ros-industrial robotstudio about abb HOT 6 CLOSED

This appears to be bug #42. The MoveIt execution monitor is sending a stop command to the robot when the first motion takes longer than expected (see here for more detail).

The pendant message STOP received is indicative of this bug.

There are multiple causes for this:

• The robot is in teach mode (or some other speed limited mode) causing the trajectory to take longer
• The robot joint speed limits are set too high (under the /config directory in the joint_limits.yaml file). This causes MoveIt to think the robot can move faster than it can (the controller doesn't allow this). Assuming you are using the default joint limits file, this does not appear to be the case.

Other than addressing the causes above, there is a work around (based on the last item in the list here ).

• Set ONE of the following (under the move group node):
  • ~/execution_duration_monitoring to FALSE (Disables monitoring)
  • ~/allowed_execution_duration_scaling to a something greater than 1 (i.e. 2) (to increase the time a motion is allowed to exectue)

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@rcj86, please let me know if this solves the problem.

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@shaun-edwards, This issue was also addressed by PR #62.

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I'm closing this because of inactivity.

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I am having the same issue. After sending the trajectory data the teach pendant receives a STOP command. On the terminal I get a Controller is taking too long to execute error.

I am using Kinetic-Devel repository in my project and running ros on UBUNTU 16.04.

Any help in this would be appreciated.

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Please see How do I disable execution_duration_monitoring ?. The robot is too slow and MoveIt cancels execution of your trajectory because of that.

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