I am using ROS kinetic with moveit! and a Franka Emika Panda Robot arm. I launch > roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=xxx launch_rviz:=true
and it is possible to move the (physical) robot via rviz to a intended goal. But when I move the robot outside of rviz to a goal the robot should later move to again it won't work.
[ INFO] [1541579924.253244531]: ParallelPlan::solve(): Solution found by one or more threads in 0.001951 seconds
[ INFO] [1541579924.253403768]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1541579924.253485121]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1541579924.254391440]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1541579924.254624690]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1541579924.254769375]: ParallelPlan::solve(): Solution found by one or more threads in 0.001425 seconds
[ INFO] [1541579924.257346657]: SimpleSetup: Path simplification took 0.002502 seconds and changed from 3 to 2 states
[ WARN] [1541579924.272074411]: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time.
First valid point will be reached in 0.321s.
[ WARN] [1541579926.223711716]: Controller position_joint_trajectory_controller failed with error code GOAL_TOLERANCE_VIOLATED
[ WARN] [1541579926.223884099]: Controller handle position_joint_trajectory_controller reports status ABORTED
[ INFO] [1541579926.223942264]: Completed trajectory execution with status ABORTED ...
The same problem happens if I try to move the robot to a position with: > move_group.asyncMove()
I can move the robot in rviz and then move the robot with asyncMove() to a earlier saved position. But if I move the robot outside of rviz (in the real life with the buttons) the robot seems to forget its starting point (but the new position is visible in rviz).
TIA for any help and if you need more information feel free to ask.
↧