xArm doesn't move after execution error

[khuechuong]

ROS Humble, Ubuntu 22.04, xArm 5
I'm using xarm_planner and using rosservice /xarm_pose_plan and xarm_exec_plan. Problem is sometimes execution failed giving me:

[move_group-4] [INFO] [1759864436.665049542] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED

Even after I tried ros2 service call /xarm/set_state xarm_msgs/srv/SetInt16 data:\ 0\, when I send another pose, planning works and execution fails.

Am I missing something? Did something change when transitioning from ROS1 to ROS2?

[penglongxiang]

@khuechuong please check if there is error code reported from our controller.

[khuechuong]

@penglongxiang Here it is:

[xarm_planner_node-5] [INFO] [1760322866.230223070] [move_group_interface]: Execute request aborted
[xarm_planner_node-5] [ERROR] [1760322866.230827622] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[xarm_planner_node-5] [ERROR] [1760322866.230859491] [xarm_planner_node]: executePath: execute failed, wait=1, MoveItErrorCode=-4

I think it has something to do with the collision sensitivity. But I set it to the lowest possible in setting at 1 so im not sure.

[penglongxiang]

@khuechuong This is the moveit error code, not from xArm. You can check the xarm controller error code from UFACTORY Studio (accessible via web browser with robot_ip:18333 port), or by checking the published /xArm/robot_states topic.