Hi,
I am trying to connect robot simulated in Gazebo to Moveit. Now, the controllers are connected, and I can plan a path to new position, but when I try to execute it I get a message that says
[ INFO] [1507192012.340879633, 58.846000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1507192012.340990598, 58.846000000]: Starting state is just outside bounds (joint 'joint2'). Assuming within bounds.
[ INFO] [1507192012.341003464, 58.846000000]: Starting state is just outside bounds (joint 'joint4'). Assuming within bounds.
[ INFO] [1507192012.341313537, 58.846000000]: Planner configuration 'kuka' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1507192012.341597193, 58.846000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.341756257, 58.846000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.342560344, 58.847000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.342642863, 58.847000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.353487056, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.353923877, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.354079380, 58.857000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.358001607, 58.861000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1507192012.358222673, 58.861000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.016743 seconds
[ INFO] [1507192012.358406268, 58.861000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.358705754, 58.862000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.359034194, 58.862000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.359382341, 58.862000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.359898198, 58.863000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.360337949, 58.863000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.360951677, 58.864000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.362140260, 58.865000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.362277038, 58.865000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.003942 seconds
[ INFO] [1507192012.362589475, 58.866000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.362900075, 58.866000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1507192012.363273005, 58.866000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.364108091, 58.867000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1507192012.364281877, 58.867000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.001912 seconds
[ INFO] [1507192012.365300323, 58.868000000]: SimpleSetup: Path simplification took 0.000936 seconds and changed from 3 to 17 states
[ INFO] [1507192012.365906995, 58.869000000]: Planning adapters have added states at index positions: [ 0 ]
[ INFO] [1507192012.886224556, 59.389000000]: Execution request received for ExecuteTrajectory action.
[ WARN] [1507192015.295975945, 61.796000000]: Controller kuka_kr3/joint_trajectory_controller/ failed with error code GOAL_TOLERANCE_VIOLATED
[ WARN] [1507192015.296218437, 61.796000000]: Controller handle kuka_kr3/joint_trajectory_controller/ reports status ABORTED
[ INFO] [1507192015.445005624, 61.945000000]: Execution completed: ABORTED
[ INFO] [1507192015.455095088, 61.956000000]: ABORTED: Solution found but controller failed during execution
At the same time the Gazebo console reads:
[ WARN] [1507192012.942986466, 59.446000000]: Dropping first 1 trajectory point(s) out of 18, as they occur before the current time.
First valid point will be reached in 0.250s.
Planned path
I try to set the Goal Tolerance in the Moveit Rviz GUI to the highest value, but that doesn't seem to change anything.
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