joint_motion_generator_acceleration_discontinuity

[MMSSalem]

Hello,

Sometime during Joint_Motion or Linear_Relative_Motion. I got this error:
Exception: Motion finished commanded, but the robot is still moving! ["joint_motion_generator_acceleration_discontinuity"]

it dose not occur continuously but if I run 10 trials it appears at 2 of them randomly and it doesn't related to specific motion.

could any one help me in this regards.

Best Regards,
Mahmoud

[marcbone]

I think the problem is the rate limiter. You try out #4 and see if it fixes your problem?