Velocity 60.4185 required to reach the received target within 0.002 seconds is exceeding the joint velocity limits.

[bodkal]

Affected ROS2 Driver version(s)

clone with Commit: 588aa3093c4506b008b50cb44d1b5c1f78dd6c8a in humble branch

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

Real robot

Robot SW / URSim version(s)

ur10e

How is the ROS driver used.

Headless without using the teach pendant

Issue details

Summary

related to: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1192#issuecomment-2621807534

I didn’t have time to try the branch improve_limit_check as suggested. I hope I will have time to try it soon. I added the path in the relevant log output. Is this still relevant?

Issue details

Steps to Reproduce

I have added the path in the relevant log output

Relevant log output

The path that caused the error.
point: 0
positions: , -0.5827, -0.9838, 1.6202, -2.1541, -1.4901, -3.6974
velocities: , 0.0000, -0.0000, 0.0000, -0.0000, -0.0000, 0.0000
accelerations: , 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000
time_from_start:  sec :0,  nanosec :0

point: 1
positions: , -0.5761, -1.0009, 1.6452, -2.1632, -1.4907, -3.6906
velocities: , 0.1366, -0.3434, 0.4999, -0.1793, -0.0110, 0.1393
accelerations: , 1.4946, -3.5218, 4.9993, -1.7165, -0.1151, 1.5221
time_from_start:  sec :0,  nanosec :100000000

point: 2
positions: , -0.5540, -1.0535, 1.7201, -2.1891, -1.4924, -3.6681
velocities: , 0.3165, -0.7159, 0.9997, -0.3331, -0.0237, 0.3221
accelerations: , 2.2328, -4.0092, 4.9995, -1.2883, -0.1450, 2.2650
time_from_start:  sec :0,  nanosec :200000000

point: 3
positions: , -0.5087, -1.1467, 1.8451, -2.2274, -1.4956, -3.6220
velocities: , 0.6240, -1.1675, 1.4967, -0.4141, -0.0415, 0.6332
accelerations: , 4.1831, -5.0001, 4.6394, -0.0610, -0.2166, 4.2241
time_from_start:  sec :0,  nanosec :300000000

point: 4
positions: , -0.4225, -1.2854, 2.0098, -2.2640, -1.5008, -3.5348
velocities: , 1.0987, -1.5267, 1.6638, -0.2576, -0.0621, 1.1110
accelerations: , 2.8090, 1.4260, -4.9968, 3.5676, -0.0593, 2.7999
time_from_start:  sec :0,  nanosec :400000000

point: 5
positions: , -0.2979, -1.4299, 2.1513, -2.2729, -1.5074, -3.4089
velocities: , 1.4037, -1.3510, 1.1645, 0.0676, -0.0702, 1.4150
accelerations: , 3.3203, 2.1819, -4.9893, 2.8450, -0.1084, 3.3092
effort: 
time_from_start:  sec :0,  nanosec :500000000

point: 6
positions: , -0.1403, -1.5520, 2.2428, -2.2539, -1.5151, -3.2503
velocities: , 1.7509, -1.0691, 0.6657, 0.2921, -0.0839, 1.7610
accelerations: , 3.4568, 3.5905, -5.0409, 1.5812, -0.1590, 3.4421
time_from_start:  sec :0,  nanosec :600000000

point: 7
positions: , 0.0502, -1.6383, 2.2844, -2.2195, -1.5242, -3.0588
velocities: , 2.0213, -0.6276, 0.1708, 0.3676, -0.0984, 2.0296
accelerations: , 1.6690, 4.9918, -4.6945, 0.0113, -0.1114, 1.6486
time_from_start:  sec :0,  nanosec :700000000

point: 8
positions: , 0.2579, -1.6762, 2.2795, -2.1839, -1.5345, -2.8505
velocities: , 2.0944, -0.1356, -0.2535, 0.3356, -0.1049, 2.1007
accelerations: , 0.0005, 4.6095, -3.7941, -0.4295, -0.0196, -0.0152
time_from_start:  sec :0,  nanosec :800000000

point: 9
positions: , 0.4673, -1.6679, 2.2356, -2.1517, -1.5450, -2.6405
velocities: , 2.0944, 0.2920, -0.6245, 0.3180, -0.1049, 2.0997
accelerations: , 0.0029, 4.0315, -3.8187, 0.1830, 0.0252, -0.0012
time_from_start:  sec :0,  nanosec :900000000

point: 10
positions: , 0.6745, -1.6193, 2.1538, -2.1179, -1.5552, -2.4328
velocities: , 1.9437, 0.6421, -0.9744, 0.3565, -0.0922, 1.9488
accelerations: , -4.9946, 1.9483, -1.8195, 0.1810, 0.3162, -5.0014
time_from_start:  sec :1,  nanosec :0

point: 11
positions: , 0.8439, -1.5490, 2.0504, -2.0812, -1.5628, -2.2629
velocities: , 1.4442, 0.7286, -1.0595, 0.3743, -0.0614, 1.4487
accelerations: , -4.9978, -0.1369, 0.1864, 0.0314, 0.2920, -5.0048
time_from_start:  sec :1,  nanosec :100000000

point: 12
positions: , 0.9633, -1.4801, 1.9495, -2.0449, -1.5676, -2.1431
velocities: , 0.9448, 0.6201, -0.9163, 0.3377, -0.0350, 0.9483
accelerations: , -4.9939, -1.9888, 2.7324, -0.8518, 0.2334, -5.0070
time_from_start:  sec :1,  nanosec :200000000

point: 13
positions: , 1.0328, -1.4307, 1.8759, -2.0172, -1.5700, -2.0733
velocities: , 0.4466, 0.3419, -0.5154, 0.1971, -0.0147, 0.4484
accelerations: , -4.8487, -3.3641, 4.9939, -1.8593, 0.1728, -4.8674
time_from_start:  sec :1,  nanosec :300000000

point: 14
positions: , 1.0567, -1.4128, 1.8493, -2.0074, -1.5708, -2.0493
velocities: , 0.1386, 0.0429, -0.0166, -0.0234, -0.0017, 0.1399
accelerations: , 0.2994, -2.1653, 4.9973, -2.9838, 0.0859, 0.3256
time_from_start:  sec :1,  nanosec :400000000

point: 15
positions: , 1.0864, -1.4117, 1.8643, -2.0234, -1.5708, -2.0192
velocities: , 0.5351, 0.0260, 0.2684, -0.2943, -0.0000, 0.5417
accelerations: , 4.9422, 0.6729, 1.9201, -2.5930, -0.0000, 5.0015
time_from_start:  sec :1,  nanosec :500000000

point: 16
positions: , 1.1647, -1.4033, 1.8977, -2.0652, -1.5708, -1.9400
velocities: , 1.0295, 0.1674, 0.3668, -0.5341, -0.0000, 1.0418
accelerations: , 4.9458, 2.2738, -0.0947, -2.1791, -0.0000, 5.0004
time_from_start:  sec :1,  nanosec :600000000

point: 17
positions: , 1.2923, -1.3717, 1.9294, -2.1285, -1.5708, -1.8108
velocities: , 1.5240, 0.5034, 0.2189, -0.7223, -0.0000, 1.5417
accelerations: , 4.9420, 4.5260, -3.0072, -1.5188, -0.0000, 4.9970
time_from_start:  sec :1,  nanosec :700000000

point: 18
positions: , 1.4618, -1.2983, 1.9306, -2.2032, -1.5708, -1.6394
velocities: , 1.7342, 0.9262, -0.2284, -0.6978, -0.0000, 1.7546
accelerations: , -0.7365, 3.1362, -4.9999, 1.8637, 0.0000, -0.7363
time_from_start:  sec :1,  nanosec :800000000

point: 19
positions: , 1.6304, -1.1914, 1.8828, -2.2622, -1.5708, -1.4688
velocities: , 1.6267, 1.1955, -0.7283, -0.4672, -0.0000, 1.6472
accelerations: , -1.3657, 2.2782, -4.9993, 2.7211, 0.0000, -1.3638
time_from_start:  sec :1,  nanosec :900000000

point: 20
positions: , 1.7723, -1.0740, 1.7957, -2.2925, -1.5708, -1.3250
velocities: , 1.1741, 1.0862, -0.9369, -0.1493, 0.0000, 1.1905
accelerations: , -4.9551, -2.5337, -0.0544, 2.5881, 0.0000, -5.0076
time_from_start:  sec :2,  nanosec :0

point: 21
positions: , 1.8650, -0.9815, 1.7081, -2.2974, -1.5708, -1.2310
velocities: , 0.6796, 0.7327, -0.7520, 0.0193, 0.0000, 0.6900
accelerations: , -4.9426, -4.4695, 3.6938, 0.7757, -0.0000, -5.0105
time_from_start:  sec :2,  nanosec :100000000

point: 22
positions: , 1.9089, -0.9322, 1.6556, -2.2942, -1.5708, -1.1863
velocities: , 0.2168, 0.2527, -0.2794, 0.0267, 0.0000, 0.2203
accelerations: , -4.0414, -4.6085, 4.9946, -0.3861, -0.0000, -4.1054
time_from_start:  sec :2,  nanosec :200000000

point: 23
positions: , 1.9161, -0.9166, 1.6482, -2.3025, -1.5708, -1.1790
velocities: , 0.0000, 0.2263, 0.0618, -0.2881, 0.0000, 0.0000
accelerations: , 0.0000, 4.0368, 0.9626, -4.9994, 0.0000, 0.0000
time_from_start:  sec :2,  nanosec :300000000

point: 24
positions: , 1.9161, -0.8723, 1.6578, -2.3563, -1.5708, -1.1790
velocities: , 0.0000, 0.6773, 0.1090, -0.7863, 0.0000, 0.0000
accelerations: , 0.0000, 5.0050, -0.2504, -4.7546, 0.0000, 0.0000
time_from_start:  sec :2,  nanosec :400000000

point: 25
positions: , 1.9161, -0.7807, 1.6637, -2.4538, -1.5708, -1.1790
velocities: , 0.0000, 1.0447, -0.0247, -1.0200, 0.0000, 0.0000
accelerations: , -0.0000, -3.1429, -1.8633, 5.0062, 0.0000, -0.0000
time_from_start:  sec :2,  nanosec :500000000

point: 26
positions: , 1.9161, -0.6956, 1.6557, -2.5308, -1.5708, -1.1790
velocities: , 0.0000, 0.6216, -0.1003, -0.5213, 0.0000, 0.0000
accelerations: , -0.0000, -4.9958, 0.2231, 4.7727, 0.0000, -0.0000
time_from_start:  sec :2,  nanosec :600000000

point: 27
positions: , 1.9161, -0.6585, 1.6487, -2.5610, -1.5708, -1.1790
velocities: , 0.0000, 0.1218, -0.0259, -0.0959, 0.0000, 0.0000
accelerations: , -0.0000, -5.0000, 1.0636, 3.9364, 0.0000, -0.0000
time_from_start:  sec :2,  nanosec :700000000

point: 28
positions: , 1.9161, -0.6570, 1.6483, -2.5621, -1.5708, -1.1790
velocities: , -0.0000, -0.0000, 0.0000, 0.0000, -0.0000, -0.0000
accelerations: , -0.0000, -5.0000, 1.0636, 3.9364, -0.0000, -0.0000
time_from_start:  sec :2,  nanosec :724357206

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[urfeex]

Thank you for the reproducible bug report. From that information I could update our example move script with that trajectory. Unfortunately, this didn't trigger the limit check with my simulated robot.

I'll try to get someone to check with a real robot.

In the meantime I would have two follow-up questions:

• What is the corresponding shell output on the driver?
• Could you try the improve_limit_check branch as you mentioned above?

[urfeex]

We have updated the client library with regards to the limit check recently. Please try again with an up-to-date ur_client_library (>= 1.7.0).