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Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 10.964647 seconds). Stopping trajectory.

Hi, I'm using Moveit with UR5, yesterday I sudo apt update caused this problem. which I'm not sure what the problem is. I hope everyone can help, thank you.

Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 10.964647 seconds). Stopping trajectory.

Asked by srwbk on 2023-06-21 22:53:23 UTC

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Could you provide more details?

Asked by distro on 2023-06-22 00:59:49 UTC

When I connect to the real robot I get the problem 

[ INFO] [1687413684.759042210]: Canceling execution for
[ INFO] [1687413684.759224787]: Completed trajectory execution with status TIMED_OUT ...
[ INFO] [1687413684.759476054]: on_cancel

Asked by srwbk on 2023-06-22 01:02:52 UTC

What do you mean by connect? What launch files are you running?

Asked by distro on 2023-06-22 01:05:45 UTC

But I can run through demo.launch without problems. I'm not sure how this problem occurred. And sorry if I didn't fully explain, I hope everyone can help.

Asked by srwbk on 2023-06-22 01:06:36 UTC

What launch file are you running that gives you this error?

Asked by distro on 2023-06-22 01:08:26 UTC

The file I run is 

roslaunch ur_modern_driver ur5_robotiq85_bringup.launch robot_ip:=192.168.0.100
roslaunch robot_moveit_hardware move_group.launch
roslaunch robot_moveit_hardware moveit_rviz.launch config:=True

Asked by srwbk on 2023-06-22 01:08:51 UTC

@srwbk you may need to increase the time alotted to calculate trajectory using set_planning_time class function of MoveGroupCommander. I'm also having problems with my UR robot arm too. When I post my question I post the link here. Maybe it would help you as well.

Asked by distro on 2023-07-08 20:09:48 UTC

Answers