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v4r-tuwien / grasping_pipeline

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Missed Grasp #7

Open ChristianXEder opened 2 years ago

ChristianXEder commented 2 years ago

Command: G - 2

The robot has started its movement and stopped in between. After a few seconds he resumed his movement but missed his grasp point. This was sometimes recognized and sometimes not. Maybe a problem with MoveIt and replaning.

hoenigpeter commented 2 months ago

@lexihaberl whats the status on this, can be closed?

lexihaberl commented 2 months ago

This is still an issue but I have no idea how to fix it. I only saw it occur when e.g. a human came close to the robot so its very likely because of replanning. In some of these cases we get error messages that say that e.g. the base could not be controlled/didn't accept the new commands, so it might be an issue with the ROS- or MoveIt-wrapper from Toyota not properly handling this case. If this is indeed the case, then the only solution would be to disable replanning altogether (or wait until toyota has fixed this).