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I always encountered this problem when using moveit setup assistant to create a package.

To fix it go to /your_moveit_package/config/ros_controllers.yaml. There always lies a blank controller list as such controller_list: []. Just remove the brackets and add your controller name with type. As mentioned in the previous comments it must be of type "FollowJointTrajectory"

A snippet of my ros_controllers.yaml after making the change

hardware_interface:
  joints:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7
    - panda_finger_joint1
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: panda_arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7
  - name: panda_hand_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_finger_joint1
      - panda_finger_joint2