Forums Niryo One Programming Niryo One ABORTED: Solution found but controller failed during execution

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  • fferri
    Participant
    Post count: 3

    Trying to use MoveIt for a very simple motion planning task:

    import moveit_commander
    import geometry_msgs.msg
    import rospy
    import time
    rospy.init_node(‘niryo_one_example_python_api’)
    move_group_commander_name = rospy.get_param(“/niryo_one_commander/move_group_commander_name”)
    arm = moveit_commander.MoveGroupCommander(move_group_commander_name)
    path,fraction=arm.compute_cartesian_path([…],0.001,0)
    arm.execute(path)

    but the following messages are emitted:

    Loading robot model ‘niryo_one’…
    No geometry is associated to any robot links
    Loading robot model ‘niryo_one’…
    No geometry is associated to any robot links
    Ready to take commands for planning group arm.
    Received request to compute Cartesian path
    Attempting to follow 4 waypoints for link ‘tool_link’ using a step of 0.001000 m and jump threshold 0.000000 (in global reference frame)
    Computed Cartesian path with 430 points (followed 100.000000% of requested trajectory)
    Execution request received
    ABORTED: Solution found but controller failed during execution
    Controller niryo_one_follow_joint_trajectory_controller failed with error code INVALID_GOAL
    Controller handle niryo_one_follow_joint_trajectory_controller reports status FAILED
    Completed trajectory execution with status FAILED …
    Trajectory message contains waypoints that are not strictly increasing in time.
    Execution completed: FAILED
    Arm commander – Received result, WRONG GOAL ID
    Received trajectory RESULT
    Arm commander – Got a goal id : /move_group-847-1573740202.375008578

    The trajectory is a 20cm x 20cm square facing the robot, fully within robot’s reach

    fferri
    Participant
    Post count: 3

    had a typo in the code generating the waypoints. those were in fact not feasible for some reason

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