Description

When planning/executing multiple plans in quick succession, execution often fails with the error Invalid Trajectory: start point deviates from current robot state more than 0.01.

My environment

• ROS Distro: Indigo
• OS Version: Ubuntu 14.04
• MoveIt Version Binary Version 0.7.13

Steps to reproduce

I believe the key to reproducing this error is planning/executing plans in quick succession; sleeping in between executing one trajectory and planning another mitigates this issue. I am also aggregating joint states from multiple publishers onto /joint_states by using the source_list parameter to the joint_state_publisher.

For more background, see my post on the MoveIt Users' group here.

I believe my issue is different than these similar issues:

• Issue 694, Issue 498: Related to Cartesian planning
• Issue 283: Related to continuous rotation joints.

Based on my testing, I think the underlying cause may be linked to the following issues/PRs:

• PR 232
• PR 350
• PR 298
• Issue 501
• PR 717
• Issue 722

PRs 298, 717, and 350 have all been merged already. Issue 501 also references PR 717 as a possible fix. It was merged 9 days ago into indigo_devel according to the PR, but when I look at the branch itself it says the last commit was is 19 days ago...

Does the current binary release have PR 717 integrated?