Hello. I have a mobile manipulator (husky + ur3) from github. When I run a launch file I see the robot in gazebo. I managed to move the mobile (husky) and the gripper (of ur3) , because I know these topics. But, I can not move the manipulator (ur3) because I cant find the topics (in terminal I run: 'rostopics list', when I run my launch file). Also ,when I run the launch file I see some errors in the terminal: *[ERROR] [1678575963.054117054, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/shoulderpanjoint [ERROR] [1678575963.055541515, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/shoulderliftjoint [ERROR] [1678575963.056787201, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/elbowjoint [ERROR] [1678575963.057874529, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/wrist1joint [ERROR] [1678575963.059244182, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/wrist2joint [ERROR] [1678575963.061808128, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/wrist3joint [ERROR] [1678575963.063227160, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/frontleftwheel [ERROR] [1678575963.064304408, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/frontrightwheel [ERROR] [1678575963.065333606, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/rearleftwheel [ERROR] [1678575963.066562042, 0.329000000]: No p gain specified for pid. Namespace: /gazeboroscontrol/pidgains/rearright_wheel *

I searched for this error and some people say that I need to add some info in a .yaml file, but I have a lot of .yaml files such as controljoint.yaml that inside has info like this: **huskyjointpublisher: type: "jointstatecontroller/JointStateController" publishrate: 50

huskyvelocitycontroller: type: "diffdrivecontroller/DiffDriveController" leftwheel: ['frontleftwheel', 'rearleftwheel'] rightwheel: ['frontrightwheel', 'rearrightwheel'] publishrate: 50 posecovariancediagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] twistcovariancediagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] cmdveltimeout: 0.25 velocityrollingwindowsize: 2

# Base frameid baseframeid: baselink

# Odometry fused with IMU is published by robotlocalization, so # no need to publish a TF based on encoders alone. enableodom_tf: false

# Husky hardware provides wheel velocities estimatevelocityfrom_position: false

# Wheel separation and radius multipliers wheelseparationmultiplier: 1.875 # default: 1.0 wheelradiusmultiplier : 1.0 # default: 1.0

# Velocity and acceleration limits # Whenever a min* is unspecified, default to -max* linear: x: hasvelocitylimits : true maxvelocity : 1.0 # m/s hasaccelerationlimits: true maxacceleration : 3.0 # m/s^2 angular: z: hasvelocitylimits : true maxvelocity : 2.0 # rad/s hasaccelerationlimits: true maxacceleration : 6.0 # rad/s^2

husky: # Publish all joint states ----------------------------------- jointstatecontroller: type: jointstatecontroller/JointStateController publish_rate: 50

# Position Controllers --------------------------------------- joint1positioncontroller: type: positioncontrollers/JointPositionController joint: shoulderpan_joint pid: {p: 100.0, i: 0.01, d: 10.0}

joint2positioncontroller: type: positioncontrollers/JointPositionController joint: shoulderlift_joint pid: {p: 100.0, i: 0.01, d: 10.0}

joint3positioncontroller: type: positioncontrollers/JointPositionController joint: elbowjoint pid: {p: 100.0, i: 0.01, d: 10.0}

joint4positioncontroller: type: positioncontrollers/JointPositionController joint: wrist1_joint pid: {p: 100.0, i: 0.01, d: 10.0}

joint5positioncontroller: type: positioncontrollers/JointPositionController joint: wrist2_joint pid: {p: 100.0, i: 0.01, d: 10.0}

joint6positioncontroller: type: positioncontrollers/JointPositionController joint: wrist3_joint pid: {p: 100.0, i: 0.01, d: 10.0} **

What should I do in order to move this manipulator? As I said, I can control the base (husky) and the gripper (that is attached in the manipulator). How is it possible to see the topics for the base (velocity) and gripper and not for the manipulator? Any help would be appreciated...

Topics: **/armcontroller/command /armcontroller/followjointtrajectory/cancel /armcontroller/followjointtrajectory/feedback /armcontroller/followjointtrajectory/goal /armcontroller/followjointtrajectory/result /armcontroller/followjointtrajectory/status /armcontroller/state /clock /cmdvel /diagnostics /estop /gd435/depth/camerainfo /gd435/depth/gimageraw /gd435/depth/gpoints /gd435/parameterdescriptions /gd435/parameterupdates /gd435/rgb/camerainfo /gd435/rgb/gimageraw /gd435/rgb/gimageraw/compressed /gd435/rgb/gimageraw/compressed/parameterdescriptions /gd435/rgb/gimageraw/compressed/parameterupdates /gd435/rgb/gimageraw/compressedDepth /gd435/rgb/gimageraw/compressedDepth/parameterdescriptions /gd435/rgb/gimageraw/compressedDepth/parameterupdates /gd435/rgb/gimageraw/theora /gd435/rgb/gimageraw/theora/parameterdescriptions /gd435/rgb/gimageraw/theora/parameterupdates /gazebo/linkstates /gazebo/modelstates /gazebo/parameterdescriptions /gazebo/parameterupdates /gazebo/performancemetrics /gazebo/setlinkstate /gazebo/setmodelstate /hd435/depth/camerainfo /hd435/depth/himageraw /hd435/depth/hpoints /hd435/parameterdescriptions /hd435/parameterupdates /hd435/rgb/camerainfo /hd435/rgb/himageraw /hd435/rgb/himageraw/compressed /hd435/rgb/himageraw/compressed/parameterdescriptions /hd435/rgb/himageraw/compressed/parameterupdates /hd435/rgb/himageraw/compressedDepth /hd435/rgb/himageraw/compressedDepth/parameterdescriptions /hd435/rgb/himageraw/compressedDepth/parameterupdates /hd435/rgb/himageraw/theora /hd435/rgb/himageraw/theora/parameterdescriptions /hd435/rgb/himageraw/theora/parameterupdates /huskyvelocitycontroller/cmdvel /huskyvelocitycontroller/odom /huskyvelocitycontroller/parameterdescriptions /huskyvelocitycontroller/parameterupdates /imu/data /imu/data/accel/parameterdescriptions /imu/data/accel/parameterupdates /imu/data/bias /imu/data/rate/parameterdescriptions /imu/data/rate/parameterupdates /imu/data/yaw/parameterdescriptions /imu/data/yaw/parameterupdates /jointstates /joyteleop/cmdvel /navsat/fix /navsat/fix/position/parameterdescriptions /navsat/fix/position/parameterupdates /navsat/fix/status/parameterdescriptions /navsat/fix/status/parameterupdates /navsat/fix/velocity/parameterdescriptions /navsat/fix/velocity/parameterupdates /navsat/vel /odometry/filtered /rhl1position/command /rhl1position/pid/parameterdescriptions /rhl1position/pid/parameterupdates /rhl1position/state /rhl2position/command /rhl2position/pid/parameterdescriptions /rhl2position/pid/parameterupdates /rhl2position/state /rhp12rnposition/command /rhp12rnposition/pid/parameterdescriptions /rhp12rnposition/pid/parameterupdates /rhp12rnposition/state /rhr2position/command /rhr2position/pid/parameterdescriptions /rhr2position/pid/parameterupdates /rhr2position/state /rosout /rosoutagg /scan /setpose /tf /tfstatic /twistmarkerserver/cmdvel /twistmarkerserver/feedback /twistmarkerserver/update /twistmarkerserver/update_full

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