motoman Mh180: Error in executing trajectory using MoveGroupSequence action #257
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borsesaurabh2022
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Replies: 2 comments 14 replies
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could you please share your MoveIt configuration?
could you share the code you're using to plan motions? How many trajectory points would you say/guess are in the sequence? Note: this is about the final Finally: please start an instance of the debug log client, restart your robot controller and attempt to execute a motion again. Post the full log out here in a comment. Please do not use screenshots. |
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Hi, i tried reducing the trajectory points to less than 200, around 160-185 but still action server was unable to process and execute the MotionSequnce() where as it works well with MotionPlan(). please find the below log for your reference, you can clearly spots with MotionPlanRequest(), having 24 trajectory points it executes the motion, but as soon as I give a MotionSequence() goal the server does not process the trajectory. Regarding proxy node, I am currently working on it. debug_log file: Click to expandmoveit_log: Click to expand |
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Thanks for the update.
I don't see the length of the trajectories being printed in the logs. Do you have something printing that? Given the complexity of your setup, it's difficult for me to reproduce your problem. The Python code you shared in #257 (reply in thread) includes too much functionality. I'm willing to help, but things would be easier if you could provide us with a (minimal reproducible example](https://stackoverflow.com/help/minimal-reproducible-example). If this is an issue with MotoROS2, just using In addition: a wireshark trace of the network traffic between your ROS PC and the Yaskawa controller could help as well. |
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Thanks for your support.
Currently, I am using a pilz_industrail_planner pipeline to plan PTP(point-to-point), LIN(Linear), and CIRC(Circular) trajectories and a combination of all for complicated motion. The velocity profile configured for these planner IDs is trapezoidal, as a result, I am experiencing a jittery motion between two successive waypoints. so,
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Quick comment:
you could be running into #43. |
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We'd certainly be interested in any improvements you'd be willing to share. Please be aware of #85 though. Ideally we'd coordinate work like this to avoid duplication of effort. |
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@borsesaurabh2022: just curious: have you been able to implement something? In the meantime zakjeens/yaskawa_executor was also shared, which is another example (in C++) of a client for the point queueing functionality. |
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Hi,
I am working on a project involving the Motoman MH180 robot. Using the URDF file, I created a Webots simulation and configured MoveIt2. In the simulation, I can execute motion plans for a single goal pose using the MoveGroup() action and waypoint trajectories using the MoveGroupSequence() action. and it works.
However, after configuring the MoveIt2 on the actual robot, I can only execute motion plans with the MoveGroup() action. When attempting to perform a waypoint trajectory using MoveGroupSequence(), the action server(follow_joint_trajectory) accepts the trajectory but cannot execute it, and displays no error code/message for troubleshooting. @gavanderhoorn could you please give any suggestion in this direction?
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