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I figured this out but thought I'd share since others may have the same issue. The root problem is in the MoveIt setup assistant I did not create any Robot Poses, I skipped that section, and as such the config/fake_controllers.yaml file has a parameter initial that then has a blank after it, which gets loaded as None to the parameter server.

I think the best solution is to simply add at least one Robot Pose (e.g. zero position), then you don't have to worry about this. I suppose alternatively you could delete the initial parameter being loaded to the server, but there may be a node that needs that, so I would suggest the first option.

EDIT: This has been fixed with this pull request: https://github.com/ros-planning/moveit/pull/2406

I figured this out but thought I'd share since others may have the same issue. The root problem is in the MoveIt setup assistant I did not create any Robot Poses, I skipped that section, and as such the config/fake_controllers.yaml file has a parameter initial that then has a blank after it, which gets loaded as None to the parameter server.

I think the best solution is to simply add at least one Robot Pose (e.g. zero position), then you don't have to worry about this. I suppose alternatively you could delete the initial parameter being loaded to the server, but there may be a node that needs that, so I would suggest the first option.