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Hello! You can follow the above tutorial: http://docs.ros.org/en/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/controller_configuration.html#create-the-controller-launch-file Configure it. But one thing I must point out is that your situation also appeared when my trajectory_control.yaml and controllers.yaml were configured; after careful inspection, I found that in your moveit_config package, the launch file failed to load controller.yaml, but the loaded ros_controllers.yaml, which led to the failure to recognize! ! I use an effort controller! Hope it can help you!