Forums Niryo One Troubleshooting Unexpected error: No trajectory defined at current time.

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  • FindingNiryo
    Participant
    Post count: 91

    Running a sequence from Niryo One Studio:

    Inside a loop to perform sequence {6 gripper commands 21 move commands} 10 times.  Executed [180] trajectories with [2] ERROR callback on a goalHandle that we’re not tracking

    Followed by [89] [ERROR] Unexpected error: No trajectory defined at current time. With the robot stopping in the middle of the sequence APPLICATION LOGS: “Sequence Command – Goal has been aborted : Trajectory timeout – Try to restart the robot”.

    Any suggestion to improve reliability appreciated.

    Edouard Renard
    Keymaster
    Post count: 219

    This kind of error is something we haven’t fixed yet, and might be caused by many different factors, such as:

    – hardware or mechanical parts not following fast enough

    – the Moveit! library itself (no secret here: ROS, actionlib, and Moveit! are not really “stable” yet)

    – computation power of Raspberry Pi 3, may cause some delays in the actionlib library that leads to this error

    I know that’s rather vague, but that’s a problem that is mostly happening within ROS (with low computation power).

    To give you more info: Moveit! will create a ROS Action client to send a goal (the trajectory) to the controller (which has a ROS Action server). ROS Actions are asynchronous and there is a callback mechanism (with topics) that allows the client to know what’s happening for the goal.

    So, if the client sends a goal A to the server, then decides to forget about it, and sends a goal B, the server might still send some data to the client for goal A. Hence, the client receives something that it does not know.

    Well, in fact when writing this I got an idea: could you try to add a small delay between each “move_…” command ? Something like 0.1-0.2 second. If I’m correct about the previous statement this could fix it. (and please tell me if I was wrong about it)

     

    FindingNiryo
    Participant
    Post count: 91

    0.2 second delay between move commands results in error within 1 minute.

    0.75 second delay between move commands resulted in successfully completing the sequence for a few minutes before “No trajectory defined” error.

    1.0 second delay between move commands: Arm commander – Received result, WRONG GOAL ID

    Controller niryo_one_follow_joint_trajectory_ controller failed with error code INVALID GOAL

    Controller handle niryo_one_follow_joint_trajectory_ controller reports status FAILED

    FindingNiryo
    Participant
    Post count: 91

    This behavior seems to be related these Troubleshooting › topics:

    Edouard Renard
    Keymaster
    Post count: 219

    Yes, and this is something we’re currently investigating. It seems not so easy to fix that with the current software architecture, and some parts may need a lot of changes. So, that’s a work in progress that will eventually succeed, however I can’t really tell you when in the near future.

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