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UmbraTek / ut_arm_ros

umbratek utra ros devel
BSD 2-Clause "Simplified" License
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arm_joint_controller reports status ABORTED #5

Open jeongnow97 opened 1 year ago

jeongnow97 commented 1 year ago

I'm trying to control utra6_850 using Rviz

I already succeeded controlling the manipulator using ut_arm_dashboard

But when I use command roslaunch utra_controller utra_server.launch utra_ip:=192.168.1.84 and roslaunch utra6_850_moveit_config run_with_utra.launch utra_ip:=192.168.1.84

I could plan the path, but planning time was very short like 0.02 sec even I changed Velocity scaling & Accel scaling In my opinion, It was impossible to control the velocity of robot now

Also most of case, execute was failed with error

[ INFO] [1681462929.607289224]: call ret: 0 [ INFO] [1681462929.607301980]: Recieve action successful! [ERROR] [1681462929.711048367]: utra pause or stop!! [ INFO] [1681462929.711227509]: Controller utra6_850/arm_joint_controller successfully finished [ WARN] [1681462929.711383446]: Controller handle utra6_850/arm_joint_controller reports status ABORTED [ INFO] [1681462929.711471542]: Completed trajectory execution with status ABORTED ... [ INFO] [1681462929.711631766]: Execution completed: ABORTED [ INFO] [1681462929.726594582]: ABORTED: Solution found but controller failed during execution

Screenshot from 2023-04-14 18-10-19

image

What should I do to solve this problem?

Oh also I saw an error in dashboard like this

20230414_174541

ghost commented 9 months ago

Hi , did you solve this problem?

I think my problem has a connection with your problem. https://github.com/UmbraTek/ut_arm_ros/issues/7#top

jimy92 commented 9 months ago

Hello

Looking at studio shows that the controller reported an error, and all the problems were due to the fast speed of the planning trajectory of rviz, which caused errors and execution failures. When the control error is reported, the error needs to be reset first, and the execution time (speed) of rviz needs to be controlled.

jeongnow97 commented 9 months ago

Hi , did you solve this problem?

I think my problem has a connection with your problem. #7 (comment)

Hi

Yes I sloved this problem I think I deleted all package and re-installed, and everything was working well And My problem was related to controll robot in real-word, but your problem is to controll robot in gazebo, so just follow the manual and search more information in google

ghost commented 9 months ago

uninstalling and installing everything ros related solved it. thanks