ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

It's unclear from your launch files and topic listing, but it's worth checking to make sure:

MoveIt requires that your robot-interface nodes provide a FollowJointTrajectory action. Have you provided this action in one of your robot nodes?

The controller manager files specify how to connect MoveIt to this action (which joints, what namespace/topic names, etc.), but a controller_manager does not provide the action itself.

  • For the PR2 nodes, this action is provided by the arm controller nodes (see here).
  • For ROS-Industrial nodes, this action is typically provided by the joint_trajectory_action node in the industrial_robot_client package. See, for example, here and here.

In your topic list, I see topics related to this action under both follow_joint_tractory/goal and /moveit_simple_controller/follow_joint_trajectory/*, so there may be some conflict there.

It's unclear from your launch files and topic listing, but it's worth checking to make sure:

MoveIt requires that your robot-interface nodes provide a FollowJointTrajectory action. Have you provided this action in one of your robot nodes?

The controller manager files specify how to connect MoveIt to this action (which joints, what namespace/topic names, etc.), but a controller_manager does not provide the action itself.

  • For the PR2 nodes, this action is provided by the arm controller nodes (see here).
  • For ROS-Industrial nodes, this action is typically provided by the joint_trajectory_action node in the industrial_robot_client package. See, for example, here and here.

In your topic list, I see topics related to this action under both follow_joint_tractory/goal and /moveit_simple_controller/follow_joint_trajectory/*, so there may be some conflict there.

Edit:
As a side note: Is there any reason in particular that you need to use gazebo? For many cases, the basic rviz visualization is adequate. Have you looked at the ROS-Industrial set of packages? These packages include a good framework already for working with faunc robots, including the m10ia. These packages include the launch files necessary to bring up the joint_trajectory_action, but don't have any hooks into gazebo.