ROS version: Noetic
Robot arms: UR5e
Problem Description
For certain target positions I get a PATH_TOLERANCE_VIOLATED Warning when I use the compute_cartesian_path method. The full warning output can be seen below. I simply want to understand the possible reasons as to why I get this warning. Is it the set Joint limits of the arms or something else?
[ INFO] [1690693497.923891788, 177.556000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1690693497.923954343, 177.556000000]: Planning attempt 1 of at most 1
[ INFO] [1690693497.926018786, 177.558000000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1690693497.926230075, 177.558000000]: manipulator/manipulator: Starting planning with 1 states already in datastructure
[ INFO] [1690693497.938340679, 177.570000000]: manipulator/manipulator: Created 4 states (2 start + 2 goal)
[ INFO] [1690693497.938408338, 177.570000000]: Solution found in 0.012261 seconds
[ INFO] [1690693497.942877641, 177.575000000]: SimpleSetup: Path simplification took 0.004382 seconds and changed from 3 to 2 states
[ WARN] [1690693497.948616691, 177.581000000]: Controller 'scaled_pos_joint_traj_controller' failed with error PATH_TOLERANCE_VIOLATED: shoulder_pan_joint path error -0.809201
[ WARN] [1690693497.948692896, 177.581000000]: Controller handle scaled_pos_joint_traj_controller reports status ABORTED
[ INFO] [1690693497.948735080, 177.581000000]: Completed trajectory execution with status ABORTED ...
ROS version: Noetic Robot arms: UR5e Problem Description For certain target positions I get a PATH_TOLERANCE_VIOLATED Warning when I use the
compute_cartesian_pathmethod. The full warning output can be seen below. I simply want to understand the possible reasons as to why I get this warning. Is it the set Joint limits of the arms or something else?