turtlebot3_manipulation
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Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 1.639534 seconds). Stopping trajectory.
Using ROS 1 Noetic Ninjemys, Raspberry Pi 3B+ for turtlebot3 with open manipulator-x
Commands or instructions that reproduce the issue:
- Switched on TB3 (with OM) and activated Bringup
- Ran Bringup node for OM on TB3 (on new terminal): $ roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
- Ran move_group node: $ roslaunch turtlebot3_manipulation_moveit_config move_group.launch
- Ran the below node: $ rosrun autonomous OM_DEMO.py OM_DEMO.py code can be found in the following link: https://github.com/nicholashojunhui/autonomous/blob/main/src/OM_DEMO.py
Error messages on terminal: "Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was XXXXX seconds). Stopping trajectory."
Issues Described in detail:
- Unable to move the arm (as part of the Turtlebot3_Manipulation system) properly using "moveit_commander"
- Keep encountering the following error message: "Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was XXXXX seconds). Stopping trajectory."
- The 4 normal joints unable to move properly (i.e. jerking manner or will not move) and kept aborting: "ABORTED: TIMED_OUT"
- Gripper has no issue moving at all unlike the other 4 joints
- The PC will hang every time after code execution
Previously used in ROS Kinetic and it works very well
- No issues at all with the above python node when I used ROS Kinetic
The weird thing is that I am able to run the above python node in the simulation mode in Gazebo
- Simulated Turtlebot3_Manipulation in Gazebo has no issues at all with the above python node (using ROS Noetic)
I am also facing a similar problem when controlling OpenManipulator-X on TB3 with ROS Noetic by GUI interface:
Any update about this issue?