2021-01-04 16:46:24 wangcj777

Using moveit planning to control the robot arm to move. Robot arm joint effort controller of openmanipulator-p in gazebo can work well，but when i run in the real robot arm, it can't work!
when i run the joint effort controller, the real robot arm can output torque. i can push it by my hand, then it will return to the origin position (just like a spring). but when i run the moveit to control it, it will lock each joint, and can't move!
we get the trajectory module warning:
[ WARN] [1607226630.131100399]: Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1607226630.131192346]: Controller handle arm_controller reports status ABORTED
[ INFO] [1607226630.131209539]: Completed trajectory execution with status ABORTED ... 

i try to use a topic Publisher to control one joint, but it also can't work