Real UR5 arm jog_control issue

[waiyc]

Hi,

I tried to use jog control on a hardware UR5 with ur_modern_driver however i got the following warnings and errors when I try to use jog to frame control interface on Rviz :

[ WARN] [1546929106.961784052]: Trajectory's first point should be the current position, with time_from_start set to 0.0 - Inserting point in malformed trajectory
[ INFO] [1546929107.059234972]: on_goal
[ WARN] [1546929107.059318988]: Received new goal while still executing previous trajectory. Canceling previous trajectory
[ERROR] [1546929107.309748882]: Goal start doesn't match current pose
[ INFO] [1546929107.309875477]: on_goal
[ERROR] [1546929107.309951322]: Goal start doesn't match current pose

Is this issue related to this

[7675t]

Hi, thank you for reporting.

I think this is because the ur_modern_driver doesn't accept continuous target trajectory while ros_control does. While I have tested jog_control with various robots, I noticed many ROS oriented robot controllers (not ros_control based ones) don't support continuous target trajectory. jog_control expects it, so the result depends on each controller. I also want this problem solved somehow.

One solution may be to add option to wait for the end of the execution of jog trajectory all the time. Of course it would cause unsmooth jog motion, because the motion stops at each jog trajectory. But basically smooth jog motion need the overriding of the trajectory, so it would be better than nothing.

I would work on it but it would take some time. I really appreciate if you have any idea.

[tkanjar]

I have a same problem on YASKAWA motoman real robot (MOTOMINI).

The error message is:

Trajectory splicing not yet implemented, stopping current motion.

According to the following comment, motoman also doesn't support continuous target trajectory.
ros-industrial-consortium/descartes#218 (comment)