val3 controller only get limited trajectory into buffer. (unable to fully excute the trjaectory)

benthebear93 commented 3 years ago

Hello (env : 18.04, melodic, Tx90)

i been using this pkg to send trajectory to TX90. Every thing seems fine till i tried to send long trajectory. robot_interface_streaming log shows that all the points are sent to controller, but my pendant only got few of the points

here is roslaunch --screen log.

Click to expand

``` [ INFO] [1629529937.060229013]: Using joint names from URDF: 'robot_description': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] [ INFO] [1629529937.060520612]: Filtered joint names to 6 joints [ INFO] [1629529937.082788623]: Unlocking mutex [ INFO] [1629529937.082877382]: Starting joint trajectory streamer thread [ INFO] [1629529937.088098549]: Connecting to robot motion server [ WARN] [1629529937.088168345]: Tried to connect when socket already in connected state [ WARN] [1629529938.083812518]: Trajectory state not received for 1.000000 seconds [ INFO] [1629529959.361065248]: Received new goal [ INFO] [1629529959.361299378]: Publishing trajectory [ INFO] [1629529959.362446511]: Receiving joint trajectory message [ WARN] [1629529959.363097194]: Joint velocity-limits unspecified. Using default velocity-ratio. [ INFO] [1629529959.366991150]: Loading trajectory, setting state to streaming [ INFO] [1629529959.367063829]: Executing trajectory of size: 122 [ INFO] [1629529959.380736553]: Point[1 of 122] sent to controller [ INFO] [1629529959.380896108]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.395165687]: Point[2 of 122] sent to controller [ INFO] [1629529959.399821465]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.411128088]: Point[3 of 122] sent to controller [ INFO] [1629529959.419703071]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.427121521]: Point[4 of 122] sent to controller [ INFO] [1629529959.443115726]: Point[5 of 122] sent to controller [ INFO] [1629529959.445508169]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.460490154]: Point[6 of 122] sent to controller [ INFO] [1629529959.460756840]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.475086737]: Point[7 of 122] sent to controller [ INFO] [1629529959.479579891]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.491057778]: Point[8 of 122] sent to controller [ INFO] [1629529959.499626569]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.507063767]: Point[9 of 122] sent to controller [ INFO] [1629529959.523044818]: Point[10 of 122] sent to controller [ INFO] [1629529959.525322925]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.540103078]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.541540422]: Point[11 of 122] sent to controller [ INFO] [1629529959.560087773]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.560406430]: Point[12 of 122] sent to controller [ INFO] [1629529959.575107509]: Point[13 of 122] sent to controller [ INFO] [1629529959.579596198]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.591062971]: Point[14 of 122] sent to controller [ INFO] [1629529959.599562494]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.607095441]: Point[15 of 122] sent to controller [ INFO] [1629529959.623256708]: Point[16 of 122] sent to controller [ INFO] [1629529959.625323065]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.640665806]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.641507269]: Point[17 of 122] sent to controller [ INFO] [1629529959.660506384]: Point[18 of 122] sent to controller [ INFO] [1629529959.660890278]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.674982773]: Point[19 of 122] sent to controller [ INFO] [1629529959.679675191]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.691013872]: Point[20 of 122] sent to controller [ INFO] [1629529959.699563661]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.707057697]: Point[21 of 122] sent to controller [ INFO] [1629529959.719614525]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.724507525]: Point[22 of 122] sent to controller [ INFO] [1629529959.740673843]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.741521878]: Point[23 of 122] sent to controller [ INFO] [1629529959.754961963]: Point[24 of 122] sent to controller [ INFO] [1629529959.759517107]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.770913574]: Point[25 of 122] sent to controller [ INFO] [1629529959.779459494]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.787030686]: Point[26 of 122] sent to controller [ INFO] [1629529959.803007862]: Point[27 of 122] sent to controller [ INFO] [1629529959.804920930]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.820417004]: Point[28 of 122] sent to controller [ INFO] [1629529959.820695461]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.834930857]: Point[29 of 122] sent to controller [ INFO] [1629529959.839476135]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.850903253]: Point[30 of 122] sent to controller [ INFO] [1629529959.859535203]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.866892625]: Point[31 of 122] sent to controller [ INFO] [1629529959.882888908]: Point[32 of 122] sent to controller [ INFO] [1629529959.884872128]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.899896163]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.900315527]: Point[33 of 122] sent to controller [ INFO] [1629529959.914874236]: Point[34 of 122] sent to controller [ INFO] [1629529959.919517101]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.930964196]: Point[35 of 122] sent to controller [ INFO] [1629529959.939428830]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.947085535]: Point[36 of 122] sent to controller [ INFO] [1629529959.959499668]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.964319599]: Point[37 of 122] sent to controller [ INFO] [1629529959.979963202]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529959.980271966]: Point[38 of 122] sent to controller [ INFO] [1629529959.994876909]: Point[39 of 122] sent to controller [ INFO] [1629529959.999333798]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.010844403]: Point[40 of 122] sent to controller [ INFO] [1629529960.019609264]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.026842483]: Point[41 of 122] sent to controller [ INFO] [1629529960.042849534]: Point[42 of 122] sent to controller [ INFO] [1629529960.044968702]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.060276993]: Point[43 of 122] sent to controller [ INFO] [1629529960.060598225]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.074970617]: Point[44 of 122] sent to controller [ INFO] [1629529960.079250956]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.090801053]: Point[45 of 122] sent to controller [ INFO] [1629529960.099310679]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.106810448]: Point[46 of 122] sent to controller [ INFO] [1629529960.122841299]: Point[47 of 122] sent to controller [ INFO] [1629529960.124727542]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.140476718]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.141295269]: Point[48 of 122] sent to controller [ INFO] [1629529960.154789161]: Point[49 of 122] sent to controller [ INFO] [1629529960.159391391]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.170869275]: Point[50 of 122] sent to controller [ INFO] [1629529960.179573194]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.186859992]: Point[51 of 122] sent to controller [ INFO] [1629529960.202800569]: Point[52 of 122] sent to controller [ INFO] [1629529960.204797541]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.220179089]: Point[53 of 122] sent to controller [ INFO] [1629529960.220479533]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.234810772]: Point[54 of 122] sent to controller [ INFO] [1629529960.239366965]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.250966915]: Point[55 of 122] sent to controller [ INFO] [1629529960.259342848]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.266770630]: Point[56 of 122] sent to controller [ INFO] [1629529960.282758396]: Point[57 of 122] sent to controller [ INFO] [1629529960.284724645]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.300326757]: Point[58 of 122] sent to controller [ INFO] [1629529960.300633371]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.314733099]: Point[59 of 122] sent to controller [ INFO] [1629529960.319270076]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.330714042]: Point[60 of 122] sent to controller [ INFO] [1629529960.339364390]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.346759313]: Point[61 of 122] sent to controller [ INFO] [1629529960.359094058]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.364101691]: Point[62 of 122] sent to controller [ INFO] [1629529960.379825099]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.380107355]: Point[63 of 122] sent to controller [ INFO] [1629529960.394726730]: Point[64 of 122] sent to controller [ INFO] [1629529960.399188960]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.410744158]: Point[65 of 122] sent to controller [ INFO] [1629529960.419310498]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.426708227]: Point[66 of 122] sent to controller [ INFO] [1629529960.442673991]: Point[67 of 122] sent to controller [ INFO] [1629529960.444597995]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.460127747]: Point[68 of 122] sent to controller [ INFO] [1629529960.460658445]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.474634560]: Point[69 of 122] sent to controller [ INFO] [1629529960.479427817]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.490685593]: Point[70 of 122] sent to controller [ INFO] [1629529960.499213467]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.506604371]: Point[71 of 122] sent to controller [ INFO] [1629529960.519184358]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.524130768]: Point[72 of 122] sent to controller [ INFO] [1629529960.540454063]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.541141175]: Point[73 of 122] sent to controller [ INFO] [1629529960.559702849]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.560044404]: Point[74 of 122] sent to controller [ INFO] [1629529960.574640098]: Point[75 of 122] sent to controller [ INFO] [1629529960.579273749]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.590724993]: Point[76 of 122] sent to controller [ INFO] [1629529960.599259720]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.606628535]: Point[77 of 122] sent to controller [ INFO] [1629529960.622631374]: Point[78 of 122] sent to controller [ INFO] [1629529960.624645412]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.640252369]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.641006275]: Point[79 of 122] sent to controller [ INFO] [1629529960.654782477]: Point[80 of 122] sent to controller [ INFO] [1629529960.659359182]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.670610608]: Point[81 of 122] sent to controller [ INFO] [1629529960.679183940]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.686587932]: Point[82 of 122] sent to controller [ INFO] [1629529960.699021275]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.703951302]: Point[83 of 122] sent to controller [ INFO] [1629529960.719689545]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.719982925]: Point[84 of 122] sent to controller [ INFO] [1629529960.734572398]: Point[85 of 122] sent to controller [ INFO] [1629529960.739163581]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.750574680]: Point[86 of 122] sent to controller [ INFO] [1629529960.759201494]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.766667597]: Point[87 of 122] sent to controller [ INFO] [1629529960.782558049]: Point[88 of 122] sent to controller [ INFO] [1629529960.784848711]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.799987012]: Point[89 of 122] sent to controller [ INFO] [1629529960.800171291]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.814492946]: Point[90 of 122] sent to controller [ INFO] [1629529960.819178703]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.830512697]: Point[91 of 122] sent to controller [ INFO] [1629529960.839142378]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.846586064]: Point[92 of 122] sent to controller [ INFO] [1629529960.862480765]: Point[93 of 122] sent to controller [ INFO] [1629529960.864525576]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.879559776]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.879837886]: Point[94 of 122] sent to controller [ INFO] [1629529960.894508862]: Point[95 of 122] sent to controller [ INFO] [1629529960.898989272]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.910482450]: Point[96 of 122] sent to controller [ INFO] [1629529960.919258753]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.926472723]: Point[97 of 122] sent to controller [ INFO] [1629529960.942477629]: Point[98 of 122] sent to controller [ INFO] [1629529960.944568131]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.959920698]: Point[99 of 122] sent to controller [ INFO] [1629529960.960363237]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.974478958]: Point[100 of 122] sent to controller [ INFO] [1629529960.979063065]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529960.990609251]: Point[101 of 122] sent to controller [ INFO] [1629529960.999052442]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.006456037]: Point[102 of 122] sent to controller [ INFO] [1629529961.022460680]: Point[103 of 122] sent to controller [ INFO] [1629529961.024421462]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.039462369]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.040847354]: Point[104 of 122] sent to controller [ INFO] [1629529961.054446647]: Point[105 of 122] sent to controller [ INFO] [1629529961.059546536]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.070423398]: Point[106 of 122] sent to controller [ INFO] [1629529961.079184162]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.086482756]: Point[107 of 122] sent to controller [ INFO] [1629529961.102437166]: Point[108 of 122] sent to controller [ INFO] [1629529961.104526757]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.119937247]: Point[109 of 122] sent to controller [ INFO] [1629529961.120216780]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.134383004]: Point[110 of 122] sent to controller [ INFO] [1629529961.139078507]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.150423913]: Point[111 of 122] sent to controller [ INFO] [1629529961.158981683]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.166390762]: Point[112 of 122] sent to controller [ INFO] [1629529961.178930945]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.183808351]: Point[113 of 122] sent to controller [ INFO] [1629529961.199523047]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.199868984]: Point[114 of 122] sent to controller [ INFO] [1629529961.214427122]: Point[115 of 122] sent to controller [ INFO] [1629529961.218834133]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.230555407]: Point[116 of 122] sent to controller [ INFO] [1629529961.239031554]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.246605731]: Point[117 of 122] sent to controller [ INFO] [1629529961.262387161]: Point[118 of 122] sent to controller [ INFO] [1629529961.264414936]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.279560052]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.279771324]: Point[119 of 122] sent to controller [ INFO] [1629529961.294353004]: Point[120 of 122] sent to controller [ INFO] [1629529961.298719989]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.310354603]: Point[121 of 122] sent to controller [ INFO] [1629529961.318956515]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.326301237]: Point[122 of 122] sent to controller [ INFO] [1629529961.331533733]: Trajectory streaming complete, setting state to IDLE [ INFO] [1629529961.338989305]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.358951248]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.378899899]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.398910445]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629529961.418926000]: Waiting to check for goal completion until halfway through trajectory ```

122 points are sent to controller but my pendant only shows 31. Trajectory buffer : 10 21 Motion buffer : 21 0

This seems similar to #25. but little different since my pendant only shows maximum 31. could it be the val3 driver problem ? or is there any setting in the pendant that i don't know about?

Thank you for your help, if more information needed let me know!

gavanderhoorn commented 3 years ago

It could be it's a bug in the VAL 3 code, we don't know right now.

As in https://github.com/ros-industrial/staubli_val3_driver/issues/25#issuecomment-737170702, please provide:

Please provide the following:

a full copy-paste of the output on your console after roslaunching your system (append --screen to the roslaunch command so all the output is shown)

ideally some code which shows how you generate your trajectories, and how you submit them to the driver (note: we don't need a full application. Just the segment(s) which is (are) responsible for putting together the actual trajectory and the goal)

the ROS JointTrajectory which gets submitted as part of the action goal to the driver

a capture of the network traffic between the ROS pc and the CS9

The trajectory you should be able to capture using rostopic echo on the topic which carries the goal message.

Network traffic can be captured using Wireshark.

benthebear93 commented 3 years ago

I will try to provide all information asap

1. Here is full copy-pase of output console of roslaunch

Click to expand

``` roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=192.168.0.254 --screen ... logging to /home/benlee/.ros/log/8e399e10-024e-11ec-aab8-bc542fd927d1/roslaunch-benlee-24844.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://localhost:43057/ SUMMARY ======== PARAMETERS * /robot_ip_address: 192.168.0.254 * /rosdistro: melodic * /rosversion: 1.14.11 NODES / joint_trajectory_action (industrial_robot_client/joint_trajectory_action) motion_streaming_interface (industrial_robot_client/motion_streaming_interface) robot_state (industrial_robot_client/robot_state) ROS_MASTER_URI=http://localhost:11311 process[robot_state-1]: started with pid [24868] process[motion_streaming_interface-2]: started with pid [24869] process[joint_trajectory_action-3]: started with pid [24870] [ INFO] [1629530593.137128749]: Added message handler for message type: 0 [ INFO] [1629530593.146347433]: Robot state connecting to IP address: '192.168.0.254:11002' [ WARN] [1629530593.147505367]: Unable to find user-specified joint names in 'controller_joint_names' [ INFO] [1629530593.156119580]: Joint Trajectory Interface connecting to IP address: '192.168.0.254:11000' [ INFO] [1629530593.158700436]: Using joint names from URDF: 'robot_description': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] [ WARN] [1629530593.159117710]: Unable to find user-specified joint names in 'controller_joint_names' [ INFO] [1629530593.159510768]: Connected to server [ INFO] [1629530593.159574885]: Initializing message manager with default comms fault handler [ INFO] [1629530593.159634989]: Default communications fault handler successfully initialized [ INFO] [1629530593.159677329]: Initializing message manager [ INFO] [1629530593.159720840]: Added message handler for message type: 1 [ INFO] [1629530593.164207204]: Added message handler for message type: 10 [ INFO] [1629530593.165791538]: Entering message manager spin loop [ INFO] [1629530593.166808874]: Using joint names from URDF: 'robot_description': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] [ INFO] [1629530593.167100677]: JointTrajectoryStreamer: init [ INFO] [1629530593.167712367]: Connected to server [ WARN] [1629530593.180047068]: Unable to find user-specified joint names in 'controller_joint_names' [ INFO] [1629530593.192670085]: Using joint names from URDF: 'robot_description': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] [ INFO] [1629530593.192923402]: Filtered joint names to 6 joints [ INFO] [1629530593.195012085]: Unlocking mutex [ INFO] [1629530593.195118255]: Starting joint trajectory streamer thread [ INFO] [1629530593.200348580]: Connecting to robot motion server [ WARN] [1629530593.200496628]: Tried to connect when socket already in connected state [ INFO] [1629530606.440990664]: Received new goal [ INFO] [1629530606.441153604]: Publishing trajectory [ INFO] [1629530606.441969782]: Receiving joint trajectory message [ WARN] [1629530606.442407752]: Joint velocity-limits unspecified. Using default velocity-ratio. [ INFO] [1629530606.444867723]: Loading trajectory, setting state to streaming [ INFO] [1629530606.444951228]: Executing trajectory of size: 105 [ INFO] [1629530606.456190220]: Point[1 of 105] sent to controller [ INFO] [1629530606.460496045]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.472175343]: Point[2 of 105] sent to controller [ INFO] [1629530606.480503701]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.488074592]: Point[3 of 105] sent to controller [ INFO] [1629530606.504004485]: Point[4 of 105] sent to controller [ INFO] [1629530606.506258921]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.521514402]: Point[5 of 105] sent to controller [ INFO] [1629530606.521876024]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.536025871]: Point[6 of 105] sent to controller [ INFO] [1629530606.540488516]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.552072720]: Point[7 of 105] sent to controller [ INFO] [1629530606.560475203]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.568005538]: Point[8 of 105] sent to controller [ INFO] [1629530606.584012663]: Point[9 of 105] sent to controller [ INFO] [1629530606.586255726]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.601733081]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.602490419]: Point[10 of 105] sent to controller [ INFO] [1629530606.621429449]: Point[11 of 105] sent to controller [ INFO] [1629530606.621643187]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.636032726]: Point[12 of 105] sent to controller [ INFO] [1629530606.640420263]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.651966123]: Point[13 of 105] sent to controller [ INFO] [1629530606.660437246]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.667965105]: Point[14 of 105] sent to controller [ INFO] [1629530606.680360632]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.685405848]: Point[15 of 105] sent to controller [ INFO] [1629530606.701723315]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.702447277]: Point[16 of 105] sent to controller [ INFO] [1629530606.721369691]: Point[17 of 105] sent to controller [ INFO] [1629530606.721546387]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.736026757]: Point[18 of 105] sent to controller [ INFO] [1629530606.740311403]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.752077638]: Point[19 of 105] sent to controller [ INFO] [1629530606.760386680]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.767954429]: Point[20 of 105] sent to controller [ INFO] [1629530606.783878447]: Point[21 of 105] sent to controller [ INFO] [1629530606.786440771]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.801722857]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.802478657]: Point[22 of 105] sent to controller [ INFO] [1629530606.820836174]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.821349673]: Point[23 of 105] sent to controller [ INFO] [1629530606.835928718]: Point[24 of 105] sent to controller [ INFO] [1629530606.840284064]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.851959412]: Point[25 of 105] sent to controller [ INFO] [1629530606.860415924]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.867932426]: Point[26 of 105] sent to controller [ INFO] [1629530606.883885729]: Point[27 of 105] sent to controller [ INFO] [1629530606.885897003]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.901602747]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.902285431]: Point[28 of 105] sent to controller [ INFO] [1629530606.915922179]: Point[29 of 105] sent to controller [ INFO] [1629530606.920400724]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.931853942]: Point[30 of 105] sent to controller [ INFO] [1629530606.940353947]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.947882194]: Point[31 of 105] sent to controller [ INFO] [1629530606.960381422]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.965355819]: Point[32 of 105] sent to controller [ INFO] [1629530606.981389572]: Point[33 of 105] sent to controller [ INFO] [1629530606.981581916]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530606.995872244]: Point[34 of 105] sent to controller [ INFO] [1629530607.000429760]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.011913336]: Point[35 of 105] sent to controller [ INFO] [1629530607.020698508]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.027906699]: Point[36 of 105] sent to controller [ INFO] [1629530607.043890203]: Point[37 of 105] sent to controller [ INFO] [1629530607.045860019]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.061721968]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.062422018]: Point[38 of 105] sent to controller [ INFO] [1629530607.075885785]: Point[39 of 105] sent to controller [ INFO] [1629530607.080459374]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.091904343]: Point[40 of 105] sent to controller [ INFO] [1629530607.100327587]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.107862358]: Point[41 of 105] sent to controller [ INFO] [1629530607.120185999]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.125273084]: Point[42 of 105] sent to controller [ INFO] [1629530607.141174145]: Point[43 of 105] sent to controller [ INFO] [1629530607.141390962]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.155853283]: Point[44 of 105] sent to controller [ INFO] [1629530607.160185356]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.171734607]: Point[45 of 105] sent to controller [ INFO] [1629530607.180294722]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.187853635]: Point[46 of 105] sent to controller [ INFO] [1629530607.203807561]: Point[47 of 105] sent to controller [ INFO] [1629530607.205703018]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.221255063]: Point[48 of 105] sent to controller [ INFO] [1629530607.221463817]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.235698233]: Point[49 of 105] sent to controller [ INFO] [1629530607.240209768]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.251780263]: Point[50 of 105] sent to controller [ INFO] [1629530607.260214818]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.267736208]: Point[51 of 105] sent to controller [ INFO] [1629530607.280218474]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.285143281]: Point[52 of 105] sent to controller [ INFO] [1629530607.301335825]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.302125440]: Point[53 of 105] sent to controller [ INFO] [1629530607.321284519]: Point[54 of 105] sent to controller [ INFO] [1629530607.321448470]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.335745069]: Point[55 of 105] sent to controller [ INFO] [1629530607.340028400]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.351701592]: Point[56 of 105] sent to controller [ INFO] [1629530607.360088327]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.367683533]: Point[57 of 105] sent to controller [ INFO] [1629530607.383672081]: Point[58 of 105] sent to controller [ INFO] [1629530607.385617050]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.401323990]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.402150044]: Point[59 of 105] sent to controller [ INFO] [1629530607.421200418]: Point[60 of 105] sent to controller [ INFO] [1629530607.421574166]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.435660127]: Point[61 of 105] sent to controller [ INFO] [1629530607.440026638]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.451713596]: Point[62 of 105] sent to controller [ INFO] [1629530607.460165634]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.467603018]: Point[63 of 105] sent to controller [ INFO] [1629530607.480205045]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.485017402]: Point[64 of 105] sent to controller [ INFO] [1629530607.500754254]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.502048761]: Point[65 of 105] sent to controller [ INFO] [1629530607.515655465]: Point[66 of 105] sent to controller [ INFO] [1629530607.520167963]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.531639255]: Point[67 of 105] sent to controller [ INFO] [1629530607.540196118]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.547660559]: Point[68 of 105] sent to controller [ INFO] [1629530607.563809535]: Point[69 of 105] sent to controller [ INFO] [1629530607.565687667]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.581010538]: Point[70 of 105] sent to controller [ INFO] [1629530607.581264590]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.595608743]: Point[71 of 105] sent to controller [ INFO] [1629530607.600150749]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.611675001]: Point[72 of 105] sent to controller [ INFO] [1629530607.620186090]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.627688490]: Point[73 of 105] sent to controller [ INFO] [1629530607.643667768]: Point[74 of 105] sent to controller [ INFO] [1629530607.645564994]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.660981784]: Point[75 of 105] sent to controller [ INFO] [1629530607.661418244]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.675556330]: Point[76 of 105] sent to controller [ INFO] [1629530607.680200391]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.691598198]: Point[77 of 105] sent to controller [ INFO] [1629530607.700144329]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.707598056]: Point[78 of 105] sent to controller [ INFO] [1629530607.723609721]: Point[79 of 105] sent to controller [ INFO] [1629530607.725444986]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.740892936]: Point[80 of 105] sent to controller [ INFO] [1629530607.741153687]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.755580605]: Point[81 of 105] sent to controller [ INFO] [1629530607.760100258]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.771555795]: Point[82 of 105] sent to controller [ INFO] [1629530607.780093050]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.787626987]: Point[83 of 105] sent to controller [ INFO] [1629530607.799981962]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.806060826]: Point[84 of 105] sent to controller [ INFO] [1629530607.823569253]: Point[85 of 105] sent to controller [ INFO] [1629530607.825641365]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.840867504]: Point[86 of 105] sent to controller [ INFO] [1629530607.841042636]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.855552921]: Point[87 of 105] sent to controller [ INFO] [1629530607.860095411]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.871469552]: Point[88 of 105] sent to controller [ INFO] [1629530607.880022349]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.887503909]: Point[89 of 105] sent to controller [ INFO] [1629530607.903522533]: Point[90 of 105] sent to controller [ INFO] [1629530607.905516693]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.921075706]: Point[91 of 105] sent to controller [ INFO] [1629530607.921445891]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.935498224]: Point[92 of 105] sent to controller [ INFO] [1629530607.939960466]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.951456363]: Point[93 of 105] sent to controller [ INFO] [1629530607.959881657]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.967519408]: Point[94 of 105] sent to controller [ INFO] [1629530607.979995354]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530607.984913473]: Point[95 of 105] sent to controller [ INFO] [1629530608.001144232]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.001946113]: Point[96 of 105] sent to controller [ INFO] [1629530608.020905807]: Point[97 of 105] sent to controller [ INFO] [1629530608.021289332]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.035592138]: Point[98 of 105] sent to controller [ INFO] [1629530608.039959867]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.051537105]: Point[99 of 105] sent to controller [ INFO] [1629530608.059862147]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.067471075]: Point[100 of 105] sent to controller [ INFO] [1629530608.083438699]: Point[101 of 105] sent to controller [ INFO] [1629530608.085605614]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.100995781]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.101838785]: Point[102 of 105] sent to controller [ INFO] [1629530608.115461496]: Point[103 of 105] sent to controller [ INFO] [1629530608.119810498]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.131378739]: Point[104 of 105] sent to controller [ INFO] [1629530608.139916504]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.147432316]: Point[105 of 105] sent to controller [ INFO] [1629530608.152691881]: Trajectory streaming complete, setting state to IDLE [ INFO] [1629530608.159762691]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.179868730]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.199726407]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.219715091]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.239733471]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.259870579]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.279831994]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.299712882]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.319708215]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.339831783]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.359754672]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.379781921]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.399689271]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.419714755]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.439703614]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.459687564]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.479738270]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.499826503]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.519606189]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.539688137]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.559655309]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.579709254]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.599739382]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.619671626]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.639598004]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.659718448]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.679643625]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.699567242]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.719645017]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.739652723]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.759588203]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.779561687]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.799553317]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.819758224]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.839502703]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.859572146]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.879644433]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.899731130]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.919580453]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.939523112]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.959471558]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.979452926]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530608.999441268]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.019541154]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.039523325]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.059396124]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.079434617]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.099428873]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629530609.119497376]: Waiting to check for goal completion until halfway through trajectory ```

2. Here is the some code that i used to generation trajectory (moveit client with python)

    def plan_cartesian_path(self, scale=1):
        print ("plan cartersian")
        group = self.move_group
        waypoints = []

        wpose = group.get_current_pose().pose
        for i in range(15):
            wpose.position.z -= scale * 0.05
            waypoints.append(copy.deepcopy(wpose))
            print("waypoints ", waypoints[i])
        for i in range(15):
            wpose.position.x += scale * 0.1 
            waypoints.append(copy.deepcopy(wpose))
            print("waypoints ", waypoints[i])
        for i in range(15):
            wpose.position.y += scale * 0.1 
            waypoints.append(copy.deepcopy(wpose))
            print("waypoints ", waypoints[i])
        # We want the Cartesian path to be interpolated at a resolution of 1 cm
        # which is why we will specify 0.01 as the eef_step in Cartesian
        # translation.  We will disable the jump threshold by setting it to 0.0 disabling:
        (plan, fraction) = group.compute_cartesian_path(
                                        waypoints,   # waypoints to follow
                                        0.01,        # eef_step
                                        0.0)         # jump_threshold
        # Note: We are just planning, not asking move_group to actually move the robot yet:
        return plan, fraction

    def execute_plan(self, plan):
        self.move_group.execute(plan, wait=True)

if __name__ == '__main__':
    staubli_client = StaubliScanning()

    cartesian_plan, fraction = staubli_client.plan_cartesian_path()
    staubli_client.execute_plan(cartesian_plan)

3. Here is JointTrajectory echo. (not sure this is what you want it)

Click to expand

```yaml positions: [-1.9984635839417797e-05, 1.5080791347171756, 1.6314274753303528, 1.2724416984182286e-06, -1.5686256605493276, -3.6832229450306807e-05] velocities: [-2.1567923960797804e-11, 0.7341925989575456, -0.6881003692625141, -2.107363050984193e-10, -0.04609222969499428, 5.865026142764603e-08] accelerations: [4.36996103925162e-10, -0.5698208474787226, -0.0038068214451192446, 5.8081371320617005e-09, 0.5736276689235066, -7.299388170229843e-07] effort: [] time_from_start: secs: 2 nsecs: 513911082 - positions: [-1.998463626424327e-05, 1.527713135186109, 1.61283161740596, 1.272438103731201e-06, -1.5696638030938674, -3.683090846982548e-05] velocities: [-1.1601687442851333e-11, 0.7191915052329443, -0.688142893491771, -9.107326222031312e-11, -0.03104861174114473, 3.950760871121889e-08] accelerations: [3.0186323879115767e-10, -0.5405890522452845, 0.000616361740839349, 3.0741745449926677e-09, 0.5399726905041267, -6.870918624859032e-07] effort: [] time_from_start: secs: 2 nsecs: 540934002 - positions: [-1.998463647046929e-05, 1.547331684535158, 1.5938657231868092, 1.2724367498394843e-06, -1.5703164582237648, -3.6830078005601915e-05] velocities: [-4.795546840057708e-12, 0.7046817460984982, -0.6880777629766963, -3.0527494993289573e-11, -0.01660398312178594, 2.1127554009284807e-08] accelerations: [1.9304533260323215e-10, -0.512473400490828, 0.004075130595494004, 1.3360225395965762e-09, 0.5083982698947479, -6.469069038614136e-07] effort: [] time_from_start: secs: 2 nsecs: 568495322 - positions: [-1.998463652974889e-05, 1.5669415859003286, 1.574523674414817, 1.2724364143973915e-06, -1.570584310816943, -3.68297371800004e-05] velocities: [-1.283459268280713e-12, 0.6872729980876284, -0.6845229321265062, -5.971011286119675e-12, -0.0027500659611183064, 3.499287913972686e-09] accelerations: [5.783045096136143e-11, -0.7201484657129879, 0.2451522078083068, 4.17760737561855e-10, 0.47499625790440836, -6.044027851062285e-07] effort: [] time_from_start: secs: 2 nsecs: 596607905 - positions: [-1.9984636543022167e-05, 1.5865501149817784, 1.554798486473857, 1.2724364141099322e-06, -1.570467651957433, -3.6829885620973254e-05] velocities: [-8.600598264812048e-13, 0.6671241413724911, -0.6775370172859593, 4.143790450293379e-12, 0.01041287591346444, -1.3249723629224009e-08] accelerations: [-2.7329171719531322e-11, -0.6715418993135962, 0.23723451812759874, 2.8252870003117717e-10, 0.4343073811857389, -5.526286231960532e-07] effort: [] time_from_start: secs: 2 nsecs: 625571883 - 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positions: [-1.9984828546813034e-05, 2.0409727071020076, 0.9917736063817599, 1.2794000480626958e-06, -1.4618653639856527, -3.6968532542611005e-05] velocities: [1.4774069884752591e-06, 0.08604910144937969, -0.2101868384147879, 1.5030976159956567e-06, 0.12413773696510379, -3.2041650983715924e-07] accelerations: [2.0955628256460526e-05, -0.871362724448728, 0.0418860017769303, 2.1201789497337117e-05, 0.8294767226682258, -3.3485882513452526e-06] effort: [] time_from_start: secs: 3 nsecs: 688820812 - positions: [-1.9613269960398806e-05, 2.044066979187564, 0.9657163165102258, 1.6563713926156959e-06, -1.4389023461997448, -3.703850969347549e-05] velocities: [3.4640933365357348e-06, 0.03314998097425842, -0.25409819517054244, 3.5314206131212052e-06, 0.22094821419540178, -7.573033698685001e-07] accelerations: [9.436662893610911e-06, 0.1583234068000447, -0.8686997927085922, 9.88671802406666e-06, 0.7103763859025052, -3.7216389061025015e-06] effort: [] time_from_start: secs: 3 nsecs: 814559647 - positions: [-1.9255469401867942e-05, 2.0478214362116605, 0.9386134402539175, 2.0224215086286653e-06, -1.4155539269676418, -3.7124788404148856e-05] velocities: [4.2977610206740445e-06, 0.050709913401364604, -0.3397273517300459, 4.422040625987051e-06, 0.2890174383270338, -1.1657265306678342e-06] accelerations: [7.885598693436e-06, 0.21910872280008245, -0.9417810236090959, 8.679381523066279e-06, 0.7226723007983409, -5.044797950827247e-06] effort: [] time_from_start: secs: 3 nsecs: 904613506 - positions: [-1.8910693654590032e-05, 2.0522765341266376, 0.9103821050470808, 2.3789041757576623e-06, -1.391777689675938, -3.722722705608777e-05] velocities: [4.8134584766908836e-06, 0.06903342318809375, -0.41098162094771, 5.011062897096182e-06, 0.34194819775700513, -1.5795050903777944e-06] accelerations: [5.421306719367101e-06, 0.26394013124872606, -0.9216049771607984, 6.574441585980754e-06, 0.6576648458971986, -5.847093779038839e-06] effort: [] time_from_start: secs: 3 nsecs: 979202545 - positions: [-1.8578262977905935e-05, 2.05748017675722, 0.8809243760749081, 2.727161116654902e-06, -1.367523603334556, -3.734583847644926e-05] velocities: [5.1033583736549706e-06, 0.0879068776017069, -0.47153746989477363, 5.390105996730457e-06, 0.3836305922893307, -1.9874536934761804e-06] accelerations: [3.085026236440949e-06, 0.2988420647650277, -0.8765416042251685, 4.599473678954207e-06, 0.5776995394413879, -6.303060733025333e-06] effort: [] time_from_start: secs: 4 nsecs: 45627849 - positions: [-1.8257547954442134e-05, 2.0634896016074205, 0.8501235138697114, 3.0685438133198574e-06, -1.342732165979827, -3.7480808409880175e-05] velocities: [5.24639399959833e-06, 0.10756379486187234, -0.5256696414226907, 5.638873244747946e-06, 0.41810584655580313, -2.391011314672844e-06] accelerations: [1.4731754373651412e-06, 0.33581338264639893, -0.8676764801559064, 3.378565605448737e-06, 0.5318630974869138, -6.715404243843492e-06] effort: [] time_from_start: secs: 4 nsecs: 107278470 - positions: [-1.7947966001068402e-05, 2.0703740039802097, 0.817838737345247, 3.4044410831738815e-06, -1.317331791828485, -3.763252303737314e-05] velocities: [5.27938158730447e-06, 0.12793268391998558, -0.5748837714918444, 5.793960608957303e-06, 0.4469510875654409, -2.786012161397479e-06] accelerations: [-3.9103773611951686e-07, 0.35675096086930647, -0.8032656912252001, 1.859668499273403e-06, 0.4465147303307672, -6.706422244278942e-06] effort: [] time_from_start: secs: 4 nsecs: 165793385 - positions: [-1.7648978569153228e-05, 2.078218185058788, 0.783897938477109, 3.7363140574329827e-06, -1.2912351740393306, -3.7801609232601155e-05] velocities: [5.229138040876317e-06, 0.14914098150442134, -0.6207015287600164, 5.883019508228784e-06, 0.4715605472476747, -3.1729038224037173e-06] accelerations: [-1.386820545065586e-06, 0.3888340245728626, -0.8066468855334127, 1.2620479391492318e-06, 0.417812860932857, -6.88984993537137e-06] effort: [] time_from_start: secs: 4 nsecs: 222547566 - positions: [-1.7360089132086524e-05, 2.0871277611569323, 0.7480872742071519, 4.06574274259706e-06, -1.2643340858680021, -3.798899376788888e-05] velocities: [5.138658717776892e-06, 0.17211492282170343, -0.6673740998934279, 5.9537143744855075e-06, 0.49525917706217115, -3.5687515563029266e-06] accelerations: [-1.8635106976174387e-06, 0.4358516524760866, -0.8684568609755923, 1.2745516476294254e-06, 0.4326052084685816, -7.316524152765492e-06] effort: [] time_from_start: secs: 4 nsecs: 278208521 - positions: [-1.708084216812883e-05, 2.097236840000927, 0.7101358238434331, 4.394491089961596e-06, -1.2364917143488494, -3.819599190971859e-05] velocities: [4.998390725713095e-06, 0.19647501269635606, -0.7133733574553587, 5.995605435389346e-06, 0.5168983447477286, -3.962402826776714e-06] accelerations: [-3.2309869142722193e-06, 0.44822336107551186, -0.8006714100699626, 2.425878847843353e-07, 0.3524480489629232, -6.9681963233144525e-06] effort: [] time_from_start: secs: 4 nsecs: 333101089 - positions: [-1.6810823546284163e-05, 2.10871976544906, 0.6696921091441642, 4.724602646371751e-06, -1.207530925098381, -3.842444375868542e-05] velocities: [4.832714279021728e-06, 0.22358211744031492, -0.7628989849180567, 6.0417623440110336e-06, 0.5393168674646077, -4.3758620363419055e-06] accelerations: [-2.7990745977140586e-06, 0.5383677062151252, -1.0018613699982208, 1.4372386009346914e-06, 0.4634936637469253, -8.080104272393632e-06] effort: [] time_from_start: secs: 4 nsecs: 388098875 - positions: [-1.6549663120655673e-05, 2.1218099277147853, 0.6262864829589768, 5.058549112899825e-06, -1.1772154611796948, -3.8676932453183935e-05] velocities: [4.616025154461675e-06, 0.25226712051819333, -0.811771823581156, 6.061087032665825e-06, 0.5595047030479372, -4.781544426308591e-06] accelerations: [-5.021172209634112e-06, 0.499032486860909, -0.7667291780134823, -7.244829351231925e-07, 0.26769669112033323, -6.5975176529589345e-06] effort: [] time_from_start: secs: 4 nsecs: 443012948 - positions: [-1.6297044109942912e-05, 2.1368307170186096, 0.5792692524941166, 5.399470964662231e-06, -1.1452190200195576, -3.895714573970797e-05] velocities: [4.127772744853726e-06, 0.2678528343694023, -0.8154822016950014, 5.744016607824616e-06, 0.5476293673095812, -4.906515434860287e-06] accelerations: [-1.15115544715939e-05, 0.05595822722895965, 0.5824997074335065, -9.807878613796428e-06, -0.6384579346656011, 1.9386507114819056e-06] effort: [] time_from_start: secs: 4 nsecs: 499448373 - positions: [-1.6052704981271254e-05, 2.1542574596032655, 0.527686718828634, 5.7516378375275085e-06, -1.1110632289397726, -3.927056763068308e-05] velocities: [3.406503131938201e-06, 0.2668718788597453, -0.7689822003266318, 5.097242056199597e-06, 0.5021103214510247, -4.704817106990763e-06] accelerations: [-1.046321388331272e-05, -0.0750769853343286, 0.8102018732094873, -9.819871396451253e-06, -0.7351248878681156, 4.013918907474529e-06] effort: [] time_from_start: secs: 4 nsecs: 564100385 - positions: [-1.5816488702888178e-05, 2.1748288491513166, 0.4700584817923947, 6.12128630308023e-06, -1.0740063814527998, -3.962576730205909e-05] velocities: [2.652770549669466e-06, 0.2565655615983164, -0.6998948887968782, 4.352491130106702e-06, 0.4433293271835862, -4.3312077062536685e-06] accelerations: [-8.547866051578516e-06, -0.17124049181235984, 0.9025085223537668, -8.860664030485706e-06, -0.7312680305271512, 5.17436396169301e-06] effort: [] time_from_start: secs: 4 nsecs: 641964223 - positions: [-1.5588401850902845e-05, 2.1998212883866373, 0.4038286476408119, 6.518621801325311e-06, -1.0327689865379774, -4.003745948716942e-05] velocities: [1.870211433019523e-06, 0.23148396537596322, -0.5974009915744148, 3.466289839833489e-06, 0.36591702618539845, -3.7145092101825804e-06] accelerations: [-6.428049545383678e-06, -0.27929564000782486, 0.9967020288341834, -7.863760490923164e-06, -0.7174063888057584, 6.179661205214194e-06] effort: [] time_from_start: secs: 4 nsecs: 742362012 - positions: [-1.536881896597685e-05, 2.2318234855807875, 0.32381667666380304, 6.96343712493885e-06, -0.984759212756878, -4.053512104618042e-05] velocities: [9.55273098499381e-07, 0.15615952752451545, -0.38248982292525924, 2.0652223531889623e-06, 0.22633029539238847, -2.3687847265490806e-06] accelerations: [-3.293337571034941e-06, -0.3713084156837698, 0.9792913832428255, -5.836725652044982e-06, -0.607982967537173, 6.156734039297687e-06] effort: [] time_from_start: secs: 4 nsecs: 891881394 - positions: [-1.51593574306374e-05, 2.278405146432451, 0.21487989102713972, 7.51106784345107e-06, -0.9224040879742216, -4.1202983641294254e-05] velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] accelerations: [-1.86501071585009e-06, -0.41475537028628007, 0.9699550432177863, -4.876012947669871e-06, -0.5551996729106404, 5.9465376045496306e-06] effort: [] time_from_start: secs: 5 nsecs: 365824787 ```

I will try to fill more information about network traffic, since i never used Wireshark, with roslaunch log and JointTrajectory echo data again, (probably tomorrow).

Thx for the help!

benthebear93 commented 3 years ago

1. Here is full copy-pase of output console of roslaunch

Click to expand

``` r goal completion until halfway through trajectory [ INFO] [1629608810.666186548]: Point[13 of 114] sent to controller [ INFO] [1629608810.682331258]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.683691826]: Point[14 of 114] sent to controller [ INFO] [1629608810.702085100]: Point[15 of 114] sent to controller [ INFO] [1629608810.702391555]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.716748357]: Point[16 of 114] sent to controller [ INFO] [1629608810.721112264]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.732569690]: Point[17 of 114] sent to controller [ INFO] [1629608810.741179052]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.748763719]: Point[18 of 114] sent to controller [ INFO] [1629608810.764563440]: Point[19 of 114] sent to controller [ INFO] [1629608810.766924772]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.782313189]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.782888979]: Point[20 of 114] sent to controller [ INFO] [1629608810.801894944]: Point[21 of 114] sent to controller [ INFO] [1629608810.802139261]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.816646886]: Point[22 of 114] sent to controller [ INFO] [1629608810.820894257]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.832511140]: Point[23 of 114] sent to controller [ INFO] [1629608810.840955750]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.848429705]: Point[24 of 114] sent to controller [ INFO] [1629608810.864509467]: Point[25 of 114] sent to controller [ INFO] [1629608810.866335132]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.882084967]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.882927572]: Point[26 of 114] sent to controller [ INFO] [1629608810.902025955]: Point[27 of 114] sent to controller [ INFO] [1629608810.902124442]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.916453629]: Point[28 of 114] sent to controller [ INFO] [1629608810.920731308]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.932504217]: Point[29 of 114] sent to controller [ INFO] [1629608810.940931971]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.948568962]: Point[30 of 114] sent to controller [ INFO] [1629608810.964497648]: Point[31 of 114] sent to controller [ INFO] [1629608810.966309006]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.982147629]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608810.982843206]: Point[32 of 114] sent to controller [ INFO] [1629608811.001852011]: Point[33 of 114] sent to controller [ INFO] [1629608811.002034647]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.016441606]: Point[34 of 114] sent to controller [ INFO] [1629608811.020621362]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.032409516]: Point[35 of 114] sent to controller [ INFO] [1629608811.040976248]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.048510440]: Point[36 of 114] sent to controller [ INFO] [1629608811.060627218]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.065978967]: Point[37 of 114] sent to controller [ INFO] [1629608811.082010393]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.082800905]: Point[38 of 114] sent to controller [ INFO] [1629608811.101782007]: Point[39 of 114] sent to controller [ INFO] [1629608811.102021406]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.116344373]: Point[40 of 114] sent to controller [ INFO] [1629608811.120658092]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.132420063]: Point[41 of 114] sent to controller [ INFO] [1629608811.140858060]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.148407183]: Point[42 of 114] sent to controller [ INFO] [1629608811.164315165]: Point[43 of 114] sent to controller [ INFO] [1629608811.166420610]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.181980416]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.183554999]: Point[44 of 114] sent to controller [ INFO] [1629608811.201751739]: Point[45 of 114] sent to controller [ INFO] [1629608811.202022872]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.216476026]: Point[46 of 114] sent to controller [ INFO] [1629608811.220838236]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.232451464]: Point[47 of 114] sent to controller [ INFO] [1629608811.240774690]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.248358469]: Point[48 of 114] sent to controller [ INFO] [1629608811.264328836]: Point[49 of 114] sent to controller [ INFO] [1629608811.266098013]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.282077407]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.283344010]: Point[50 of 114] sent to controller [ INFO] [1629608811.301828723]: Point[51 of 114] sent to controller [ INFO] [1629608811.302056473]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.316277736]: Point[52 of 114] sent to controller [ INFO] [1629608811.320701369]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.332259179]: Point[53 of 114] sent to controller [ INFO] [1629608811.340845474]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.348247620]: Point[54 of 114] sent to controller [ INFO] [1629608811.360571886]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.365652001]: Point[55 of 114] sent to controller [ INFO] [1629608811.381834131]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.382590188]: Point[56 of 114] sent to controller [ INFO] [1629608811.401777739]: Point[57 of 114] sent to controller [ INFO] [1629608811.402064534]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.416478965]: Point[58 of 114] sent to controller [ INFO] [1629608811.420627220]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.432178841]: Point[59 of 114] sent to controller [ INFO] [1629608811.440571270]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.448291143]: Point[60 of 114] sent to controller [ INFO] [1629608811.464280425]: Point[61 of 114] sent to controller [ INFO] [1629608811.466167762]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.482029939]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.482573311]: Point[62 of 114] sent to controller [ INFO] [1629608811.501960134]: Point[63 of 114] sent to controller [ INFO] [1629608811.502330200]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.516165895]: Point[64 of 114] sent to controller [ INFO] [1629608811.520638486]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.532292125]: Point[65 of 114] sent to controller [ INFO] [1629608811.540561048]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.548156581]: Point[66 of 114] sent to controller [ INFO] [1629608811.560459584]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.565499765]: Point[67 of 114] sent to controller [ INFO] [1629608811.581913043]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.582606588]: Point[68 of 114] sent to controller [ INFO] [1629608811.601242396]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.601480087]: Point[69 of 114] sent to controller [ INFO] [1629608811.616123841]: Point[70 of 114] sent to controller [ INFO] [1629608811.620717248]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.632178168]: Point[71 of 114] sent to controller [ INFO] [1629608811.640548538]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.648395738]: Point[72 of 114] sent to controller [ INFO] [1629608811.664114790]: Point[73 of 114] sent to controller [ INFO] [1629608811.666178319]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.681880262]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.682458007]: Point[74 of 114] sent to controller [ INFO] [1629608811.701431479]: Point[75 of 114] sent to controller [ INFO] [1629608811.701749078]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.716033220]: Point[76 of 114] sent to controller [ INFO] [1629608811.720399570]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.732062907]: Point[77 of 114] sent to controller [ INFO] [1629608811.740585925]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.748072046]: Point[78 of 114] sent to controller [ INFO] [1629608811.764215993]: Point[79 of 114] sent to controller [ INFO] [1629608811.766202726]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.781867869]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.782439221]: Point[80 of 114] sent to controller [ INFO] [1629608811.801145955]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.801389301]: Point[81 of 114] sent to controller [ INFO] [1629608811.816059676]: Point[82 of 114] sent to controller [ INFO] [1629608811.820491357]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.832038079]: Point[83 of 114] sent to controller [ INFO] [1629608811.840695121]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.848156339]: Point[84 of 114] sent to controller [ INFO] [1629608811.864176084]: Point[85 of 114] sent to controller [ INFO] [1629608811.865968625]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.881616332]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.883079935]: Point[86 of 114] sent to controller [ INFO] [1629608811.901700218]: Point[87 of 114] sent to controller [ INFO] [1629608811.901777345]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.916184704]: Point[88 of 114] sent to controller [ INFO] [1629608811.920433597]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.932086890]: Point[89 of 114] sent to controller [ INFO] [1629608811.940292300]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.947974319]: Point[90 of 114] sent to controller [ INFO] [1629608811.963956115]: Point[91 of 114] sent to controller [ INFO] [1629608811.965767166]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.981584756]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608811.982380014]: Point[92 of 114] sent to controller [ INFO] [1629608812.001508513]: Point[93 of 114] sent to controller [ INFO] [1629608812.001817502]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.015951336]: Point[94 of 114] sent to controller [ INFO] [1629608812.020304584]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.031931122]: Point[95 of 114] sent to controller [ INFO] [1629608812.040441521]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.047940583]: Point[96 of 114] sent to controller [ INFO] [1629608812.060429551]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.065337452]: Point[97 of 114] sent to controller [ INFO] [1629608812.080941566]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.082380384]: Point[98 of 114] sent to controller [ INFO] [1629608812.101432456]: Point[99 of 114] sent to controller [ INFO] [1629608812.101746363]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.116136465]: Point[100 of 114] sent to controller [ INFO] [1629608812.120301160]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.131915608]: Point[101 of 114] sent to controller [ INFO] [1629608812.140327718]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.147941409]: Point[102 of 114] sent to controller [ INFO] [1629608812.160271117]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.165408702]: Point[103 of 114] sent to controller [ INFO] [1629608812.181601985]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.182255200]: Point[104 of 114] sent to controller [ INFO] [1629608812.201080639]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.201200979]: Point[105 of 114] sent to controller [ INFO] [1629608812.215961375]: Point[106 of 114] sent to controller [ INFO] [1629608812.220410806]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.232005356]: Point[107 of 114] sent to controller [ INFO] [1629608812.240386034]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.247958847]: Point[108 of 114] sent to controller [ INFO] [1629608812.260343658]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.265352246]: Point[109 of 114] sent to controller [ INFO] [1629608812.281631472]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.282289394]: Point[110 of 114] sent to controller [ INFO] [1629608812.301377774]: Point[111 of 114] sent to controller [ INFO] [1629608812.301622381]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.315811404]: Point[112 of 114] sent to controller [ INFO] [1629608812.320237535]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.331952670]: Point[113 of 114] sent to controller [ INFO] [1629608812.340335492]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.347956712]: Point[114 of 114] sent to controller [ INFO] [1629608812.353162914]: Trajectory streaming complete, setting state to IDLE [ INFO] [1629608812.360160553]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.380217029]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.400217607]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.420189452]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.440165655]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.460179760]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.480117591]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.500184379]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.519947079]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.539937861]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.560062534]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.580382060]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.600080538]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.620113786]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.640157771]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.660221783]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.680075338]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.700064640]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.720066750]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.740019901]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.760141635]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.780190295]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.800055663]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.820082322]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.840068172]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.860013409]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.880144436]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.899960624]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.919823844]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.940138557]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.959832083]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.979914884]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608812.999936948]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.020000691]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.039791295]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.060159827]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.079982286]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.100076755]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.119865105]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.139994705]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.160021125]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.179871454]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.199911379]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.219946655]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.239864734]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.260040633]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.279912592]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.299945674]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.319695098]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.339924768]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.359803335]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.379935100]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.399920567]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.419830404]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.439935100]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.459929656]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.479938387]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.499878786]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.519852714]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.539773745]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.559814355]: Waiting to check for goal completion until halfway through trajectory [ INFO] [1629608813.579889286]: Waiting to check for goal completion until halfway through trajectory ```

2. Here is the some code that i used to generation trajectory (moveit client with python)

    def plan_cartesian_path(self, scale=1):
        print ("plan cartersian")
        group = self.move_group
        waypoints = []

        wpose = group.get_current_pose().pose
        for i in range(7):
            wpose.position.z -= scale * 0.1
            waypoints.append(copy.deepcopy(wpose))
            print("waypoints ", waypoints[i])
        for i in range(7):
            wpose.position.x += scale * 0.1 
            waypoints.append(copy.deepcopy(wpose))
            print("waypoints ", waypoints[i])
        # We want the Cartesian path to be interpolated at a resolution of 1 cm
        # which is why we will specify 0.01 as the eef_step in Cartesian
        # translation.  We will disable the jump threshold by setting it to 0.0 disabling:
        (plan, fraction) = group.compute_cartesian_path(
                                        waypoints,   # waypoints to follow
                                        0.01,        # eef_step
                                        0.0)         # jump_threshold
        # Note: We are just planning, not asking move_group to actually move the robot yet:
        return plan, fraction

    def execute_plan(self, plan):
        self.move_group.execute(plan, wait=True)

if __name__ == '__main__':
    staubli_client = StaubliScanning()

    cartesian_plan, fraction = staubli_client.plan_cartesian_path()
    staubli_client.execute_plan(cartesian_plan)

3. Here is JointTrajectory echo. (not sure this is what you want it)

Click to expand

```yaml header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "world" joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] points: - positions: [8.984721353044733e-05, -7.29592502466403e-05, 1.570841908454895, 9.955798304872587e-06, -6.395226137101417e-06, 5.43393507541623e-05] velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] accelerations: [1.0972908186883566e-06, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [] time_from_start: secs: 0 nsecs: 0 - positions: [8.987452127156075e-05, 0.00020325460611130908, 1.5940972906461932, 3.3135201985192654e-06, -0.02353799127288175, 6.096687148706354e-05] velocities: [-1.2549447011563065e-07, 0.005186290702174723, 0.17705309399837535, -3.7070625877887165e-05, -0.18223938469779682, 3.703820998659548e-05] accelerations: [-3.157901652404273e-06, 0.05029543141608009, 0.9275748822524272, -9.296514627477216e-05, -0.97787031368548, 9.339484343213015e-05] effort: [] time_from_start: secs: 0 nsecs: 223098687 - positions: [8.984057894206818e-05, 0.0010336074343953866, 1.6168110274231562, -7.1969893397341e-07, -0.047082080877999644, 6.500021020297984e-05] velocities: [-1.5998818320684803e-07, 0.01447035002663304, 0.28345876790027147, -1.9233842258844927e-05, -0.2979291179261413, 1.923258858881137e-05] accelerations: [5.306264002473948e-06, 0.13267592510564563, 0.8352325679855467, 0.0006249717671858621, -0.9679084931075457, -0.0006250356498077812] effort: [] time_from_start: secs: 0 nsecs: 314001597 - positions: [8.98443161349672e-05, 0.002419361911771334, 1.6389936132786436, -3.068493645951555e-07, -0.07065042121085559, 6.45870931654282e-05] velocities: [3.5660753587841145e-08, 0.0261470836794232, 0.33959920989459447, 3.900723796085522e-06, -0.3657462935739525, -3.90435282377186e-06] accelerations: [-5.472149965331575e-07, 0.19544041854563662, 0.695034729947916, -6.164509152219173e-05, -0.8904751484947953, 6.165106547622397e-05] effort: [] time_from_start: secs: 0 nsecs: 383967296 - positions: [8.984538715601235e-05, 0.004362488342491592, 1.6606539774083218, -1.9316696303555275e-07, -0.09425391177125256, 6.447320530184758e-05] velocities: [1.3829294872875918e-08, 0.040109730053313516, 0.38268678569012593, 1.452351467899874e-06, -0.42279651574342103, -1.4558355069424554e-06] accelerations: [-1.4530049486225037e-07, 0.2715946179499974, 0.7318464489234666, -1.5976681752913513e-05, -1.0034410668736966, 1.5974941709794867e-05] effort: [] time_from_start: secs: 0 nsecs: 443777941 - positions: [8.984589854988419e-05, 0.006865592943575375, 1.6817996262196822, -1.4051594638648102e-07, -0.1179026651836961, 6.442036901667399e-05] velocities: [7.524700667620386e-09, 0.05085150329689997, 0.3832384791848147, 7.681390038875745e-07, -0.43408998248170716, -7.71447680377554e-07] accelerations: [-8.153612213407354e-08, 0.11423024936420088, -0.7317338860995972, -8.635288385606949e-06, 0.6175036367352388, 8.643496578827004e-06] effort: [] time_from_start: secs: 0 nsecs: 496219308 - positions: [8.984619952190114e-05, 0.009931828025301214, 1.7024367552900697, -1.1027599069319267e-07, -0.14160602933580926, 6.438995382502277e-05] velocities: [4.161786882711373e-09, 0.05459520944109478, 0.3346347545651178, 4.149915111344799e-07, -0.38922996400621046, -4.1782099113961894e-07] accelerations: [-3.70586148782136e-08, 0.020348151443757692, -0.9336564184573699, -3.8265721603112394e-06, 0.9133082670135786, 3.834891698061887e-06] effort: [] time_from_start: secs: 0 nsecs: 553031407 - positions: [8.98463986029296e-05, 0.01356480974177851, 1.7225703442543039, -9.068942125328222e-08, -0.1653726000165207, 6.437019787468178e-05] velocities: [2.383636585953827e-09, 0.05339529902568539, 0.27344374346273537, 2.3290490078606332e-07, -0.32683904248841933, -2.3520851702023802e-07] accelerations: [-1.744038431412471e-08, -0.04951924495278928, -0.8845178848135159, -1.7595617454863105e-06, 0.9340371297663117, 1.7669168602367488e-06] effort: [] time_from_start: secs: 0 nsecs: 618823762 - positions: [8.984654054634958e-05, 0.017768537567737937, 1.7422042413781293, -7.698663285841926e-08, -0.18921022496630546, 6.435632939169237e-05] velocities: [1.304610332755958e-09, 0.04522998398682293, 0.19830078291933856, 1.2521065168284509e-07, -0.24353076690616038, -1.268914807844951e-07] accelerations: [-8.547357842779449e-09, -0.12410570157887005, -0.8330756179274355, -8.394705895556929e-07, 0.9571813195062954, 8.463577023845867e-07] effort: [] time_from_start: secs: 0 nsecs: 700336069 - positions: [8.984664719148785e-05, 0.022547314626312084, 1.7613412394548258, -6.687145595395143e-08, -0.21312600010157598, 6.4346050912872e-05] velocities: [9.4068210614633e-10, 0.05204902874832252, 0.19129921034155356, 8.84240410593464e-08, -0.24334823908987657, -9.007276562502885e-08] accelerations: [1.4207947126278563e-09, 0.2567253720480133, 0.6938206646191694, 1.1918173549104666e-07, -0.9505460366672047, -1.2542046545100636e-07] effort: [] time_from_start: secs: 0 nsecs: 823220854 - positions: [8.984673047324985e-05, 0.027905668037819954, 1.7799831445217487, -5.910352147833132e-08, -0.23712625858000685, 6.433812122095692e-05] velocities: [1.0094342901948492e-09, 0.07718428600927316, 0.24957154859232222, 9.339420200788854e-08, -0.3267558346015966, -9.558480093202981e-08] accelerations: [-1.0975082253652814e-10, 0.32184551174385734, 0.6102378458161937, -3.062874547621324e-08, -0.9320833575600391, 2.4660515346696252e-08] effort: [] time_from_start: secs: 0 nsecs: 905391857 - positions: [8.984679748186855e-05, 0.03384827674703555, 1.7981308693632654, -5.29545683123757e-08, -0.2612165921307392, 6.433181145982794e-05] velocities: [9.780241301109744e-10, 0.1008511076390701, 0.28822861935642025, 8.907655859448722e-08, -0.3890797269954912, -9.166394770132255e-08] accelerations: [-8.766452689207627e-10, 0.37509029723438564, 0.5117641096030955, -1.0195292845348557e-07, -0.886854406837484, 9.634733162405543e-08] effort: [] time_from_start: secs: 0 nsecs: 972043826 - positions: [8.98468526566244e-05, 0.04037985725589049, 1.8157843648509169, -4.796935637319257e-08, -0.2854016681272457, 6.432666594484612e-05] velocities: [9.200946506377666e-10, 0.12469569183445336, 0.31686377922847025, 8.252129573877483e-08, -0.44155947106292415, -8.544017220752598e-08] accelerations: [-1.1117820948236577e-09, 0.44148647569252175, 0.46074759750870165, -1.226916536775794e-07, -0.9022340732012082, 1.1699700817553679e-07] effort: [] time_from_start: secs: 1 nsecs: 30079916 - positions: [8.98468989698645e-05, 0.04750512925790033, 1.8329428707768805, -4.384855445478518e-08, -0.30968544605521914, 6.432238500409115e-05] velocities: [8.54985715193077e-10, 0.14865986478429982, 0.33786501827797216, 7.552731262005629e-08, -0.48652488306227076, -7.87298537494297e-08] accelerations: [-1.3775301765028812e-09, 0.4715452610296948, 0.3320961534295085, -1.4438683587419054e-07, -0.8036414144591495, 1.3932023841193006e-07] effort: [] time_from_start: secs: 1 nsecs: 82146985 - positions: [8.9846938459859e-05, 0.05522869794304436, 1.8496048320414775, -4.038747352889399e-08, -0.3340709760049601, 6.431876367514878e-05] velocities: [7.880147861421474e-10, 0.17243131940533285, 0.35206370736699766, 6.857654550215661e-08, -0.524495026772327, -7.201936674933146e-08] accelerations: [-1.3920496091733036e-09, 0.512812198782103, 0.2521233016542568, -1.4295691999191115e-07, -0.7649355004363152, 1.3809595002421384e-07] effort: [] time_from_start: secs: 1 nsecs: 130277373 - positions: [8.984697257716291e-05, 0.06355497449100954, 1.8657679830361569, -3.744140709915052e-08, -0.35856040354760443, 6.431565702706143e-05] velocities: [7.27447035975736e-10, 0.19699765048825707, 0.3627096533386128, 6.237599134487454e-08, -0.559707303826865, -6.6044131031063e-08] accelerations: [-1.280694533181051e-09, 0.5745079673729501, 0.21719543267185626, -1.3063411004790382e-07, -0.7917034000447937, 1.25532246354265e-07] effort: [] time_from_start: secs: 1 nsecs: 175432954 - positions: [8.984700238243745e-05, 0.07248808626245028, 1.8814293957134012, -3.49051813195143e-08, -0.38315492799628925, 6.431295969785098e-05] velocities: [6.753751252829984e-10, 0.2230510408312254, 0.3715261282153077, 5.707086477215805e-08, -0.5945771690465326, -6.09654720267683e-08] accelerations: [-1.155497473774392e-09, 0.6482383621846384, 0.19526400619028, -1.1755799293831858e-07, -0.8435023683751453, 1.12037454531715e-07] effort: [] time_from_start: secs: 1 nsecs: 218051860 - positions: [8.984702866948663e-05, 0.08203178476782456, 1.8965855269117897, -3.270053177919793e-08, -0.40785475770005225, 6.43105932629942e-05] velocities: [6.2678814476324e-10, 0.24908680315483034, 0.37645055153023166, 5.220847446072166e-08, -0.625537354685065, -5.6307523849383405e-08] accelerations: [-1.2437858572780529e-09, 0.636043669669453, 0.04415736107101878, -1.2246045544789062e-07, -0.6802010307404108, 1.1791701461475486e-07] effort: [] time_from_start: secs: 1 nsecs: 258406166 - 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positions: [8.984731057108588e-05, 1.2122126262431263, 1.8658049829424774, -1.2181681264199744e-08, -1.5072550552060417, 6.42811980319341e-05] velocities: [-4.774507348944055e-06, 0.0727949122236566, -0.10767786381162434, -4.783954740007109e-06, 0.03488295158798359, 3.012828489596277e-07] accelerations: [-5.627194160232063e-05, -0.7471503891520538, -0.24536828852975426, -5.6383798154679405e-05, 0.9925186776819946, 3.557999343375963e-06] effort: [] time_from_start: secs: 3 nsecs: 453892285 - positions: [8.817390212975454e-05, 1.2138601662135096, 1.8432867082246613, -1.688908910654909e-06, -1.4863843204586034, 6.43868997571384e-05] velocities: [-1.3852300771247286e-05, 0.016506733642158527, -0.19293612629836968, -1.3910349282043088e-05, 0.17642939265482013, 1.2623490515255214e-06] accelerations: [-6.519547640464688e-05, 0.10764694837029018, -0.9762688465551238, -6.578800573370637e-05, 0.8686218981632795, 9.986692416616823e-06] effort: [] time_from_start: secs: 3 nsecs: 629136358 - positions: [8.656205917723836e-05, 1.2159564324455305, 1.8204370423286047, -3.309377579900013e-06, -1.4656309207948175, 6.45574920927729e-05] velocities: [-2.0337947949514717e-05, 0.030194582538953303, -0.29674034885568024, -2.050052748258571e-05, 0.2665457663106723, 2.6407657856711847e-06] accelerations: [-5.533149867007954e-05, 0.16689279425737044, -0.998051465127149, -5.699016916094108e-05, 0.8311586707876096, 1.823547925837488e-05] effort: [] time_from_start: secs: 3 nsecs: 717915811 - positions: [8.500845260613941e-05, 1.2184935708412286, 1.7972501917001775, -4.878713175319032e-06, -1.4449812085627296, 6.47892882474813e-05] velocities: [-2.3955524172477318e-05, 0.0435600676574702, -0.36741156998089575, -2.4277066496787306e-05, 0.32385150230904436, 4.1350274659742025e-06] accelerations: [-4.484940196123859e-05, 0.21196286388915747, -0.9783050930813648, -4.77725280312444e-05, 0.766342229033283, 2.4218985127415238e-05] effort: [] time_from_start: secs: 3 nsecs: 786902719 - positions: [8.350999175479998e-05, 1.221464617514339, 1.773719430497286, -6.401670671519787e-06, -1.4244214940340976, 6.507906012966757e-05] velocities: [-2.6316522708197577e-05, 0.05718455321519742, -0.42429867933629606, -2.6852060169766094e-05, 0.3671141260948351, 5.703886707301171e-06] accelerations: [-3.303359758535327e-05, 0.24411719447991778, -0.9127609922387738, -3.733156731538097e-05, 0.6686437975163386, 2.8325366582374093e-05] effort: [] time_from_start: secs: 3 nsecs: 845918760 - positions: [8.206380276312548e-05, 1.2248635145962194, 1.7498370739073348, -7.882683663143861e-06, -1.4039380345277817, 6.542399904570552e-05] velocities: [-2.7873394142634873e-05, 0.0710125918844739, -0.47233611159905053, -2.8677262715090883e-05, 0.4013235196730756, 7.307222194417235e-06] accelerations: [-2.47286972100393e-05, 0.27376195308739154, -0.8799543247986673, -3.0523199869147375e-05, 0.6061923713805274, 3.1719756535541555e-05] effort: [] time_from_start: secs: 3 nsecs: 899004902 - positions: [8.066720995255044e-05, 1.2286851242740784, 1.7255944211886445, -9.32590783142683e-06, -1.3835169914893972, 6.582168241857443e-05] velocities: [-2.8840067541712754e-05, 0.08483475740731491, -0.5134570152394557, -2.9963039217083944e-05, 0.4286222577724475, 8.905115939384331e-06] accelerations: [-1.4092939721221712e-05, 0.287062519293208, -0.783797716704256, -2.1283521783671357e-05, 0.4967351970015379, 3.310848423405664e-05] effort: [] time_from_start: secs: 3 nsecs: 948000455 - positions: [7.931771912237176e-05, 1.2329252474354986, 1.7009816890111795, -1.0735260437382297e-05, -1.3631443824765646, 6.62700459817508e-05] velocities: [-2.9415767285020888e-05, 0.09874324148672933, -0.5501114481371598, -3.0909316526812456e-05, 0.4513682065697752, 1.0498676244359548e-05] accelerations: [-1.0642228278576268e-05, 0.313480397026979, -0.7973626074837025, -1.9477879032344842e-05, 0.48388220995985254, 3.5686436752547414e-05] effort: [] time_from_start: secs: 3 nsecs: 994254459 - positions: [7.801300253841653e-05, 1.2375806477710938, 1.6759879336992767, -1.2114456588579973e-05, -1.3428060275042986, 6.676736095146656e-05] velocities: [-2.98443989225343e-05, 0.11321142812001378, -0.5861008573841974, -3.176723788583272e-05, 0.4728894291596175, 1.2134514212931698e-05] accelerations: [-8.766295932942236e-06, 0.34389099060760836, -0.8369747805125057, -1.9458599483400467e-05, 0.4930837893143222, 3.8626970802256305e-05] effort: [] time_from_start: secs: 4 nsecs: 38249666 - 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positions: [6.41124504805946e-05, 1.3364864976155564, 1.3084970184395603, -2.9237370602806525e-05, -1.0742209622540384, 7.816371668059321e-05] velocities: [-2.7524105048199356e-05, 0.3026547287122179, -0.920535768021834, -4.3357782668741197e-05, 0.6178810385143982, 4.319426613363936e-05] accelerations: [0.00018591336822805626, 0.3156341178892215, -0.30018558607062573, 0.00034172100949400857, -0.015448520712683886, -0.0005453772342572793] effort: [] time_from_start: secs: 4 nsecs: 519771795 - positions: [6.326054557161042e-05, 1.3472977062615206, 1.2760179641939156, -3.0549458782480974e-05, -1.0525531166754627, 7.934548301384074e-05] velocities: [-2.3408327710526078e-05, 0.30830463102506556, -0.9153637850948559, -3.6864181474170216e-05, 0.607059153459636, 3.375102361136575e-05] accelerations: [4.864849462250762e-05, 0.008139343406310257, 0.5792122631287707, 2.9781318388990453e-05, -0.5873516070131355, 3.6972302803454324e-06] effort: [] time_from_start: secs: 4 nsecs: 554855079 - positions: [6.24316946464678e-05, 1.3586430698696637, 1.2427320404062094, -3.188570760717645e-05, -1.0306125565186581, 8.058934808076508e-05] velocities: [-2.1617068162153642e-05, 0.3070036071259754, -0.8907381396365623, -3.5690672519360885e-05, 0.5837345318866621, 3.372520822667094e-05] accelerations: [4.84341472230814e-05, -0.0764223015819505, 0.7508524511390917, 3.371329903391157e-05, -0.6744301498307496, -4.870766366241391e-06] effort: [] time_from_start: secs: 4 nsecs: 591636833 - positions: [6.162504720944033e-05, 1.3705502268958458, 1.2085751764921069, -3.3251649821575e-05, -1.0083628496552532, 8.189998366414975e-05] velocities: [-1.98538496591109e-05, 0.30408811067355745, -0.8631027282892578, -3.449347062540267e-05, 0.5590146169816889, 3.3555356339555126e-05] accelerations: [4.2152248424819946e-05, -0.07315635376590544, 0.6684666707356604, 2.7840322041505826e-05, -0.5953103172141591, -3.867044398832394e-06] effort: [] time_from_start: secs: 4 nsecs: 630605609 - positions: [6.083981866013408e-05, 1.3830516748460642, 1.1734739988884835, -3.465351784291908e-05, -0.9857631200282423, 8.328297377393272e-05] velocities: [-1.82268809127573e-05, 0.301162266477335, -0.8370678725816254, -3.345306909077642e-05, 0.5359056054606308, 3.341993003194951e-05] accelerations: [3.669389774413023e-05, -0.06848489234508746, 0.5928889296314004, 2.2630084066851284e-05, -0.5244040375091572, -2.7164200478226574e-06] effort: [] time_from_start: secs: 4 nsecs: 671916339 - positions: [6.0075275044257806e-05, 1.3961858353856986, 1.1373436088191489, -3.6098446705853506e-05, -0.9627668905269575, 8.474502434808471e-05] velocities: [-1.664495759503394e-05, 0.29681941915416443, -0.8086616181383812, -3.240618059755491e-05, 0.5118421983343524, 3.316474038854778e-05] accelerations: [3.527792106062225e-05, -0.12708156497736597, 0.6953637849845742, 2.489615315908592e-05, -0.5682822200715951, -8.69343078715565e-06] effort: [] time_from_start: secs: 4 nsecs: 715740017 - positions: [5.933073694085043e-05, 1.4099983209139677, 1.1000850525359902, -3.759470873426703e-05, -0.9393208198026749, 8.629421903402612e-05] velocities: [-1.5039771675636656e-05, 0.28973648736756374, -0.774364449239402, -3.12063593290528e-05, 0.4846279612222447, 3.2641424086202815e-05] accelerations: [3.284908313475077e-05, -0.17145391780892086, 0.756026620597754, 2.5919413085479126e-05, -0.5845727027180648, -1.3313039740423957e-05] effort: [] time_from_start: secs: 4 nsecs: 762731781 - positions: [5.860558116291842e-05, 1.4245436239686815, 1.061581927581869, -3.9152030410920154e-05, -0.9153629979362694, 8.794036479803728e-05] velocities: [-1.3451818760716317e-05, 0.2803640095630775, -0.7356044869134926, -2.9902769812928883e-05, 0.45524047670684775, 3.189650923830583e-05] accelerations: [2.9380859072712743e-05, -0.19399948223375174, 0.7591683279207937, 2.508064389603248e-05, -0.5651688455260768, -1.5707028001106984e-05] effort: [] time_from_start: secs: 4 nsecs: 813671630 - positions: [5.789924427783212e-05, 1.4398873766742257, 1.0216958496709148, -4.078202022077677e-05, -0.8908206727665035, 8.96954609080893e-05] velocities: [-1.2621488250909985e-05, 0.285839983808473, -0.7363364149862947, -3.030530922215497e-05, 0.4504964305055409, 3.2908988804898466e-05] accelerations: [1.6879967045171652e-06, 0.3856504594166546, -0.7597372700042316, -3.8799323835748614e-05, 0.37408680939242933, 5.1831062812239844e-05] effort: [] time_from_start: secs: 4 nsecs: 869428729 - positions: [5.721122874350444e-05, 1.4561094325249622, 0.9802602755736644, -4.2498758809048546e-05, -0.8656071545585783, 9.157434773601881e-05] velocities: [-1.2516541196988898e-05, 0.3081173628947629, -0.7801198356963573, -3.26144854187166e-05, 0.47200247205936163, 3.595913811443901e-05] accelerations: [2.150309143004267e-06, 0.4286207188568227, -0.8405791079792495, -4.562580562775136e-05, 0.411958387760437, 5.967402089646006e-05] effort: [] time_from_start: secs: 4 nsecs: 924142261 - positions: [5.6541112965025625e-05, 1.473308166538855, 0.9370718899093677, -4.431963288884799e-05, -0.8396175029500857, 9.359562484529442e-05] velocities: [-1.2347498625273052e-05, 0.33144197844996826, -0.8252046488799754, -3.518069600478394e-05, 0.49376266961183357, 3.9298029140947714e-05] accelerations: [4.134374640196223e-06, 0.4368363115326161, -0.8321309212523664, -4.9612960184681316e-05, 0.3952946082635378, 6.423691169611296e-05] effort: [] time_from_start: secs: 4 nsecs: 977931339 - positions: [5.588856747713732e-05, 1.4916066372047407, 0.8918782689711524, -4.626654661347025e-05, -0.812722352723466, 9.578298512818827e-05] velocities: [-1.2050361641989963e-05, 0.3541935978171333, -0.867517838826062, -3.787755531633003e-05, 0.5133242401122429, 4.277530541479076e-05] accelerations: [6.977834137903622e-06, 0.41373838590574646, -0.7497116682144083, -5.1214832989718314e-05, 0.33597328082955213, 6.576779724923142e-05] effort: [] time_from_start: secs: 5 nsecs: 31257888 - positions: [5.525338112536038e-05, 1.5111616984819405, 0.8443596450400963, -4.836773902832053e-05, -0.7847587901197333, 9.816721564689925e-05] velocities: [-1.1465590586691655e-05, 0.37084150765178625, -0.8938825085398665, -4.0157604998798105e-05, 0.5230409999242811, 4.5749321696152246e-05] accelerations: [1.4569106517302608e-05, 0.20460445534075522, -0.23169638541107992, -3.3346943669763664e-05, 0.027091929061008227, 4.4507918769563684e-05] effort: [] time_from_start: secs: 5 nsecs: 84797135 - positions: [5.4635512017426045e-05, 1.5321775974701577, 0.7941017228711714, -5.0660586490651196e-05, -0.7555167669943739, 0.00010078927789311896] velocities: [-1.0323442541882885e-05, 0.3697362654672462, -0.8773632788503348, -4.07649599380289e-05, 0.5076270123953082, 4.674893558612903e-05] accelerations: [2.5106900736853976e-05, -0.22614208956062837, 0.7714437074956849, 1.0275543978229988e-05, -0.5453016178130204, -7.335630300579466e-06] effort: [] time_from_start: secs: 5 nsecs: 140625776 - positions: [5.4035130579260275e-05, 1.5549300659591747, 0.740547391933995, -5.3196355350439934e-05, -0.7247149046078947, 0.00010370553679900917] velocities: [-8.836722158176986e-06, 0.354367960467756, -0.8277021065073805, -4.004805030392516e-05, 0.47333414506404037, 4.6135272641386584e-05] accelerations: [2.2074573218950285e-05, -0.257577344497252, 0.7965200390005323, 1.2256514293298072e-05, -0.5389426942483135, -1.1776621426724568e-05] effort: [] time_from_start: secs: 5 nsecs: 203298411 - positions: [5.345280186736124e-05, 1.5798022545010586, 0.6829249931361733, -5.604803415740271e-05, -0.6919646944215303, 0.00010699633797988813] velocities: [-7.344475999167197e-06, 0.33421457850404146, -0.7683397803806087, -3.901089084368524e-05, 0.4341252009257943, 4.5042280085539485e-05] accelerations: [1.9051457523562802e-05, -0.2919938901218807, 0.8277150792037035, 1.5882011381267742e-05, -0.5357211886691707, -1.77121878696577e-05] effort: [] time_from_start: secs: 5 nsecs: 275245900 - positions: [5.2889713169790314e-05, 1.607356683234832, 0.6201043083055965, -5.932541956463776e-05, -0.6566984384045175, 0.00011078253268561637] velocities: [-6.922157037888012e-06, 0.318066356060231, -0.7193142717201629, -4.444976398452415e-05, 0.40124791453945885, 5.080046127489491e-05] accelerations: [-7.082716379540926e-06, -0.1010103145233387, 0.35672954221464187, -0.00013133162587472346, -0.25571923171841376, 0.00013980671054857156] effort: [] time_from_start: secs: 5 nsecs: 360625107 - positions: [5.2169874710936734e-05, 1.6384774239643207, 0.5503122208599278, -6.434136614621721e-05, -0.6180270918180627, 0.0001164679555387063] velocities: [-5.679152540825914e-06, 0.30199930504035455, -0.6716751510713594, -4.4782636419394986e-05, 0.36967584490582817, 5.108503355396944e-05] accelerations: [2.8040850156505767e-05, -0.20366864849574298, 0.5566878222801419, 0.00010235134870236404, -0.35301917054763765, -0.00011020258954959691] effort: [] time_from_start: secs: 5 nsecs: 459924623 - positions: [5.16576247962484e-05, 1.674703413309222, 0.4704660481654764, -6.92096261292445e-05, -0.5744069085861864, 0.0001220670790190367] velocities: [-4.210131297517758e-06, 0.280869757683875, -0.613462686059429, -4.5086419519145776e-05, 0.3325929272687521, 5.090070143047358e-05] accelerations: [-1.3989069510820152e-06, -0.134725441102242, 0.3746038634695985, -8.35888036200146e-05, -0.23987842462317033, 8.291666463117459e-05] effort: [] time_from_start: secs: 5 nsecs: 584585684 - positions: [5.095013843541319e-05, 1.7192000578645121, 0.37423038379656576, -7.759893260144759e-05, -0.5226678889809253, 0.00013140258844408296] velocities: [-2.6903078633638694e-06, 0.19602961067240765, -0.42100571474493637, -3.735066412300127e-05, 0.2249761031611579, 4.151748118476859e-05] accelerations: [9.538381650365354e-06, -0.44204121890524084, 0.9734479082583061, 8.103676223635658e-05, -0.5314066872445927, -9.044643031864929e-05] effort: [] time_from_start: secs: 5 nsecs: 748692957 - positions: [5.039871312302024e-05, 1.78154344816012, 0.2424484940409218, -8.975688463229239e-05, -0.45322938980605815, 0.0001448845225596476] velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] accelerations: [4.148588366343691e-06, -0.46903371659963855, 0.9914467153540105, 9.146902983986422e-05, -0.5224129966089346, -0.00010142986506173747] effort: [] time_from_start: secs: 6 nsecs: 264287337 --- ```

4. Wireshark log wireshark_log.zip

I got the Wireshark network traffic log.

gavanderhoorn commented 3 years ago

According to the SimpleMessage traffic (in your wireshark capture), the robot never enabled the drives, nor was it taken out of MANUAL mode:

ROS-Industrial SimpleMessage, Status (0x0d), 44 bytes, little-endian
    Prefix
        Packet Length: 40
    Header
        Message Type: Status (0x0000000d)
        Communications Type: Topic (1)
        Reply Code: Unused / Invalid (0)
    Body
        Drives Powered : False (0)
        E-Stopped      : False (0)
        Error Code     : 0
        In Error       : False (0)
        In Motion      : False (0)
        Mode           : Manual (1)
        Motion Possible: False (0)

Notice how Motion Possible is False, and Drives Powered is also False.

That would make motion impossible.

Two things:

if you run your robot in MANUAL mode, you cannot let go of the teach pendant. Please refer to the Staubli documentation on how to run programs in manual mode
test out ros-industrial/industrial_core#271: it should print an error and refuse to accept the FollowJointTrajectory goal when the robot does not report it's capable of executing motion

gavanderhoorn commented 3 years ago

As I don't believe there is a problem right now with staubli_val3_driver, I'm closing this issue.

If it turns out there is a problem, we can re-open.

benthebear93 commented 3 years ago

@gavanderhoorn
Sorry for bad issue. Yes it was MANUAL mode problem. changing mode solved problem thx for the help!

gavanderhoorn commented 3 years ago

No problem.

Note: running your program(s) in manual mode is not a problem necessarily.

The problem is not holding the teach pendant (depressing the deadman switch, etc).

That will make the robot controller disable the drives.

ros-industrial / staubli_val3_driver

val3 controller only get limited trajectory into buffer. (unable to fully excute the trjaectory) #42