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ros-industrial / abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)
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Too many close points while executing in Robot Studio. #185

Closed deep0105 closed 3 years ago

deep0105 commented 3 years ago

Hi,

I am using irb2600Ik plugin and descartes for planning motion through bunch of points. The planned motion seems to be executing perfectly on rviz but on Robot Studio it shows Too many close positions.

Thanks in advance.

gavanderhoorn commented 3 years ago

This error (probably 50078 - too many closely spaced positions) is shown on the TP when your trajectory points are too close together.

There isn't much we can do, apart from making your trajectory sparser.

This is a RAPID / ABB limitation, not of the driver, nor of descartes.

gavanderhoorn commented 3 years ago

If you'd like more control over the motion, I'd recommend trying out abb_robot_driver, which offers a much better external motion interface than the package in this repository.

gavanderhoorn commented 3 years ago

Oh, and:

The planned motion seems to be executing perfectly on rviz

please realise: RViz is not executing anything.

It's only visualising data. There is no simulation there.

deep0105 commented 3 years ago

Thanks @gavanderhoorn