Control HC10DTP using an Xbox 360 joystick in real-time

[tall1]

Hi,
I want to use a joystick to teleoperate the robot (real-time operation).

I wrote my own node (with the help of ChatGPT) that subscribes to the /joy topic and moves the pose in x and y when something is published to joy:

joystick_teleop.py

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import Joy
from moveit_commander import RobotCommander, MoveGroupCommander
from geometry_msgs.msg import Pose


class JoystickTeleop:
    def __init__(self):
        rospy.init_node('joystick_teleop')
        rospy.logwarn("started teleop node")

        # Subscribe to the joystick topic
        rospy.Subscriber("joy", Joy, self.joy_callback)

        # Create a RobotCommander for the robot
        self.robot = RobotCommander()

        # Create a MoveGroupCommander for the desired planning group
        self.move_group = MoveGroupCommander("arm")  # Replace with your move group name

        # Initialize the target pose
        self.target_pose = Pose()

    def joy_callback(self, data):
        rospy.loginfo("callback executed")
        # Map joystick input to robot motion commands
        # Example: Control the end effector position of a robot arm
        if data.axes[0] != 0 or data.axes[1] != 0:
            print(data)
            # Update the target pose based on the joystick input
            self.target_pose.position.x += data.axes[0] * 0.1
            self.target_pose.position.y += data.axes[1] * 0.1

            # Set the target pose for the move group
            self.move_group.set_pose_target(self.target_pose)
            self.move_group.set_planning_time(5)  # Increase the planning time to 5 seconds
            # Plan and execute the motion
            self.move_group.go(wait=True)


if __name__ == '__main__':
    try:
        joystick_teleop = JoystickTeleop()
        rospy.spin()
    except rospy.ROSInterruptException:
        pass

For some reason the robot does not react to the node. I'm getting the following errors:

[ERROR] [1686832400.868134914] [/move_group]: arm/arm: Unable to sample any valid states for goal tree
[ INFO] [1686832400.868209984] [/move_group]: arm/arm: Created 1 states (1 start + 0 goal)
[ INFO] [1686832400.868454296] [/move_group]: No solution found after 5.003464 seconds
[ WARN] [1686832400.868512755] [/move_group]: Timed out
[ INFO] [1686832400.884523583] [/move_group]: Unable to solve the planning problem
[ INFO] [1686832402.538878936] [/move_group]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1686832402.538982584] [/move_group]: Planning attempt 1 of at most 1

This is from the info from the joystick_teleop.py:
[ INFO] [1686832400.885087394] [/moveit_python_wrappers_1686832320279744835]: ABORTED: TIMED_OUT