Move command aborted: motion aborted by reflex!

[jin-yiwei]

Hello~

I can run the original joint_position_example_controller in franka_ros normally, but when I modify the command_interfaces in jointpositionexamplecontroller::update, for example, adding 0.01 after delta_angle or modifying the loop to assign values to each joint, an error occurs:

what(): libfranka: Move command aborted: motion aborted by reflex! ["joint_motion_generator_velocity_limits_violation", "joint_motion_generator_velocity_discontinuity", "joint_motion_generator_acceleration_discontinuity"]

what should i do? i want to control the robot by joints continuously

[AndreasKuhner]

Hi @jin-yiwei ,
what you see is that your generated commands would create to big jumps in the velocity and acceleration domain - this could have multiple reasons. E.g. you just send to big jumps or your network connection is not good enough and some messages don't arrive in time (and allow a fluid command execution).

You could try to use the rate-limiter to eliminate the first problem....

Cheers,
Andreas