I am working on a project involving the Motoman MH180 robot. Using the URDF file, I created a Webots simulation and configured MoveIt2. In the simulation, I can execute motion plans for a single goal pose using the MoveGroup() action and waypoint trajectories using the MoveGroupSequence() action. and it works.
However, after configuring the MoveIt2 on the actual robot, I can only execute motion plans with the MoveGroup() action. When attempting to perform a waypoint trajectory using MoveGroupSequence(), the action server(follow_joint_trajectory) accepts the trajectory but cannot execute it, and displays no error code/message for troubleshooting. @gavanderhoorn could you please give any suggestion in this direction?
Hi,
I am working on a project involving the Motoman MH180 robot. Using the URDF file, I created a Webots simulation and configured MoveIt2. In the simulation, I can execute motion plans for a single goal pose using the MoveGroup() action and waypoint trajectories using the MoveGroupSequence() action. and it works.
However, after configuring the MoveIt2 on the actual robot, I can only execute motion plans with the MoveGroup() action. When attempting to perform a waypoint trajectory using MoveGroupSequence(), the action server(follow_joint_trajectory) accepts the trajectory but cannot execute it, and displays no error code/message for troubleshooting. @gavanderhoorn could you please give any suggestion in this direction?