Dave Kroezen

Thank you for your reply and the explanation! > Yes, this is because the default execution happens by sending the whole sequence of trajectories to the move_group node for execution....

> c++: internal compiler error: Killed (program cc1plus) That seems to indicate it to be a bug in the compiler itself and not the package it is trying to compile.

The `/rws/system_states` topics report `motors_on: False` just before reproducing this error. (I always start the state machine in a motors off state).

For a minimal working example, these are the steps I have taken: 1. Replace `robot_interface_*.launch` with a new launch file based on [ex2_rws_and_egm_6axis_robot.launch](https://github.com/ros-industrial/abb_robot_driver/blob/5143cbc90e0cb36bfc1138fe95fc971b861abb90/abb_robot_bringup_examples/launch/ex2_rws_and_egm_6axis_robot.launch) - If you use multiple robots or...

> Personally, I've noticed some minor vibration when executing trajectories using the position_controllers/JointTrajectoryController variant of the JTC. I did not notice any vibrations when using the `position_controllers/JointTrajectoryController` on our IRB4600,...

> "the EGM setting"? > > That error is from MoveIt, not the driver, so I'm not sure which EGM settings would influence this. Should have been plural ;). To...

Thanks for the suggestion, will try this when I pick this up again

Please make use of the formatting options that Markdown has available, simply copy-pasting your terminal does not result in great readability as you might have also noticed ([link](https://guides.github.com/features/mastering-markdown/)). Please have...

@Levelsss Did you get the examples provided by the `abb_robot_driver` to work for your robot? That should make sure you can correctly use the driver on its own. > But...

Currently also running into this issue. Would be willing to contribute here if I can help. I did find a lot of references to mimic joints in the code already,...