moveit Action client not connected
Hello,
I need help with MoveIt setup for a custom robot. I am using ROS Indigo, Ubuntu 14.04 with latest MoveIt.
All robot packages with MoveIt configured are here: https://github.com/byeongkyu/safe_arm
The robot is described here: http://www.slideshare.net/ahnbk/oroca-seminar
It can be started by running these files in separate terminals:
roslaunch safearmbringup bringup.launch
roslauch safearmbringup bringup_moveit.launch
The path planning works, however execution doesn't. I get the following error when starting the simulator:
- MoveitSimpleControllerManager: Action client not connected: safearm/larmjointcontroller/followjointtrajectory
- MoveitSimpleControllerManager: Action client not connected: safearm/rarmjointcontroller/followjointtrajectory
Also, I get warnings:
Controller Spawner couldn't find the expected controllermanager ROS interface. [safearm/jointcontrollerspawner-5] process has finished cleanly
Controller Spawner couldn't find the expected controllermanager ROS interface. [safearm/lcontrollerspawner-7] process has finished cleanly
Controller Spawner couldn't find the expected controllermanager ROS interface. [safearm/rcontrollerspawner-8] process has finished cleanly
I have these packages installed:
ros-indigo-gazebo-ros-pkgs,
ros-indigo-gazebo-ros-control,
ros-indigo-moveit-*,
ros-indigo-ros-control,
ros-indigo-ros-controllers,
ros-indigo-joint-state-controller,
ros-indigo-effort-controllers,
ros-indigo-position-controllers,
ros-indigo-joint-trajectory-controller.
Is there something missing? I have spent a lot of time tweaking the configuration files, but no luck... Any help would be much appreciated.
Asked by mg001 on 2015-08-11 14:50:25 UTC
Answers
Solved the problem by installing Gazebo4. Initially I have been testing with Gazebo2, but seems like ros-control is not fully compatible with it...
Asked by mg001 on 2015-08-12 09:05:27 UTC
Comments
Hello Sorry, but could you solve your problem?.. I have the same problem and I don't have idea how to solve it
Asked by Diana on 2015-09-04 06:22:12 UTC
Hi! Yes, I have solved it by upgrading from Gazebo2 to Gazebo4. If you set up ROS Control with your robot model properly it should work. Check out this project: https://github.com/byeongkyu/safe_arm . It is a working example of MoveIt + ROS Control.
Asked by mg001 on 2015-09-04 14:24:40 UTC
hello, I test your safe_arm package, but have wrong output:
MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory
I use gazebo2 in indigo, I need upgrade my gazebo?
Asked by yin on 2016-11-28 08:33:29 UTC
Did you ever fix this issue? MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory
Asked by robot_commander on 2017-03-01 11:43:33 UTC
Comments