MotionPlanning plan but do not execute

[fjanovitz]

Description

I'm using Moveit in Rviz to move a UR5 robot both in a URSim and a real robot, in both i can do the planning, it shows the trajectory but when i try to execute, it always give me a "Failed" message. I don't know if it is a simple thing or not, but i didn't found anything similar to this problem in ROS Forums, Stack Exchange, etc.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Source
• If binary, which release version?
• If source, which git commit or tag? The lastest

Steps to reproduce

In the first terminal (Only for the simulation, in the real robot, i started from the second terminal): docker run --rm -it -p 5900:5900 -p 6080:6080 -v ${HOME}/.ursim/urcaps:/urcaps -v ${HOME}/.ursim/programs:/ursim/programs --name ursim_cb3 universalrobots/ursim_cb3 In the second terminal: ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller In the third terminal: ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5 launch_rviz:=true After that, just go to Rviz and try to use the MotionPlanning.

Expected behaviour

Robots should move according to the planned trajectory

Backtrace or Console output

This appeared on the third terminal

If it's a simple problem, I'm sorry for opening an Issue to solve it, I recently started using ROS/Moveit and I'm having some difficulties.

EDIT: tried to use scaled_joint_trajectory_controller instead of joint_trajectory_controller and got the following messages:

[rhaschke]

The approach to use scaled_joint_trajectory_controller is correct for UR robots. But I don't understand why the controller rejects the trajectory goal. Are there any error messages from the ROS controller manager running the controller? Probably this was started in yet another terminal.

[fjanovitz]

In the second terminal, i had the following error:

These two lines appeared always when i tried to execute, i had found similar error messages on another issues but when i tried to do the respective solutions (when they had a solution), it did not solve the problem.