external control error：within 0.002 seconds is exceeding the joint velocity limits

[Aruen24]

Feature summary

Velocity 54.112 required to reach the received target [-3641786652204.927734, -1140532155447.430664, 1166022624219.684814, 10909127314.458231, -64363636502.848495, -9701334695426.744141] within 0.002 seconds is exceeding the joint velocity limits

[urfeex]

Thank you for your report. Some context could be very helpful with this issue.

• What motion did you send to the robot with which controller?
• Did the program recover from this?
• What kind of ROS system do you use? -
  • Do you use a PREEMPT_RT patched kernel or lowlatency or standard kernel?
  • Do you run natively on a linux machine at all?
• What is the network connection to the robot?
  • Direct cable?
  • Switch involved?

[Aruen24]

@urfeex joint_trajectory_controller move to point A
ROS2 Humble Ubuntu 22.04
ur3e real robot LAN

[urfeex]

Could you try using the scaled_joint_trajectory_controller and post the exact trajectory message that is sent to the controller?