Strange behaviour from joint_trajectory_action to ABB robot
Hello friends,
I have a very strange problem with my ABB IRB 140. When I use RViz to plan a motion, everything works as expected. So i tried to write a node, which uses moveit to control my IRB140. Everything works as expected through /joint_path_command (see picture). Problem is: On the RobotStudio side I get very strange joint values. I.e.: If I send [0.0 , 0.1, 0.2, 0.3, 0.4] from my script "simpleplanner", my robot recieves [0.0 , 0.1, 0.1, 0.1, 0.1]. Somehow it clones the value from a joint to another joint/joints. This also happens when I directly write into the /joint_trajectory_action node, thus skipping moveit. Since the values are correct up to /joint_path_command, I assume the problem lays in /motion_download_interface. Which is strange cause, everything works fine sending motions via Rviz.
Thanks in advance! Regards - Timo