Moveit Invalid Trajectory: start point deviates from current robot state

[jacknlliu]

Invalid Trajectory: start point deviates from current robot state more than …

This issue is about Moveit! not the joint trajectory controller.

Solution:
set ros param allowed_start_tolerance:

/move_group/trajectory_execution/allowed_start_tolerance

set 0 will disable the check.

disable executation duration monitoring:

<param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" />
<param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />

Reference

• “Invalid Trajectory: start point deviates from current robot state more than …“
• How do I disable execution_duration_monitoring ?
• Invalid Trajectory: start point deviates from current robot state
• [kinetic] Invalid Trajectory: start point deviates from current robot state more than 0.01
• Invalid Trajectory: start point deviates from current robot state
• Invalid Trajectory: start point deviates
• joint_trajectory_controller ros wiki

[dieterwuytens]

I'm having the same error while planning in stomp. How do i solve it?
I added: param name="trajectory_execution/allowed_start_tolerance" value="0.0"
to my stomp_planning_pipeline.launch.xml

I set it to 0 to disable it, but still receiving the error! What is going on?
This one also does not work: param name ="move_group/trajectory_execution/allowed_start_tolerance" type="double" value="1"

[dk008652]

since, i was having the same problem, i modified trajectory_execution.pipepine.xml file in moveit generated package.
there we can see a parameter named "trajectory_execution/allowed_start_tolerance" which set to default value of 0.01, change it by 0.00 .

[saching13]

I am having the same issue. I am using interbotix viper arm and it is holding a camera with global shutters at the end effector.
and after arm moving to each position the camera captures a picture and arm moves to next position.
if I set \allowed_start_tolerance to 0.00 that will make my camera capture blurry images.
Any other ways I can avoid this issue

[Janx1913]

@dieterwuytens I had the same problem today when trying to plan using the python interface and STOMP but it worked perfectly in rviz. So i fixed it by setting the start state of the robot before planning, manually like this:

state = robot.get_current_state()
group.set_start_state(state)

[saching13]

Aaahh. thanks. that might help. I will try it out soon.

[Vamsi-IITI]

@dieterwuytens I had the same problem today when trying to plan using the python interface and STOMP but it worked perfectly in rviz. So i fixed it by setting the start state of the robot before planning, manually like this:

state = robot.get_current_state()
group.set_start_state(state)

It didn't work . Can't figure out reliable solution for this error. Sometimes code runs well but many times it doesn't run due to this issue. Control is aborted and robot arm doesn't go to goal position.

[dan9thsense]

Anybody figure this out? Still have the same issue with ROS2, MoveIt2