{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/motoman/issues/84","repository_url":"https://api.github.com/repos/ros-industrial/motoman","labels_url":"https://api.github.com/repos/ros-industrial/motoman/issues/84/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/motoman/issues/84/comments","events_url":"https://api.github.com/repos/ros-industrial/motoman/issues/84/events","html_url":"https://github.com/ros-industrial/motoman/issues/84","id":139572890,"number":84,"title":"SDA5F: controller is taking too long to execute","user":{"login":"qqfly","id":6135575,"avatar_url":"https://avatars.githubusercontent.com/u/6135575?v=3","gravatar_id":"","url":"https://api.github.com/users/qqfly","html_url":"https://github.com/qqfly","followers_url":"https://api.github.com/users/qqfly/followers","following_url":"https://api.github.com/users/qqfly/following{/other_user}","gists_url":"https://api.github.com/users/qqfly/gists{/gist_id}","starred_url":"https://api.github.com/users/qqfly/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/qqfly/subscriptions","organizations_url":"https://api.github.com/users/qqfly/orgs","repos_url":"https://api.github.com/users/qqfly/repos","events_url":"https://api.github.com/users/qqfly/events{/privacy}","received_events_url":"https://api.github.com/users/qqfly/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-03-09T13:08:54Z","updated_at":"2016-03-17T03:06:27Z","closed_at":null,"body":"Hello,\r\n\r\n**I.** I'm working with a SDA5F robot, and I can realize the motion planning function with MoveIt. However, when I executed the planned path, some problems came up: \r\n\r\nWhen I chose the single arm groups (`arm_left` & `arm_right`), the robot performed well;\r\nBut when I chose the `sda10f` group (for all joints of SDA5F), the robot could follow the path, but MoveIt cannot receive the `/joint_trajectory_action/result` topic, and return the error codes: \r\n\r\n```\r\nController is taking too long to execute trajectory (...). Stopping trajectory.\r\nExecution completed: TIMED_OUT\r\nTransitioning goal to LOST\r\n```\r\n\r\nand then moveit breakdown.\r\n\r\n**II.** Besides, I have another question, Could the `motoman_driver` realize the Jacobian basd control (speed control, differential control or something like that)? I have tested the `/joint_path_command` and controlled the `joint_t` from `curPosition` to `curPosition+dq` in each iteration. the `joint_t` of robot could move, but it would stop in each iteration.\r\nOr, can I direct control the joint velocity through this package?\r\n\r\nThanks a lot!\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/motoman/issues/comments/197671486","html_url":"https://github.com/ros-industrial/motoman/issues/84#issuecomment-197671486","issue_url":"https://api.github.com/repos/ros-industrial/motoman/issues/84","id":197671486,"user":{"login":"shaun-edwards","id":2932571,"avatar_url":"https://avatars.githubusercontent.com/u/2932571?v=3","gravatar_id":"","url":"https://api.github.com/users/shaun-edwards","html_url":"https://github.com/shaun-edwards","followers_url":"https://api.github.com/users/shaun-edwards/followers","following_url":"https://api.github.com/users/shaun-edwards/following{/other_user}","gists_url":"https://api.github.com/users/shaun-edwards/gists{/gist_id}","starred_url":"https://api.github.com/users/shaun-edwards/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/shaun-edwards/subscriptions","organizations_url":"https://api.github.com/users/shaun-edwards/orgs","repos_url":"https://api.github.com/users/shaun-edwards/repos","events_url":"https://api.github.com/users/shaun-edwards/events{/privacy}","received_events_url":"https://api.github.com/users/shaun-edwards/received_events","type":"User","site_admin":false},"created_at":"2016-03-17T03:06:26Z","updated_at":"2016-03-17T03:06:26Z","body":"@qqfly, your first issue could be related to a bug.  See PR #79 for a potential fix.\r\n\r\nAs for your second question.  At a low level, you could achieve what you describe.  The motoman driver sends incremental motion to the robot controller.  PR #16 actually implemented this, although the code is out of date by this point."}}