ABORTED: Solution found but controller failed during execution

[Samanti-Das]

Hi,

Thanks for your work! I followed your tutorials more or less thoroughly, however, coming to the pick and place part, my simulation is completely wrong. It does not follow the instructions given in the pick_and_place.cpp. I am attaching my gazebo.launch window output as well the pick_and_place.cpp output below:

gazebo.launch output window:

...

[ INFO] [1642551221.089309445, 2284.991000000]: Solution found in 0.018745 seconds
[ INFO] [1642551221.112636490, 2285.015000000]: SimpleSetup: Path simplification took 0.023274 seconds and changed from 4 to 2 states
[ WARN] [1642551232.500989138, 2296.384000000]: Controller '/ur5_arm_controller' failed with error GOAL_TOLERANCE_VIOLATED:
[ WARN] [1642551232.501083383, 2296.384000000]: Controller handle /ur5_arm_controller reports status ABORTED
[ INFO] [1642551232.501131092, 2296.384000000]: Completed trajectory execution with status ABORTED ...
[ INFO] [1642551232.527933174, 2296.411000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1642551232.529244779, 2296.412000000]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642551232.529663606, 2296.412000000]: gripper/gripper: Starting planning with 1 states already in datastructure
[ INFO] [1642551232.540801672, 2296.424000000]: gripper/gripper: Created 4 states (2 start + 2 goal)
[ INFO] [1642551232.540880999, 2296.424000000]: Solution found in 0.011439 seconds
[ INFO] [1642551232.548398914, 2296.431000000]: SimpleSetup: Path simplification took 0.007450 seconds and changed from 3 to 2 states
[ INFO] [1642551232.567858627, 2296.451000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1642551232.567977999, 2296.451000000]: Planning attempt 1 of at most 1
[ INFO] [1642551232.569321443, 2296.452000000]: Planner configuration 'gripper' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642551232.569675771, 2296.453000000]: gripper/gripper: Starting planning with 1 states already in datastructure
[ INFO] [1642551232.580788178, 2296.464000000]: gripper/gripper: Created 4 states (2 start + 2 goal)
[ INFO] [1642551232.580852318, 2296.464000000]: Solution found in 0.011354 seconds
[ INFO] [1642551232.585842230, 2296.469000000]: SimpleSetup: Path simplification took 0.004878 seconds and changed from 3 to 2 states
[ INFO] [1642551236.611306594, 2300.473000000]: Controller '/gripper_controller' successfully finished
[ INFO] [1642551236.629314434, 2300.491000000]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1642551236.649708637, 2300.511000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1642551236.651434852, 2300.513000000]: Planner configuration 'ur5_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642551236.651831328, 2300.513000000]: ur5_arm/ur5_arm: Starting planning with 1 states already in datastructure
[ INFO] [1642551236.676112538, 2300.537000000]: ur5_arm/ur5_arm: Created 5 states (3 start + 2 goal)
[ INFO] [1642551236.676154286, 2300.537000000]: Solution found in 0.024542 seconds
[ INFO] [1642551236.730866415, 2300.591000000]: SimpleSetup: Path simplification took 0.054661 seconds and changed from 4 to 3 states
[ INFO] [1642551236.751372265, 2300.611000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1642551236.751576544, 2300.612000000]: Planning attempt 1 of at most 1
[ INFO] [1642551236.753101526, 2300.613000000]: Planner configuration 'ur5_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1642551236.753447719, 2300.614000000]: ur5_arm/ur5_arm: Starting planning with 1 states already in datastructure
[ INFO] [1642551236.771759253, 2300.631000000]: ur5_arm/ur5_arm: Created 5 states (2 start + 3 goal)
[ INFO] [1642551236.771846195, 2300.631000000]: Solution found in 0.018583 seconds
[ INFO] [1642551236.802268959, 2300.661000000]: SimpleSetup: Path simplification took 0.030266 seconds and changed from 4 to 3 states
[ WARN] [1642551251.239695627, 2315.074000000]: Controller '/ur5_arm_controller' failed with error GOAL_TOLERANCE_VIOLATED:
[ WARN] [1642551251.239837571, 2315.075000000]: Controller handle /ur5_arm_controller reports status ABORTED
...

pick_and_place.cpp window:

[ WARN] [1642551185.808488021]: link 'robotiq_coupler' material 'flat_black' undefined.
[ WARN] [1642551185.810421171]: link 'robotiq_coupler' material 'flat_black' undefined.
[ INFO] [1642551185.813954348]: Loading robot model 'ur5'...
[ INFO] [1642551200.970899167, 2264.906000000]: Ready to take commands for planning group ur5_arm.
[ INFO] [1642551201.596831095, 2265.531000000]: Ready to take commands for planning group gripper.
[ INFO] [1642551201.596895655, 2265.531000000]: Available Planning Groups:
gripper, ur5_arm, [ INFO] [1642551201.656780096, 2265.591000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551207.720270920, 2271.642000000]: ABORTED: Solution found but controller failed during execution
[ INFO] [1642551207.924289903, 2271.846000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551218.916739764, 2282.822000000]: ABORTED: Solution found but controller failed during execution
[ INFO] [1642551218.943737811, 2282.849000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551221.059361594, 2284.961000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551232.508916935, 2296.392000000]: ABORTED: Solution found but controller failed during execution
[ INFO] [1642551232.549139199, 2296.432000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551236.735663444, 2300.596000000]: Visualizing plan 1 (pose goal)
[ INFO] [1642551251.247370509, 2315.082000000]: ABORTED: Solution found but controller failed during execution
[ INFO] [1642551251.305638481, 2315.140000000]: Visualizing plan 1 (pose goal)

Can you tell me what I am doing wrong? Any help will be extremely appreciated!