How to solve GOAL_TOLREANCE_VIOLATED issue?? - Githubissues

ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control

http://wiki.ros.org/ros_control

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How to solve GOAL_TOLREANCE_VIOLATED issue?? #400

Open mvish7 opened 5 years ago

mvish7 commented 5 years ago

Hello, I'm observing trajectory planned by moveit! into gazebo for PANDA arm. I'm using position_controllers/JointTrajectoryControllers on gazebo (ros_control) side and followjointtrajectory action on moveit side. I'm using ROS Kinetic and Gazebo 7.0

Here is my controller.yaml file on gazebo side.

Actual problem is:

Trajectory is getting executed fully in gazebo (robot reaches its final position, can be confirmed by comparing with rviz) and then i get error saying GOAL_TOLERANCE_VIOLATED.
Sometimes robot stops midway through the execution in gazebo and i get the error of goal tolerance.

Can anybody offer their views on how to solve this??

mathias-luedtke commented 5 years ago

This seems to be a duplicate of https://github.com/ros-controls/ros_controllers/issues/48