Hello,

I have created my own basic controller and my goal is to load it into a 2 links robot that I created too. I have created the configuration files using moveit and then created my .yawl and .launch in order to run this. My problem is that whenever I launch the launch script this warning appears and my controllers are missing. I did

rosservice list | grep controller_manager

to see if controllers are loaded but nothing... could someone help me to find my problem? I have doubts about if this can be done using only rviz or do I need to use gazebo to test my controller?

my scripts, yaml:

    # Publish joint_states
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

controller_list:
  name: rob_arm_controller
  type: my_controller/MyPositionController
  default: true
  joints:
    - joint1
    - joint2
  gains:
    joint1:
      gain: 0.1
    joint2:
      gain: 0.1

my controller:

#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include </opt/ros/noetic/include/pluginlib/class_list_macros.h>
#include <std_msgs/Float64.h>

namespace my_controller_ns
{
    class MyPositionController : public controller_interface::Controller<hardware_interface::PositionJointInterface>
    {
        bool init(hardware_interface::PositionJointInterface* hw, ros::NodeHandle &n)
        {
            // get the joint to control specified in the config file
            // load the name of the joint of the config file into the parameter server
            std::string my_joint;
            if (!n.getParam("joint", my_joint))
            {
                ROS_ERROR("Could not find joint name");
                return false;

            }
            //once having the joints go to hardware interface and say which joint is asociated with which hardware
            joint_ = hw->getHandle(my_joint); // throws on failure

            //get the current position of the joint from controller and pass next command
            command_ = joint_.getPosition(); //set current joint goal

            //load gain using gains set on parameter server
            if( !n.getParam("gain", gain_))
            {
                ROS_ERROR("Could not find the gain parameter value");
                return false;

            }

            //start command suscriber with command topic, setcommand is a callback function that gets the topic data
            sub_command_ = n.subscribe<std_msgs::Float64>("command", 1 , &MyPositionController::setCommandCallBack, this);
            return true;

        }

    private:
        hardware_interface::JointHandle joint_;
        double gain_;
        double command_;
        ros::Subscriber sub_command_;


    //CONTROL!!!!
    void update(const ros::Time& time, const ros::Duration& period)
    {
            double error = command_ - joint_.getPosition();
            double commanded_pos= error*gain_;
            joint_.setCommand(commanded_pos);

    }

    //callback para pasar la posicion siguiente del robot
    void setCommandCallBack(const std_msgs::Float64ConstPtr& msg)
    {
            command_ = msg->data;
    }

    void starting(const ros::Time& time) {}
    void stopping(const ros::Time& time) {}

};

PLUGINLIB_EXPORT_CLASS(my_controller_ns::MyPositionController, controller_interface::ControllerBase);

}

and my launch file:

<!--  static tf for robot root -->
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base_link" />

<!-- robot description-->
<param name="robot_description" command="cat $(find planar_control)/urdf/rob.urdf"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find planar_moveit_config)/launch/moveit.rviz "/>

<!-- specify the planning pipeline -->
<arg name="pipeline" default="ompl" />

<!-- robot_description -->
 <arg name="load_robot_description" default="true"/>

<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- load controller_list -->
<rosparam file="$(find planar_moveit_config)/config/my_controller.yaml"/>

<!-- Run the main MoveIt executable without trajectory execution -->
<include file="$(dirname)/move_group.launch">
    <arg name="allow_trajectory_execution" value="true"/>
    <arg name="info" value="true"/>
    <arg name="pipeline" value="$(arg pipeline)"/>
    <arg name="load_robot_description" value="$(arg load_robot_description) "/>
</include>

<!-- load controller_list -->
<rosparam file="$(find planar_moveit_config)/config/my_controller.yaml"/>

If more information is needed, ask me! I'm having a hard time here with this controller issues

Thanks in advance!