Controller kuka_lwr/arm_position_controller failed with error GOAL_TOLERANCE_VIOLATED:
I am trying to move a kuka LWR robot using moveit. However, I keep getting the following warnings and a "Failed" message in the Moveit! GUI when I try to execute a planned path:
[ WARN] [1593541465.160063583, 144.759000000]: Controller kuka_lwr/arm_position_controller failed with error GOAL_TOLERANCE_VIOLATED:
[ WARN] [1593541465.160203383, 144.759000000]: Controller handle kuka_lwr/arm_position_controller reports status ABORTED
[ INFO] [1593541465.160274364, 144.759000000]: Completed trajectory execution with status ABORTED ...
[ INFO] [1593541465.187368781, 144.776000000]: ABORTED: Solution found but controller failed during execution
Despite these warnings, from the simulation it seems that the execution of the path is being completed successfully. The video of the execution can be seen at the following link: https://drive.google.com/file/d/1KjfS6Ltia3UOb38qhk_fuyS2gJ8GbHkE/view?usp=sharing
I would be very grateful if someone could help me figure out how to avoid getting these warnings and receive a "Success" message in the Moveit! GUI. I have attached all the required files below.
Solution Attempted: Based on suggestions from answers to other similar questions I have changed the goal tolerance at the namespace: kuka_lwr/arm_position_controller/constraints/<joint-name>/goal However, no matter how high I set the goal tolerance, the problem persists.
Additional issues Sometimes I also receive the error "PATH_TOLERANCE_VIOLATED"
Software Versions
Ubuntu 18.04.4
ROS Melodic
Gazebo 9.0.0
Attached Files
The entire ROS package can be accessed here
The launch file that I am using is kuka_moveit_config/launch/demo_gazebo.launch
My controller config yaml file is kuka_moveit_config/config/ros_controllers.yaml
My robot urdf can be accessed here
The STL files required for the urdf can be accessed here at the path lmtlwr/model/meshes_arm
