Controller kuka_lwr/arm_position_controller failed with error GOAL_TOLERANCE_VIOLATED:

asked 2020-06-30 14:18:57 -0500

thejose gravatar image

updated 2020-07-02 08:08:48 -0500

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

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