Unknown controller type with Moveit

asked 2021-08-18 07:59:44 -0500

Gates
68 ●13 ●18 ●22

I am trying to control the open manipulator on the TB3. I created a Moveit config package and everything works fine until I want to execute the plan on a Gazebo simulated robot. Planning is solved but no controllers are found so execution failed.

When I use roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false use_moveit:=true I can control the Gazebo robot but with my custom Moveit config file, I cannot.

I have controllers.yaml and I believe it is loaded correctly because the problem comes from the controller types in the .yaml file.

[ERROR] [1629291143.338820460, 1893.061000000]: Unknown controller type: position_controllers/JointPositionController
[ERROR] [1629291143.339038429, 1893.061000000]: Unknown controller type: position_controllers/JointPositionController
[ERROR] [1629291143.339144118, 1893.061000000]: Unknown controller type: position_controllers/JointPositionController
[ERROR] [1629291143.339236787, 1893.061000000]: Unknown controller type: position_controllers/JointPositionController
[ERROR] [1629291143.339306340, 1893.061000000]: Unknown controller type: joint_state_controller/JointStateController

And the respective controllers.yaml is here:

controller_list:
  - name: joint1_position
    action_ns: /om_with_tb3
    type: position_controllers/JointPositionController
    default: true
    joints: 
      - joint1

  - name: joint2_position
    action_ns: /om_with_tb3
    type: position_controllers/JointPositionController
    default: true
    joints: 
      - joint2

  - name: joint3_position
    action_ns: /om_with_tb3
    type: position_controllers/JointPositionController
    default: true
    joints: 
      - joint3

  - name: joint4_position
    action_ns: /om_with_tb3
    type: position_controllers/JointPositionController
    default: true
    joints: 
      - joint4

  - name: joint_state_controller
    action_ns: /om_with_tb3
    type: joint_state_controller/JointStateController
    default: true
    joints:
      - joint1
      - joint2
      - joint3
      - joint4

With a bit of research, I found out that this problem is linked to some missing Moveit controller packages. I tried to install them sudo apt install ros-melodic-ros-controllers and sudo apt install ros-melodic-joint-state-controller but it looks like I already have them.

Anyone has any ideas why the Moveit config package cannot recognize any controller types?

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Comments

did you install gazebo-ros-controllers?

pmuthu2s ( 2021-08-18 08:05:08 -0500 )edit

it is installed in default as well. ros-melodic-gazebo-ros-control is already the newest version (2.8.7-1bionic.20210616.200839)

Gates ( 2021-08-18 08:20:38 -0500 )edit

MoveIt "controllers" != ros_control controllers.

gvdhoorn ( 2021-08-18 10:17:56 -0500 )edit

Yes, I am aware of that part. Actually that's why I tried to explain the problem as "Moveit controller" issue. However, similar problem may occur if the ros_control is not installed (properly). I just tried to explain that part doesn't look like the issue for my case.

Gates ( 2021-08-18 11:43:24 -0500 )edit

I guess the problem is in the controller type. MoveitSimpleController has only FollowJointTrajectory and GripperAction type (I am not sure that part, couldn't find a proper documentation/tutorial) . So I cannot load let say joint_state_controller/JointStateController as ros_control supports. I don't know how to solve it...

Gates ( 2021-08-18 11:49:15 -0500 )edit

I think you want to use a

type: position_controllers/JointTrajectoryController

pmuthu2s ( 2021-08-19 04:25:20 -0500 )edit

Yes, position_controllers/JointTrajectoryController for joints and joint_state_controller/JointStateController for the last joint_state_controller but the problem is that those ros_control controllers are not supported by Moveit (by moveitsimplecontrollermanager). That's my question.

Gates ( 2021-08-19 04:38:42 -0500 )edit

@Gates, you can use position_controllers/JointTrajectoryController with moveit (or any other ros_control controller as long as the controller offers a FollowJointTrajectory action service ). You need to use type: position_controllers/JointTrajectoryController in your controllers.yaml for ros_control. For the moveit controllers.yaml you need to use action_ns: follow_joint_trajectory and type: FollowJointTrajectory for your controller.

Check the minimal example in my answer below.

Pratik Somaiya ( 2021-08-19 18:10:44 -0500 )edit

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position_joint_trajectory_controller: type: position_controllers/JointTrajectoryController joints: - panda_joint1 - panda_joint2 - panda_joint3 - panda_joint4 - panda_joint5 - panda_joint6 - panda_joint7

controller_list: - name: position_joint_trajectory_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - panda_joint1 - panda_joint2 - panda_joint3 - panda_joint4 - panda_joint5 - panda_joint6 - panda_joint7

Comments

I like to give those yaml files nice, distinctive names since they are so easy to get confused. I usually go with ros_control_controllers.yaml and moveit_controllers.yaml.

The ros_control_controllers.yaml typically defines all of the controllers that are available. There may be gripper controllers, arm controllers, and maybe even mobile base controllers all mixed in.

The moveit_controllers.yaml (obviously) tells MoveIt which controllers to hook up with. Typically a JointTrajectoryController but I think MoveIt can also connect with gripper action server controllers.

AndyZe ( 2021-08-20 13:33:59 -0500 )edit

wow, really? That's something I didn't know (and couldn't guess either). I thought that the type must match the ROS controller type. ATM I am not in reach to the PC which I had this problem. I cannot check if it solves my problem but this answer looks like it can solve issues for many who are having similar confusion with me. Thank you!

Gates ( 2021-08-27 02:20:27 -0500 )edit

Thanks, @AndyZe! I updated my answer and added that one can use moveit! with the GripperCommand service as well. It might help someone.

Pratik Somaiya ( 2021-09-08 11:22:24 -0500 )edit

@Gates no worries! I hope that helped.

Pratik Somaiya ( 2021-09-08 11:24:32 -0500 )edit

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