years ago

I am using Ubuntu 16.04 and ros kinetic. I am able to move the sawyer with the intera sdk examples, but when I use the execute button after it has created a plan in the rviz gui it fails with this message:

[ WARN] [1505497768.668273664]: Failed to validate trajectory: couldn't receive full current joint state within 1s [ INFO] [1505497768.668366775]: Execution completed: ABORTED

I double checked and the robot is enabled and the joint_trajectory_action_server is also running. Does anyone know why this won't execute on the real robot?

IanTheEngineer commented 6 years ago

Likely, your Sawyer has moved beyond an epsilon of the initial joint angles of the planning scene. I would recommend resetting your initial state to your robots current configuration, and replan. You can also do this in the MoveIt RViz GUI. This functionality is actually a new feature of MoveIt in Kinetic: https://github.com/ros-planning/moveit/pull/63 and the commit: https://github.com/ros-planning/moveit/commit/ce659702dc12b34952476a8a8af7ebc8fdab2cfd