Incomplete trajectory execution #25
Description
Hello everyone,
I'm currently working on a project which consists in doing 3d printing with a staubli robot. To do this I have a list of points that I cut into several trajectories. To compute the trajectories I use "cartesian Path" and the OMPL library but I also tried CHOMP and the Descartes project.
The majority of these trajectories work correctly but the problem is that some of my trajectories don't finish, and I don't get any error messages. The robot simply stays in place.
My configuration :
Robot : Staubli Tx2 60L
Controller: Staubli CS9
Ubuntu 18.04.5 LTS
ROS Melodic
Remarks :
The points are accessible by the robot
The simulation under gazebo works correctly.
I also tried to shift all the points on x and y but the problem remains the same.
On the other hand if I make smaller trajectories (less than 10 points) the problem does not occur.
Attached points are an example of a problematic trajectory.
points.pdf
Thank you for your help and sorry if there is a lack of information, this is my first post.
Aurelien