Revision history [back]

Hi everyone, I have solved the problem by myself. And thanks @Dragonslayer .

Actually, the issue is totally relate on namespace.After I removed prefix of controllers and namespace specifys I am finally to get controller command.

just like:

mybot:
  my_trajectory_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - joint0
     ..............

remove the top label mybot: of my controller config file [mybot_control/config/trajectory.yaml]

and

  <node name="trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/mybot" args="my_trajectory_controller"/>

remove ns="/mybot" in my controller launch files [mybot_control/launch/trajectory.launch]

and:

controller_list:
 - name: mybot/my_trajectory_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true
   joints:
    - joint0
  ........

remove mybot/ in name label [mybot_moveit_config_v2/config/controller.yaml]