Thank you, facontidavide
It solved the second part of the problem.
Simply added joint limits to _urdf/ur5.urdf.xacro_ and updated limits to _ur5_moveit_config/config/joint_limits.yaml_.
But the first part problem didn't get solved, it still collides without any reason, although **pose_goal** is in the workspace. but not under.
---
[Visit Topic](
https://discourse.ros.org/t/moveit-motion-planning-issue/7641/5) or reply to this email to respond.
If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <
http://lists.ros.org/mailman//options/ros-users>
(text/plain)