Moving an end-effector in straight line ??

[Abduoit]

Hello
Thanks for sharing your effort

I am trying to run this testmove2.py which is supposed to move the end-effector in straight line. When I run it, I don't get a complete motion, the arm start moving for short distance then stops and I get the following output.

Waiting for server...
Connected to server
This program makes the robot move between the following three poses:
[126.05071492878113, 0.0, -89.95437383553926, 0.0, 0.0, 0.0]
[85.94366926962348, 0.0, -89.95437383553926, 0.0, 0.0, 0.0]
[85.94366926962348, -11.459155902616464, -89.95437383553926, 0.0, 0.0, 0.0]
Please make sure that your robot can move freely between these poses before proceeding!
Continue? y/n: y
[ INFO] [1536936715.150929467]: Loading robot model 'ur5'...
[ WARN] [1536936715.151110798]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1536936715.151222745]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1536936715.301756277]: Loading robot model 'ur5'...
[ WARN] [1536936715.301801600]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1536936715.301825382]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1536936716.085013355]: TrajectoryExecution will use old service capability.
[ INFO] [1536936716.085093833]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1536936716.085165308]: Replanning: yes
Current pose:  position: 
  x: 0.241668097972
  y: -0.184739773876
  z: 0.724640447581
orientation: 
  x: 0.840875885171
  y: -0.530649554288
  z: 0.0723547173422
  w: 0.0781254833625
1.0
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)

[lihuang3]

@Abduoit Please check you ur3_workspace/src/universal_robot/ur_description/urdf/ directory, change the joint limit value in ur3_joint_limited_robot.urdf.xacro. An example is given here