Revision history [back]

If the problem appears after using the MoveIt! Setup Assistant for creating a new configuration package I recommend looking at the <robot>_moveit_controller_manager.launch.xml file. You will find it inside the config folder of your <robot>_moveit_config package.

Open it and verify that it contains more than just the <launch></launch> tags. Its contents should look somewhat like this:

<launch>  
<rosparam file="$(find <robot>_moveit_config)/config/controllers.yaml"/>  
<param name="use_controller_manager" value="false"/>  
<param name="trajectory_execution/execution_duration_monitoring" value="false"/>  
 <param name="moveit_controller_manager"  value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>  
</launch>

Forgetting to add this content during the creation of new MoveIt! configuration package will trigger this error message

[FATAL]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed