Panda arm never finishes trajectory execution

[pinorobotics]

Install MoveIt docker container by following:

https://moveit.picknik.ai/humble/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.html

Inside container:

source install/setup.bash
ros2 launch moveit_resources_panda_moveit_config demo.launch.py

Then:

• Add -> Motion Planning
  • Planning Group -> "panda_arm"
  • Goal State -> "random valid"
• Press Plan
• Press Execute

[move_group-4] [WARN] [1670205699.415531727] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out
[move_group-4] [ERROR] [1670205699.415568297] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 16.675617 seconds). Stopping trajectory.
[move_group-4] [INFO] [1670205699.415592815] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for panda_arm_controller

Same present when installing Humble packages:

RUN apt -y install ros-humble-ros-base
RUN apt -y install ros-humble-demo-nodes-cpp
RUN apt -y install python3-colcon-common-extensions
RUN apt -y install ros-humble-rviz2
RUN apt -y install ros-humble-action-tutorials-cpp
RUN apt -y install ros-humble-moveit
RUN apt -y install ros-humble-moveit-servo
RUN apt -y install ros-humble-rqt-graph ros-humble-rqt-image-view
RUN apt -y install ros-humble-moveit-resources-panda-moveit-config
RUN apt -y install ros-humble-controller-manager
RUN apt -y install ros-humble-joint-state-broadcaster
RUN apt -y install ros-humble-moveit-planners-chomp
RUN apt -y install ros-humble-joint-trajectory-controller
RUN apt -y install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-moveit-simple-controller-manager

[ronniethehood]

I was having the same issue with moveit with the latest update of Humble. Currently got it running correctly with a binary install of both rolling and moveit2.

[yeyanlei]

@pinorobotics , i met the same problem.

[sjahr]

Have you checked out the solution proposed in moveit2's troubleshooting issue? In case it does not work, please re-open this issue!