= Known Issues =

This page provides additional information on specific known issues with ROS-Industrial Fanuc packages. It does '''not''' replace the Github [[https://github.com/ros-industrial/fanuc/issues|issue tracker]], nor is it a place to report new issues. Please use the appropriate channels for that (refer to the ''Contact us/Technical support'' and ''Report a Bug'' sections on the [[fanuc|fanuc/Indigo|&distro=indigo]] page).

== MoveIt configurations ==

=== Incorrect acceleration limits ===

The true acceleration limits for the manipulators supported by the MoveIt configuration packages are currently unknown. Because of this, all packages are configured to use the default MoveIt acceleration limits of 1/5th of the maximum joint velocity.

This issue is tracked as [[https://github.com/ros-industrial/fanuc/issues/49|issue 49]].

=== Poor planning performance ===

Some users have reported poor planning performance (abnormally long planning
times, strange paths) when using the default (ie: `LBKPIECE1`) planner
configuration in combination with certain robot models. At least the Universal
Robot models and some KUKA LWR4 variants are known to trigger this behaviour in
MoveIt / OMPL.

This issue has not been observed with or reported for any of the MoveIt
configurations in the `fanuc` or `fanuc_experimental` repositories, but is
included here in case users run into it.

A possible work-around is to plan using the `RRTConnect` planner, and / or to
set `planning attempts` to 1.

This issue is tracked at [[https://github.com/ros-industrial/universal_robot/issues/193|universal_robot/issue 193]] and [[https://github.com/ros-industrial/fanuc/issues/156|issue 156]].