This is an error report.
Screenshot of the error
Error details
I get "ABORTED: Solution found but controller failed during execution" when I follow the instructions to run basic_concepts.py
Oh yeah, here’s the console responses on the environment terminal
[ INFO] [1727987777.794967602, 3347.739000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1727987777.796590539, 3347.740000000]: Planner configuration ‘arm’ will use planner ‘geometric::RRT’. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1727987777.796901230, 3347.740000000]: arm/arm: Starting planning with 1 states already in datastructure
[ INFO] [1727987777.817541178, 3347.759000000]: arm/arm: Created 54 states
[ INFO] [1727987777.818132122, 3347.761000000]: Solution found in 0.021394 seconds
[ INFO] [1727987777.818180074, 3347.761000000]: SimpleSetup: Path simplification took 0.000003 seconds and changed from 2 to 2 states
[ INFO] [1727987783.001697026, 3352.795000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1727987783.001807235, 3352.795000000]: Planning attempt 1 of at most 1
[ INFO] [1727987783.003664094, 3352.797000000]: Planner configuration ‘arm’ will use planner ‘geometric::RRT’. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1727987783.003951917, 3352.797000000]: arm/arm: Starting planning with 1 states already in datastructure
[ INFO] [1727987783.014427948, 3352.807000000]: arm/arm: Created 34 states
[ INFO] [1727987783.014549417, 3352.807000000]: Solution found in 0.010743 seconds
[ INFO] [1727987783.014614152, 3352.807000000]: SimpleSetup: Path simplification took 0.000003 seconds and changed from 2 to 2 states
[ERROR] [1727987783.053120863, 3352.845000000]:
Invalid Trajectory: start point deviates from current robot state more than 0.01
joint ‘shoulder_lift_joint’: expected: 0, current: 0.0102606
[ INFO] [1727987777.796590539, 3347.740000000]: Planner configuration ‘arm’ will use planner ‘geometric::RRT’. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1727987777.796901230, 3347.740000000]: arm/arm: Starting planning with 1 states already in datastructure
[ INFO] [1727987777.817541178, 3347.759000000]: arm/arm: Created 54 states
[ INFO] [1727987777.818132122, 3347.761000000]: Solution found in 0.021394 seconds
[ INFO] [1727987777.818180074, 3347.761000000]: SimpleSetup: Path simplification took 0.000003 seconds and changed from 2 to 2 states
[ INFO] [1727987783.001697026, 3352.795000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1727987783.001807235, 3352.795000000]: Planning attempt 1 of at most 1
[ INFO] [1727987783.003664094, 3352.797000000]: Planner configuration ‘arm’ will use planner ‘geometric::RRT’. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1727987783.003951917, 3352.797000000]: arm/arm: Starting planning with 1 states already in datastructure
[ INFO] [1727987783.014427948, 3352.807000000]: arm/arm: Created 34 states
[ INFO] [1727987783.014549417, 3352.807000000]: Solution found in 0.010743 seconds
[ INFO] [1727987783.014614152, 3352.807000000]: SimpleSetup: Path simplification took 0.000003 seconds and changed from 2 to 2 states
[ERROR] [1727987783.053120863, 3352.845000000]:
Invalid Trajectory: start point deviates from current robot state more than 0.01
joint ‘shoulder_lift_joint’: expected: 0, current: 0.0102606
Now, I’m confused, is it working now?
If not, what exactly is not working? As per your title, what is not running?
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