Hello, I am working with cob_trajectory_controller and MoveIt!. Currently I can generate and plan a new trajectory in MoveIt and upon trying to execute the trajectory the cob_controller fails everytime with a out_of_range error.
Here is the error from the cob_trajectory_controller:
core service [/rosout] found
process[arm_controller/joint_trajectory_controller-1]: started with pid [27186]
[ INFO] [1532628301.414878883]: getting JointNames from parameter server: //arm_controller
[ INFO] [1532628301.420821815]: starting controller with DOF: 7 PTPvel: 0.400000 PTPAcc: 0.200000 maxError 0.150000
[ INFO] [1532628301.427403982]: Setting controller frequency to 100.000000 HZ
[ INFO] [1532628416.297625889]: Received new goal trajectory with 20 points
[ INFO] [1532628416.317896242]: Calculated 21 zwischenPunkte
[ INFO] [1532628416.319265583]: Calculated 21 splinepoints
terminate called after throwing an instance of 'std::out_of_range'
what(): vector::_M_range_check
[arm_controller/joint_trajectory_controller-1] process has died [pid 27186, exit code -6, cmd /home/ralab/Documents/ros/devel/lib/cob_trajectory_controller/cob_trajectory_controller __name:=joint_trajectory_controller __log:=/home/ralab/.ros/log/1f275a8e-90fb-11e8-bbfd-7085c274b189/arm_controller-joint_trajectory_controller-1.log].
log file: /home/ralab/.ros/log/1f275a8e-90fb-11e8-bbfd-7085c274b189/arm_controller-joint_trajectory_controller-1*.log
I am using ROS Indigo (cob_trajectory_controller is from indigo-dev), Ubuntu 14.04 32bit, Schunk PowerCube and modular robotics are from Indigo
Any help would be great! Thank you
Kyle
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