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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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sawyer can't execute planning trajectory #35

Open hlhfhmt opened 3 years ago

hlhfhmt commented 3 years ago

When i use "roslaunch sawyer_moveit_config sawyer_moveit.launch electric_grippe" and plan a feasible trajectory, but it failed to executed with the following warn: [ INFO] [1616054616.353942433]: Execution request received [ INFO] [1616054617.354446093]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds. Check clock synchronization if your are running ROS across multiple machines! [ WARN] [1616054617.354575457]: Failed to validate trajectory: couldn't receive full current joint state within 1s [ INFO] [1616054617.354697942]: Execution completed: ABORTED [ INFO] [1616054617.367115973]: ABORTED: Solution found but controller failed during execution

artemiialessandrini commented 3 years ago

The same issue.. Did you think of any possible solutions?

artemiialessandrini commented 3 years ago

I'd assume it's a time sync issue as explained in this thread But sadly all links are broken [EDIT] Hi again Just fixed it setting up a local NTP server between PC and Sawyer Kindly follow this and this messages of the thread! :)

Best, Artemii

hlhfhmt commented 3 years ago

Thanks for your advice and the link. I will try this and give feedback as soon as possible! Because I'm stuck in the trivia of life. Hope to communicate with you #again！