{"action":"created","issue":{"url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/54","repository_url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver","labels_url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/54/labels{/name}","comments_url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/54/comments","events_url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/54/events","html_url":"https://github.com/ThomasTimm/ur_modern_driver/issues/54","id":158158599,"number":54,"title":"Failure due to protective stop on the UR","user":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars.githubusercontent.com/u/5566160?v=3","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2016-06-02T14:43:00Z","updated_at":"2016-06-13T07:24:11Z","closed_at":null,"body":"The robot stops during the execution of motions programmed via MoveIt.\r\n\r\nAlso read:\r\nhttps://github.com/ros-industrial/universal_robot/issues/241#issuecomment-223309926\r\nhttps://groups.google.com/forum/#!topic/swri-ros-pkg-dev/LwcFK44vmKI"},"comment":{"url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/comments/225506392","html_url":"https://github.com/ThomasTimm/ur_modern_driver/issues/54#issuecomment-225506392","issue_url":"https://api.github.com/repos/ThomasTimm/ur_modern_driver/issues/54","id":225506392,"user":{"login":"ThomasTimm","id":1158034,"avatar_url":"https://avatars.githubusercontent.com/u/1158034?v=3","gravatar_id":"","url":"https://api.github.com/users/ThomasTimm","html_url":"https://github.com/ThomasTimm","followers_url":"https://api.github.com/users/ThomasTimm/followers","following_url":"https://api.github.com/users/ThomasTimm/following{/other_user}","gists_url":"https://api.github.com/users/ThomasTimm/gists{/gist_id}","starred_url":"https://api.github.com/users/ThomasTimm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ThomasTimm/subscriptions","organizations_url":"https://api.github.com/users/ThomasTimm/orgs","repos_url":"https://api.github.com/users/ThomasTimm/repos","events_url":"https://api.github.com/users/ThomasTimm/events{/privacy}","received_events_url":"https://api.github.com/users/ThomasTimm/received_events","type":"User","site_admin":false},"created_at":"2016-06-13T07:24:11Z","updated_at":"2016-06-13T07:24:11Z","body":"The velocity is related to the point at the trajectory, so you should use the desired joint velocity at the point (i.e. all zeros at the first and last point).\r\nThe driver then interpolates and calculate the required velocity to reach the trajectory points at the desired time.\r\nSo goal time and velocity is not contradictory; goal time is when the robot should be at that pose, velocity is how fast the robot should move at that point.\r\nIf you want a specific TCP speed in cartesian space, you should find and calculate the inverse Jacobian.\r\nNo, if you put all time_from_start to zero, you are essentially telling the driver at should be at all those poses at the same time (now)."}}
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