Too many close points while executing in Robot Studio. about abb HOT 4 CLOSED

Oh, and:

The planned motion seems to be executing perfectly on rviz

please realise: RViz is not executing anything.

It's only visualising data. There is no simulation there.

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This error (probably 50078 - too many closely spaced positions) is shown on the TP when your trajectory points are too close together.

There isn't much we can do, apart from making your trajectory sparser.

This is a RAPID / ABB limitation, not of the driver, nor of descartes.

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If you'd like more control over the motion, I'd recommend trying out abb_robot_driver, which offers a much better external motion interface than the package in this repository.

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Thanks @gavanderhoorn

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