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ABORTED: Solution found but controller failed during execution #537

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rrapi opened this issue May 30, 2022 · 1 comment
Closed

ABORTED: Solution found but controller failed during execution #537

rrapi opened this issue May 30, 2022 · 1 comment

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@rrapi
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rrapi commented May 30, 2022 •
edited

Hello everyone,

I am working on a UR5e robot with a Robotiq 2f 85 gripper directly attached. After doing the interpolation of the posiiton of some objects, I send this positions to MoveIt to get directly the Inverse Kinematics of the desired position and orientation of the end-effector depending on the object detected.
But when I send the Pose goal to the robot he giveme this error:

ABORTED: Solution found but controller failed during execution.

...and starts to make strange and dangerous movements that can collide with other objects around.
I tried various planners as RRTConnect, PRM or TRRT but no one worked. I tried also Kinematic solvers as KDL and Trac-IK but always gave me the problem.

This is the Summary when I bringup the robot:

SUMMARY
========

PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_vel_joint_traj_controller/state_publish_rate: 500
 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_vel_joint_traj_controller/type: velocity_controll...
 * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
 * /speed_scaling_state_controller/publish_rate: 500
 * /speed_scaling_state_controller/type: scaled_controller...
 * /twist_controller/frame_id: tool0_controller
 * /twist_controller/joints: ['shoulder_pan_jo...
 * /twist_controller/publish_rate: 500
 * /twist_controller/type: ros_controllers_c...
 * /ur_hardware_interface/headless_mode: False
 * /ur_hardware_interface/input_recipe_file: /home/robot/ros/c...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: -3.1410296221
 * /ur_hardware_interface/kinematics/forearm/roll: 3.14131089912
 * /ur_hardware_interface/kinematics/forearm/x: -0.425384297902
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: 3.14158550755
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_11204324360...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: 5.6478746869e-08
 * /ur_hardware_interface/kinematics/shoulder/z: 0.162726824594
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.5722109676
 * /ur_hardware_interface/kinematics/upper_arm/x: 0.000120778495369
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: -4.14202950024e-06
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0.000940734810299
 * /ur_hardware_interface/kinematics/wrist_1/roll: 0.00780871419353
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.392452465938
 * /ur_hardware_interface/kinematics/wrist_1/y: -0.00104633669411
 * /ur_hardware_interface/kinematics/wrist_1/yaw: -2.62304943195e-06
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.133993305549
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.56943449877
 * /ur_hardware_interface/kinematics/wrist_2/x: -1.8318982232e-05
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.0997733282458
 * /ur_hardware_interface/kinematics/wrist_2/yaw: 3.31743624759e-07
 * /ur_hardware_interface/kinematics/wrist_2/z: 0.000135874198417
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.57265273687
 * /ur_hardware_interface/kinematics/wrist_3/x: 4.95759846278e-05
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0998762061875
 * /ur_hardware_interface/kinematics/wrist_3/yaw: -3.14159216814
 * /ur_hardware_interface/kinematics/wrist_3/z: 0.000185411408772
 * /ur_hardware_interface/output_recipe_file: /home/robot/ros/c...
 * /ur_hardware_interface/reverse_ip: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 192.168.1.19
 * /ur_hardware_interface/script_file: /opt/ros/melodic/...
 * /ur_hardware_interface/script_sender_port: 50002
 * /ur_hardware_interface/servoj_gain: 2000
 * /ur_hardware_interface/servoj_lookahead_time: 0.03
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 0
 * /ur_hardware_interface/trajectory_port: 50003
 * /ur_hardware_interface/use_tool_communication: True
 * /ur_tool_communication_bridge/device_name: /tmp/ttyUR
 * /ur_tool_communication_bridge/reverse_ip: 
 * /ur_tool_communication_bridge/reverse_port: 50001
 * /ur_tool_communication_bridge/robot_ip: 192.168.1.19
 * /ur_tool_communication_bridge/script_sender_port: 50002
 * /ur_tool_communication_bridge/tcp_port: 54321
 * /vel_joint_traj_controller/action_monitor_rate: 20
 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/goal_time: 0.6
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_joint_traj_controller/state_publish_rate: 500
 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /vel_joint_traj_controller/type: velocity_controll...
 * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    controller_stopper (controller_stopper/node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
    ur_tool_communication_bridge (ur_robot_driver/tool_communication)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [244044]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7a10c9f8-e034-11ec-b63b-54bf647790e1
process[rosout-1]: started with pid [244062]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [244069]
process[ur_hardware_interface-3]: started with pid [244070]
[ INFO] [1653927656.412973355]: Initializing dashboard client
[ INFO] [1653927656.415381445]: Connected: Universal Robots Dashboard Server

[ INFO] [1653927656.425521270]: Initializing urdriver
[ WARN] [1653927656.433791595]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1653927656.435051833]: Negotiated RTDE protocol version to 2.
[ INFO] [1653927656.435444146]: Setting up RTDE communication with frequency 500.000000
process[ur_tool_communication_bridge-4]: started with pid [244089]
[INFO] [1653927657.184413]: Remote device is available at '/tmp/ttyUR'
[INFO] [1653927657.185582]: Starting socat with following command:
socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.19:54321
process[ros_control_controller_spawner-5]: started with pid [244101]
[ INFO] [1653927657.454137820]: Checking if calibration data matches connected robot.
[ WARN] [1653927657.458259198]: No realtime capabilities found. Consider using a realtime system for better performance
[INFO] [1653927657.658668]: Controller Spawner: Waiting for service controller_manager/load_controller
process[ros_control_stopped_spawner-6]: started with pid [244127]
[INFO] [1653927658.095781]: Controller Spawner: Waiting for service controller_manager/load_controller
process[controller_stopper-7]: started with pid [244158]
[ INFO] [1653927658.214320650]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1653927658.216106375]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1653927658.456647121]: Calibration checked successfully.
[ WARN] [1653927658.463736303]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1653927658.463918599]: Loaded ur_robot_driver hardware_interface
[ INFO] [1653927658.515478314]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1653927658.515515810]: Service available.
[ INFO] [1653927658.515534492]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1653927658.516249076]: Service available.
[INFO] [1653927658.567225]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1653927658.587137]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1653927658.595659]: Loading controller: joint_state_controller
[INFO] [1653927658.610999]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1653927658.636959]: Loading controller: speed_scaling_state_controller
[INFO] [1653927658.645241]: Loading controller: force_torque_sensor_controller
[INFO] [1653927658.660950]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1653927658.664956]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
process[ur_hardware_interface/ur_robot_state_helper-8]: started with pid [244184]
[INFO] [1653927658.701955]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1653927658.705394]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1653927658.708173]: Loading controller: pos_joint_traj_controller
[INFO] [1653927658.752834]: Loading controller: joint_group_vel_controller
[INFO] [1653927658.758890]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[ INFO] [1653927658.913229469]: Robot mode is now RUNNING
[ INFO] [1653927658.914841363]: Robot's safety mode is now NORMAL
[ INFO] [1653927662.432560332]: Robot requested program
[ INFO] [1653927662.432690990]: Sent program to robot
[ INFO] [1653927662.491584572]: Robot connected to reverse interface. Ready to receive control commands.
[ INFO] [1653927755.730156852]: Robot's safety mode is now PROTECTIVE_STOP
[ INFO] [1653927760.790143524]: Robot requested program
[ INFO] [1653927760.790281972]: Sent program to robot
[ INFO] [1653927762.056364343]: Robot's safety mode is now NORMAL
[ INFO] [1653927762.890344593]: Connection to reverse interface dropped.
[ERROR] [1653927762.986752301]: Can't accept new action goals. Controller is not running.

This is the Summary when I launch ur5e_moveit_planning_executuion:

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/disable_capabilities: 
 * /move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
 * /move_group/generic_hw_control_loop/loop_hz: 300
 * /move_group/hardware_interface/joints: ['shoulder_pan_jo...
 * /move_group/hardware_interface/sim_control_mode: 1
 * /move_group/jiggle_fraction: 0.05
 * /move_group/joint_state_controller/publish_rate: 50
 * /move_group/joint_state_controller/type: joint_state_contr...
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/moveit_sim_hw_interface/joint_model_group: manipulator
 * /move_group/moveit_sim_hw_interface/joint_model_group_pose: home
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0.05
 * /move_group/planner_configs/ProjEST/range: 0.0
 * /move_group/planner_configs/ProjEST/type: geometric::ProjEST
 * /move_group/planner_configs/RRT/goal_bias: 0.05
 * /move_group/planner_configs/RRT/range: 0.0
 * /move_group/planner_configs/RRT/type: geometric::RRT
 * /move_group/planner_configs/RRTConnect/range: 0.0
 * /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTstar/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstar/goal_bias: 0.05
 * /move_group/planner_configs/RRTstar/range: 0.0
 * /move_group/planner_configs/RRTstar/type: geometric::RRTstar
 * /move_group/planner_configs/SBL/range: 0.0
 * /move_group/planner_configs/SBL/type: geometric::SBL
 * /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARS/max_failures: 1000
 * /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARS/stretch_factor: 3.0
 * /move_group/planner_configs/SPARS/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwo/max_failures: 5000
 * /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDE/degree: 16
 * /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDE/goal_bias: 0.05
 * /move_group/planner_configs/STRIDE/max_degree: 18
 * /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDE/min_degree: 12
 * /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDE/range: 0.0
 * /move_group/planner_configs/STRIDE/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDE/use_projected_distance: 0
 * /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRT/goal_bias: 0.05
 * /move_group/planner_configs/TRRT/init_temperature: 10e-6
 * /move_group/planner_configs/TRRT/k_constant: 0.0
 * /move_group/planner_configs/TRRT/max_states_failed: 10
 * /move_group/planner_configs/TRRT/min_temperature: 10e-10
 * /move_group/planner_configs/TRRT/range: 0.0
 * /move_group/planner_configs/TRRT/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRT/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/manipulator/solve_type: Distance
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.14159265359
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.14159265359
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.14159265359
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.14159265359
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.14159265359
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.14159265359
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [244153]
[ INFO] [1653927658.092796784]: Loading robot model 'ur5e_robot'...
[ WARN] [1653927658.150715855]: IK plugin for group 'manipulator' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1653927658.154612244]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1653927658.154676944]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1653927658.154710995]: IK Using joint forearm_link -3.14159 3.14159
[ INFO] [1653927658.154746555]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1653927658.154778635]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1653927658.154804334]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1653927658.154842823]: Looking in common namespaces for param name: manipulator/position_only_ik
[ INFO] [1653927658.156379546]: Looking in common namespaces for param name: manipulator/solve_type
[ INFO] [1653927658.158748691]: Using solve type Distance
[ INFO] [1653927658.201483685]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1653927658.203206642]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1653927658.203275406]: Starting planning scene monitor
[ INFO] [1653927658.205153952]: Listening to '/planning_scene'
[ INFO] [1653927658.205176612]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1653927658.206712236]: Listening to '/collision_object'
[ INFO] [1653927658.209072359]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1653927658.210229390]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1653927658.224402331]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1653927658.257593235]: Initializing OMPL interface using ROS parameters
[ INFO] [1653927658.287461804]: Using planning interface 'OMPL'
[ INFO] [1653927658.295138400]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1653927658.295865422]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1653927658.296200694]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1653927658.296778296]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1653927658.297077565]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1653927658.297387770]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1653927658.297471143]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1653927658.297522685]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1653927658.297591130]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1653927658.297659323]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1653927658.297709502]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1653927658.869395767]: Added FollowJointTrajectory controller for scaled_pos_joint_traj_controller
[ INFO] [1653927658.869583672]: Returned 1 controllers in list
[ INFO] [1653927658.889589554]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1653927658.966340001]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1653927658.966402872]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1653927658.966426544]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1653927695.152830152]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1653927695.153078095]: Planning attempt 1 of at most 1
[ INFO] [1653927695.154389127]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1653927695.154873677]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1653927695.165967215]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1653927695.166035982]: Solution found in 0.011300 seconds
[ INFO] [1653927695.170111599]: SimpleSetup: Path simplification took 0.003894 seconds and changed from 4 to 2 states
[ INFO] [1653927695.172036448]: Disabling trajectory recording
[ INFO] [1653927698.332363558]: Controller scaled_pos_joint_traj_controller successfully finished
[ INFO] [1653927698.338799746]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1653927698.345378728]: Received event 'stop'
[ INFO] [1653927752.164552438]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1653927752.166137386]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1653927752.166550008]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1653927752.179197660]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1653927752.179443324]: Solution found in 0.013029 seconds
[ INFO] [1653927752.182821638]: SimpleSetup: Path simplification took 0.002936 seconds and changed from 4 to 2 states
[ INFO] [1653927752.194129909]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1653927752.194335228]: Planning attempt 1 of at most 1
[ INFO] [1653927752.194980392]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1653927752.195218980]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1653927752.217963991]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1653927752.218829328]: Solution found in 0.023667 seconds
[ INFO] [1653927752.231123037]: SimpleSetup: Path simplification took 0.010141 seconds and changed from 4 to 2 states
[ INFO] [1653927762.896119010]: Controller scaled_pos_joint_traj_controller successfully finished
[ WARN] [1653927762.896412401]: Controller handle scaled_pos_joint_traj_controller reports status PREEMPTED
[ INFO] [1653927762.896529816]: Completed trajectory execution with status PREEMPTED ...
[ INFO] [1653927762.909027544]: Received event 'stop'
[ INFO] [1653927762.918661896]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1653927762.919402967]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1653927762.919643535]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1653927762.941554027]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1653927762.942703400]: Solution found in 0.022888 seconds
[ INFO] [1653927762.949854383]: SimpleSetup: Path simplification took 0.004055 seconds and changed from 4 to 2 states
[ INFO] [1653927762.952126948]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1653927762.952267477]: Planning attempt 1 of at most 1
[ INFO] [1653927762.952775013]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1653927762.952984409]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1653927762.974864825]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1653927762.974960368]: Solution found in 0.022044 seconds
[ INFO] [1653927762.984145713]: SimpleSetup: Path simplification took 0.006245 seconds and changed from 4 to 2 states
[ WARN] [1653927762.987066940]: Controller scaled_pos_joint_traj_controller failed with error INVALID_GOAL: 
[ WARN] [1653927762.987174291]: Controller handle scaled_pos_joint_traj_controller reports status FAILED
[ INFO] [1653927762.987231074]: Completed trajectory execution with status FAILED ...
[ INFO] [1653927762.998234613]: Received event 'stop'

Could you please help me to solve this problem? I am trying a lot of times to understand and solve the problem but did not succeed. @fmauch can you help me please? I haven't been out of this problem for days and I have a short time for my theis project.
Thank you very much in advance!

Best regards,
Franci
@fmauch
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fmauch commented Jun 29, 2022 •
edited

Double post of https://answers.ros.org/question/401630/aborted-solution-found-but-controller-failed-during-execution/

This seems not to be an issue with the driver directly so I suggest moving all discussion to ROS answers.

@fmauch fmauch closed this as completed Jun 29, 2022
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@fmauch @rrapi