Very close to a singularity, emergency stop - MoveIt servoing
## Background I am trying to mimic the MoveIt Servoing Tutorial
Instructions
I am following the tutorial command
1. roslaunch ur_gazebo ur5.launch
2. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
3. roslaunch ur5_moveit_config moveit_rviz.launch config:=true
4.rosservice call /controller_manager/switch_controller "start_controllers: ['joint_group_position_controller']
stop_controllers: ['arm_controller']
strictness: 0
start_asap: false
timeout: 0.0"
5. roslaunch moveit_servo spacenav_cpp.launch
6. rostopic pub -r 100 -s /servo_server/delta_twist_cmds geometry_msgs/TwistStamped "header: auto
twist:
linear:
x: 0.0
y: 0.01
z: -0.01
angular:
x: 0.0
y: 0.0
z: 0.0"
Sometimes the robot move, however many times it gives out the following error, I also tried moving it using rviz to avoid singularity.
