Originally I addressed this issue/question at ur_modern_driver issues, but as I didn't get an answer I will try my luck in here. As I am confused what even causes the problem, my someone can help about this
- **ROS Kinetic, Ubuntu 16.04**
- **Universal Robots Software 3.5.1.10661**
- **UR5**
**1. Issue**
While using ur_modern_driver standard trajectory follower together with MoveIt, I encountered that
`moveit::planning_interface::MoveItErrorCode::SUCCESS`
from
```
move_group_ptr->plan(my_plan);
success = move_group_ptr->execute(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
```
gives premature success that results in **C204A3: Protective Stop: Invalid setpoints: Sudden stop**. In result, there is a rapid stop, but if the protective stop isn't triggered after this stop the given trajectory stops really hard and the next one starts as can be seen in this picture ->
**Image 1**
although it should look something like this (letting trajectory finish with delay insertion after receiving success from moveit) ->
**Image 2**
Basically, it should work as follows -> Trajectory execution -> when trajectory ends I get success and start to execute next trajectory. But happens this -> Trajectory execution -> Premature success of this trajectory -> next trajectory execution is started before the previous one is ended that results in sudden/rapid stop. I don't know if it is connected with **ur_modern_driver** or **MoveIt**, so I am confused where I should be looking for a solution because **lowbandwidth_trajectory_follower** doesn't give me premature success what leads me to **2. Issue**. It knows it is somehow connected with that MoveIt trajectory execution time is lower than actual trajectory execution time, but I don't where and how it happens. Is it an issue or I am just missing something?
**2.Issue**
The second issue happens when **lowbandwidth_trajectory_follower** is used, the same movement code as with standard trajectory follower is used. As can be seen in image 3 there is high deacceleration in final moments of trajectory what results in stop that is not soft as it should be - Image 2.
**Image 3**
Again is this issue or I am again just missing something?
If any additional information is needed, please don't hesitate to ask, I would really appreciate any hints and information about this situation.
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