Gazebo and MoveIt! MoveitSimpleControllerManager and sending joint trajectory messages
I've been working my way through the MoveIt! tutorials and have been having some problems with the Gazebo integration.
I'm simply trying to plan and execute a command in MoveIt! and have it displayed on the Gazebo simulator, in this case using the Fanuc m10ia model.
I have had to use the MoveItSimpleControllerManager instead of the Pr2controller, (also if any one else is using this I believe there is an error with the spelling, as it is listed as Simple_MoveIt_Controller_Manager and not MoveIt_Simple_Controller_Manager).
Anyway, upon running roslaunch fanuc_m10ia_moveit_config moveit_planning_execution.launch I get any error saying:
[ INFO] [1375734277.680123500, 1255.832000000]: MoveitSimpleControllerManager: Waiting for moveit_simple_controller/follow_joint_trajectory to come up [ERROR] [1375734283.338320976, 1260.832000000]: MoveitSimpleControllerManager: Action client not connected: moveit_simple_controller/follow_joint_trajectory
Is there some step I have missed, or some node / service I should have started that I am unaware of?
Here is some additional information
controller_manager_ns: moveit_simple_controller_manager controller_list: - name: moveit_simple_controller type: FollowJointTrajectory action_ns: follow_joint_trajectory default: true joints: - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 - joint_6 - joint_6-tool0
<launch> # The planning and execution components of MoveIt! configured to # publish the current configuration of the robot (simulated or real) # and the current state of the world as seen by the planner <include file="$(find fanuc_m10ia_moveit_config)/launch/move_group.launch"> <arg name="publish_monitored_planning_scene" value="true" /> </include> # The visualization component of MoveIt! <include file="$(find fanuc_m10ia_moveit_config)/launch/moveit_rviz.launch"/> </launch>
<launch> <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> <arg name="controller_manager_name" default="moveit_simple_controller_manager" /> <param name="controller_manager_name" value="$(arg controller_manager_name)" /> <arg name="use_controller_manager" default="true" /> <param name="use_controller_manager" value="$(arg use_controller_manager)" /> <rosparam file="$(find fanuc_m10ia_moveit_config)/config/controllers.yaml"/> </launch>
Any help is appreciated. (Apologies for the cross post)