[QUESTION] Configuration for servoing

[PietroValerio]

Hi i'm investigating why i get [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation, when i do servoing via moveit cpp api, i should note that the code that gives this message also worked without flaws on real ur10e. It could be only a moveit problem but, it's only a configuration problem from my side.
I'm using your driver picked by source tag 2.4.13 (the code tested was tested using the binary version 2.4.13 which is no longer available), and I followed the tutorial to build a cell with ur.
You say that for servoing is reccomended to use either /forward_position_controller/commands or /forward_velocity_controller/commands. I noted that with the new moveit api you could use /scaled_joint_trajectory_controller/joint_trajectory for servoing (this was working with the binary version of the driver). Using the compiled version of the driver gave [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation. I tried to modify the ros2_controllers.yaml file in particular the costraints and I saw the robot moving so my question is, are there some values that are the best for the configuration? I also want to note that for jazzy, atleast, you are using an older version of ur_servo.yaml, some parameters are changed, you can find here the complete list.
This is my ros2_control.yaml file

controller_manager:
  ros__parameters:
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    gripper_position_controller:
      type: position_controllers/GripperActionController

    io_and_status_controller:
      type: ur_controllers/GPIOController

    speed_scaling_state_broadcaster:
      type: ur_controllers/SpeedScalingStateBroadcaster

    force_torque_sensor_broadcaster:
      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    scaled_joint_trajectory_controller:
      type: ur_controllers/ScaledJointTrajectoryController

    forward_velocity_controller:
      type: velocity_controllers/JointGroupVelocityController

    forward_position_controller:
      type: position_controllers/JointGroupPositionController

    force_mode_controller:
      type: ur_controllers/ForceModeController

    freedrive_mode_controller:
      type: ur_controllers/FreedriveModeController

    passthrough_trajectory_controller:
      type: ur_controllers/PassthroughTrajectoryController

    tcp_pose_broadcaster:
      type: pose_broadcaster/PoseBroadcaster

    ur_configuration_controller:
      type: ur_controllers/URConfigurationController

speed_scaling_state_broadcaster:
  ros__parameters:
    state_publish_rate: 100.0
    tf_prefix: "ur10e_"

io_and_status_controller:
  ros__parameters:
    tf_prefix: "ur10e_"

ur_configuration_controller:
  ros__parameters:
    tf_prefix: "ur10e_"

force_torque_sensor_broadcaster:
  ros__parameters:
    sensor_name: ur10e_tcp_fts_sensor
    state_interface_names:
      - force.x
      - force.y
      - force.z
      - torque.x
      - torque.y
      - torque.z
    frame_id: ur10e_tool0
    topic_name: ft_data

joint_trajectory_controller:
  ros__parameters:
    joints:
      - ur10e_shoulder_pan_joint
      - ur10e_shoulder_lift_joint
      - ur10e_elbow_joint
      - ur10e_wrist_1_joint
      - ur10e_wrist_2_joint
      - ur10e_wrist_3_joint
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false
    constraints:
      stopped_velocity_tolerance: 0.2
      goal_time: 0.0
      ur10e_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
      ur10e_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
      ur10e_elbow_joint: { trajectory: 0.2, goal: 0.1 }
      ur10e_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
      ur10e_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
      ur10e_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }

scaled_joint_trajectory_controller:
  ros__parameters:
    joints:
      - ur10e_shoulder_pan_joint
      - ur10e_shoulder_lift_joint
      - ur10e_elbow_joint
      - ur10e_wrist_1_joint
      - ur10e_wrist_2_joint
      - ur10e_wrist_3_joint
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 100.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false
    constraints:
      stopped_velocity_tolerance: 0.2
      goal_time: 0.0
      ur10e_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 } # putting higher values make the robot move without warning
      ur10e_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }  # putting higher values make the robot move without warning
      ur10e_elbow_joint: { trajectory: 0.2, goal: 0.1 }  # putting higher values make the robot move without warning
      ur10e_wrist_1_joint: { trajectory: 0.2, goal: 0.1 } # putting higher values make the robot move without warning
      ur10e_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }  # putting higher values make the robot move without warning
      ur10e_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }  # putting higher values make the robot move without warning
    speed_scaling_interface_name: ur10e_speed_scaling/speed_scaling_factor

passthrough_trajectory_controller:
  ros__parameters:
    tf_prefix: "ur10e_"
    joints:
      - ur10e_shoulder_pan_joint
      - ur10e_shoulder_lift_joint
      - ur10e_elbow_joint
      - ur10e_wrist_1_joint
      - ur10e_wrist_2_joint
      - ur10e_wrist_3_joint
    state_interfaces:
      - position
      - velocity
    speed_scaling_interface_name: ur10e_speed_scaling/speed_scaling_factor

forward_velocity_controller:
  ros__parameters:
    joints:
      - ur10e_shoulder_pan_joint
      - ur10e_shoulder_lift_joint
      - ur10e_elbow_joint
      - ur10e_wrist_1_joint
      - ur10e_wrist_2_joint
      - ur10e_wrist_3_joint
    interface_name: velocity

forward_position_controller:
  ros__parameters:
    joints:
      - ur10e_shoulder_pan_joint
      - ur10e_shoulder_lift_joint
      - ur10e_elbow_joint
      - ur10e_wrist_1_joint
      - ur10e_wrist_2_joint
      - ur10e_wrist_3_joint

force_mode_controller:
  ros__parameters:
    tf_prefix: "ur10e_"

freedrive_mode_controller:
  ros__parameters:
    tf_prefix: "ur10e_"

tcp_pose_broadcaster:
  ros__parameters:
    frame_id: ur10e_base
    pose_name: ur10e_tcp_pose
    tf:
      child_frame_id: ur10e_tool0_controller

gripper_position_controller:
  ros__parameters:
    action_monitor_rate: 100.0
    joint: "gripper_finger_joint"
    allow_stalling: false
    goal_tolerance: 0.01
    max_effort: 0.0
    stall_timeout: 1.0
    stall_velocity_threshold: 0.001

Thanks in advance for your awnsers

[urfeex]

Could you please provide a minimum working example so that we could reproduce the problem?