Do not need to execute planned trajectories on real robot.#105
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peifeng-unity
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* Do not need to execute planned trajectories on real robot. (#105) * Sarah/readme update (#112) * Mpinol/simrealrebased (#107) * Dextra/pose estimation (#122) * Split tutorial part 4 (#146) * Update with new instructions (#147) * Update tutorial text (#148) Co-authored-by: mpinol <mpinol@users.noreply.github.com> Co-authored-by: sarah-gibson <72100462+sarah-gibson@users.noreply.github.com> Co-authored-by: Sarah <sarah.wolf32@gmail.com>
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https://jira.unity3d.com/browse/AIRO-370
The
No data available on network stream after 10 attempts.error is being thrown because mover is taking too long to return the trajectories to be executed. If either the time between attempts or number of attempts is increased the error goes away.That being said, why would such a simple trajectory take so long?
move_group.go()attempts to execute the planned trajectory on a physical robot which is causing most of the overhead.move_group.plan()is really all we need.I also noticed that the TCP Connector instantiates the service's response message so the trajectories would never be null.