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This is probably a namespacing issue, or you don't load the joint_trajectory_controller (the joint_state_controller only reports joint states, it doesn't actually control any actuators (confusing, I know)).

For the namespace: from your previous question I gather that you have your moveit_planning_execution.launch file configured for the typical ROS-Industrial driver. That is fine, but that assumes that the ActionServer is listening on topics without any additional namespace prefixed. The ros_control infrastructure by default runs its joint_trajectory_controller under a namespace. Either remove the namespace, or remap the topics in your launch file. See abb_experimental/abb_irb120_gazebo/launch/irb120_gazebo.launch for an example (for ABB and Gazebo, but the idea is the same).

If you are not loading the joint_trajectory_controller, you'll want to add that to your ros_control configuration yaml that loads the rest of your controllers. For the kuka_rsi_hw_interface package, it should already be loaded (here).

This is probably a namespacing issue, or you don't load the joint_trajectory_controller (the joint_state_controller only reports joint states, it doesn't actually control any actuators (confusing, I know)).

For the namespace: from your previous question I gather that you have your moveit_planning_execution.launch file configured for the typical ROS-Industrial driver. That is fine, but that assumes that the ActionServer is listening on topics without any additional namespace prefixed. The ros_control infrastructure by default runs its joint_trajectory_controller under a namespace. Either remove the namespace, or remap the topics in your launch file. See abb_experimental/abb_irb120_gazebo/launch/irb120_gazebo.launch for an example (for ABB and Gazebo, but the idea is the same).

If you are not loading the joint_trajectory_controller, you'll want to add that to your ros_control configuration yaml that loads the rest of your controllers. For the kuka_rsi_hw_interface package, it should already be loaded (here).

This is probably a namespacing issue, or you don't load the joint_trajectory_controller (the joint_state_controller only reports joint states, it doesn't actually control any actuators (confusing, I know)).

For the namespace: from your previous question I gather that you have your moveit_planning_execution.launch file configured for the typical ROS-Industrial driver. That is fine, but that assumes that the ActionServer is listening on topics without any additional namespace prefixed. The ros_control infrastructure by default runs its joint_trajectory_controller under a namespace. Either remove the namespace, or remap the topics in your launch file. See abb_experimental/abb_irb120_gazebo/launch/irb120_gazebo.launch for an example (for ABB and Gazebo, but the idea is the same).

If you are not loading the joint_trajectory_controller, you'll want to add that to your ros_control configuration yaml that loads the rest of your controllers. For the kuka_rsi_hw_interface package, it should already be loaded (here)., see also the test sub dir of kuka_rsi_hw_interface for an example).

Update: I've just created an example MoveIt configuration package for the KR 6 R900 sixx, see the kr6r900sixx_moveit_rsi_convenience in my fork of ros-industrial/kuka_experimental.

See also my answer in MoveIt and ROS-Industrial: No controller_list specified.


This is probably a namespacing issue, or you don't load the joint_trajectory_controller (the joint_state_controller only reports joint states, it doesn't actually control any actuators (confusing, I know)).

For the namespace: from your previous question I gather that you have your moveit_planning_execution.launch file configured for the typical ROS-Industrial driver. That is fine, but that assumes that the ActionServer is listening on topics without any additional namespace prefixed. The ros_control infrastructure by default runs its joint_trajectory_controller under a namespace. Either remove the namespace, or remap the topics in your launch file. See abb_experimental/abb_irb120_gazebo/launch/irb120_gazebo.launch for an example (for ABB and Gazebo, but the idea is the same).

If you are not loading the joint_trajectory_controller, you'll want to add that to your ros_control configuration yaml that loads the rest of your controllers. For the kuka_rsi_hw_interface package, it should already be loaded (here, see also the test sub dir of kuka_rsi_hw_interface for an example).