Completed trajectory execution with status ABORTED

[marioesteban11]

Hi everyone,

I'm trying to move the ur3e robot with the URSIM, with moveit. but a have this error:

Completed trajectory execution with status ABORTED

I'm in: ROS2 HUMBLE UBUNTU 22.04

As I said before, Im trying to emulate some moves in my ur3e robot with moveit, rviz and URSIM. My problem comes when I try to move the robot with the moveit interface. Because the following error shows up:

[move_group-1] [INFO] [1668761715.451816518] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[rviz2-2] [INFO] [1668761715.451979040] [move_group_interface]: Plan and Execute request accepted
[move_group-1] [INFO] [1668761715.452000062] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-1] [INFO] [1668761715.453266881] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[move_group-1] [INFO] [1668761715.453406408] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1
[move_group-1] [INFO] [1668761715.453418121] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'move_group'
[move_group-1] [INFO] [1668761715.454242965] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'ur_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [WARN] [1668761715.547564862] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[move_group-1] [INFO] [1668761715.549095042] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1668761715.549114561] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1668761715.549182105] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[move_group-1] [INFO] [1668761715.549547939] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1668761715.549578320] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1668761715.549593870] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1668761715.549728407] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to scaled_joint_trajectory_controller
[move_group-1] [INFO] [1668761715.550150032] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: scaled_joint_trajectory_controller started execution
[move_group-1] [WARN] [1668761715.550168869] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request rejected
[move_group-1] [ERROR] [1668761715.550151505] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal was rejected by server
[move_group-1] [ERROR] [1668761715.550216303] [moveit_ros.trajectory_execution_manager]: Failed to send trajectory part 1 of 1 to controller scaled_joint_trajectory_controller
[move_group-1] [INFO] [1668761715.550224960] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-1] [INFO] [1668761715.559667313] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-2] [INFO] [1668761715.560031615] [move_group_interface]: Plan and Execute request aborted
[rviz2-2] [ERROR] [1668761715.651703694] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

And I dont really know what is the problem, if its something that I code wrongly or I just cannot move the robot with Moveit and URSIM.

PD: I'm using scaled_joint_trajectory_controller.

Thanks in advance

[gavanderhoorn]

Goal was rejected by server

you'll want to check the terminal where you started the UR driver for information on why the goal was rejected.

It'd be nice if moveit.simple_controller_manager also logged the rejection reason (both an error_code as well as an error_string are part of the rejection result), but it doesn't seem like it does that any more (the ROS 1 version does I believe).

[marioesteban11]

I've just seen that in the other terminal, this error shows up:

[ur_ros2_control_node-1] [INFO] [1668761715.550004163] [scaled_joint_trajectory_controller]: Received new action goal [ur_ros2_control_node-1] [ERROR] [1668761715.550047689] [scaled_joint_trajectory_controller]: Can't accept new action goals. Controller is not running.

But I dont really know how to solve it

[gavanderhoorn]

That's something you should ask the Universal_Robots_ROS2_Driver maintainers.

[marioesteban11]

Okeey, thanks for the advice.

Should I close this issue or leave it open until I solve it? Feel free to close it if you want

[Ravik17]

@marioesteban11 Did you find a solution? I am facing the same issue.