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1 | initial version |
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.
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.
2 | No.2 Revision |
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.
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.