some problems and errors when using moveit with j2s6s300 #384
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Hi @Tzxtoiny, Thank you for this very detailed issue. Do you also have the error when running the motion_plan example if you do not execute the trajectory in moveit before? I feel like your third step, where you plan&execute a moveit trajectory, puts the arm/moveit in an error state (which is not normal). The motion_plan is then unable to proceed normally. I will assume there is no problem with it if you are able to run it without using moveit's motion planning first. For the Motion Planning that is not moving the arm, I think the Regards, |
Hello, tried what you said, but unfortunately, the error still occurred. after run the drive of robot and the launch file of moveit. It seems that moveit can't get the current position of the arm. As for the step3 , I try to move the arm in RIVIZ far away from its home position, the arm still didn't move at all. |
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It seems like the example is looking for the robot state ( kinova-ros/kinova_bringup/launch/kinova_robot.launch Lines 29 to 36 in 93f6682 Then this topic is passed as an argument to the move_group (which is used by moveit and the motion_plan example) Did you do any modifications to these files and/or other launch files? This is because the driver connects to the arm and publishes directly on this topic ( kinova-ros/kinova_driver/src/kinova_arm.cpp Lines 197 to 198 in 93f6682 kinova-ros/kinova_driver/src/kinova_arm.cpp Line 698 in 93f6682 The motion_plan example is a bit different from the other moveit example, but I think it should work nonetheless. Best, |
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Hi, I am getting same errors as described here. Changing goal time and goal constraints for each joint did not resolve the issue. Executing the motion_plan file also didn't work for me with the same errors, which might be due to the remapping of joint states as you mentioned @felixmaisonneuve. Since my arm is moving I am not going to look further into the motion plan, however it would be nice to know where the aborting behaviour comes from. |
And I also wonder why in RVIZ the plan is aborted, because in bring up terminal, the output means that the trajectory have been sent to the trajectory controller. [ INFO] [1647528381.050886160]: Trajectory controller Receive trajectory with points number: 3 |
Hi, @felixmaisonneuve |
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I will to test all of this on real arm somewhere this week. I will keep you two updated |
Hi, @felixmaisonneuve ！ and For some reason, there is a problem with the joint velocity control of the robotic arm, its joint velocity is limited to very small, almost the same as 0. BUT I didn't modify the limit of joint velocity in "robot_parameters.yaml", I even change it to a bigger number, but it seems not to work, here is my "robot_parameters.yaml". I set the speed limit to both 50deg/s, and in the bring up terminal, the parameters are read and set successfully. BUT obviously this modification did not work, and the robotic arm can still only move at a speed close to 0. I also tried to use the command to test the joint velocity control, but it also didn't work, the joint 1 and joint 4 moved very slowly, just like a bit more than 0. If can, I will upload a vedio. My ros version is noetic, I tried to download the latest corresponding version code on github, but it still didn't work. I also used the same a second j2s6s300 in our lab to test, but the results are the same. I want to know what is the reason for this? This problem really bothers me. THANK YOU! |
Upload.from.GitHub.for.iOS.MOV |
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Hi @Tzxtoiny, I was able to test a bit, but the arm I was using had very stiff joints (the arm couldn't even fall with its own weight when powered off) and the joints were not calibrated. When putting all joints to 180 degrees, you could clearly see the arm was not perfectly straight. I had to SetZeroPosition to all joints using Development Center and reboot the arm. Because of this issue and the stiff joints, I was unable to test properly, so I will try to test with another arm soon. For your joints 1 and 4 that moves very slowly, there might be a velocity limit set for those. I am pretty sure you can check this in Development Center. A "Reset Factory Settings" should get rid of them (if this is a the issue). I would try that first and check again if they are slow. The limits used that leads to the error message The error message is in the same file : I am sorry I cannot help you more at the moment, I am quite busy at the moment Regards, |
Hello, when I try to control the arm using the moveit, I met some problems. I will explain my steps.
the output in the terminal is below:
The arm didn't move. The output in the moveit terminial is
The output in the arm bringup terminial is
oveit/kinova_arm_moveit_demo/src/motion_plan.cpp' by the command
, then I get the error in the terminal !!
The error is "[ERROR] [1647528687.310740451]: Failed to fetch current robot state
[ INFO] [1647528688.311026840]: Didn't receive robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ERROR] [1647528688.311185578]: Failed to fetch current robot state**"
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