How to solve 'Parameter '~moveit_controller_manager' not specified'?

moveit

asked 2014-05-20 18:54:46 -0600

sam
2570 ●233 ●269 ●290

When I run: roslaunch sam_moveit_wizard_generated move_group.launch

It says:

[ INFO] [1400647657.748106413, 748.461000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1400647657.809613293, 748.476000000]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.
[ INFO] [1400647657.826129681, 748.479000000]: Trajectory execution is managing controllers

and I try to run:

sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ rosrun sam_moveit_learning pose right_arm 0.7 -0.2 0.7 0 0 0
[ INFO] [1400647661.271172191, 749.458000000]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1400647661.271335019, 749.458000000]: Move to : x=0.700000, y=-0.200000, z=0.700000, roll=0.000000, pitch=0.000000, yaw=0.000000
[ INFO] [1400647662.016181981, 749.640000000]: ABORTED: Solution found but controller failed during execution
^Csam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$

I also got this error:

[ INFO] [1400647661.483935586, 749.503000000]: Path simplification took 0.016063 seconds
[ERROR] [1400647662.013314708, 749.640000000]: Unable to identify any set of controllers that can actuate the specified joints: [ r_elbow_flex_joint r_forearm_roll_joint r_shoulder_lift_joint r_shoulder_pan_joint r_upper_arm_roll_joint r_wrist_flex_joint r_wrist_roll_joint ]
[ERROR] [1400647662.013418353, 749.640000000]: Apparently trajectory initialization failed

I try to fix it by install but not works:

sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ sudo apt-get install ros-groovy-pr2-moveit-plugins
[sudo] password for sam: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-groovy-pr2-moveit-plugins is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 168 not upgraded.
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$

How to solve it? Thank you~

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answered 2014-09-17 04:16:26 -0600

courrier

454 ●17 ●27 ●33

Did you create the moveit config by yourself for your robot Sam, using the setup assistant for instance or by hand? If yes, using the setup assistant is not enough to use Moveit, you need to provide Moveit a way to control your robot, through a controller manager.

By default, the setup assistant creates a fake_controller_manager. See the default fake_controller_manager.launch.xml file in the launch/ directory. You my create your own controller manager, or check if it's not already in the package moveit_robots.

This controller manager is launched in trajectory_execution.launch.

See http://moveit.ros.org/wiki/Executing_...

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The link does not work any more and I have the same issue, but I used Moveit assistant and I am using the dynemixel_motor controll manager. I feel that I missed something to set up in the launch files, but I can't figure out what. Any ideas?

zweistein ( 2015-10-08 04:35:34 -0600 )edit

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answered 2014-10-20 17:43:58 -0600

Anonymous

This might be relevant i think: http://answers.ros.org/question/19273...

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answered 2019-07-25 07:30:48 -0600

Roberto Z.
500 ●7 ●41 ●26

If the problem appears after using the MoveIt! Setup Assistant for creating a new configuration package I recommend looking at the <robot>_moveit_controller_manager.launch.xml file. You will find it inside the config folder of your <robot>_moveit_config package.

Open it and verify that it contains more than just the <launch></launch> tags. Its contents should look somewhat like this:

<launch>  
<rosparam file="$(find <robot>_moveit_config)/config/controllers.yaml"/>  
<param name="use_controller_manager" value="false"/>  
<param name="trajectory_execution/execution_duration_monitoring" value="false"/>  
 <param name="moveit_controller_manager"  value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>  
</launch>

Forgetting to add this content during the creation of new MoveIt! configuration package will trigger this error message

[FATAL]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed

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How to solve 'Parameter '~moveit_controller_manager' not specified'?

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