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Cannot launch UR5 simulation in gazebo

asked 2014-10-07 12:59:54 -0500

rkeatin3 gravatar image

updated 2014-10-07 14:13:02 -0500

gvdhoorn gravatar image

I'm attempting to launch a simulation of the UR5 in gazebo with the command roslaunch ur_gazebo ur5.launch. I am getting a number of errors including

ERROR: cannot launch node of type [pr2_mechanism_diagnostics/pr2_mechanism_diagnostics]: pr2_mechanism_diagnostics


[ERROR] [1412703963.702016682, 0.508000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint


[ERROR] [1412703964.014360175, 0.760000000]: Could not find joint 'shoulder_pan_joint' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1412703964.014464269, 0.760000000]: Failed to initialize the controller
[ERROR] [1412703964.014512292, 0.760000000]: Initializing controller 'arm_controller' failed
[ERROR] [WallTime: 1412703965.015916] [1.759000] Failed to load arm_controller

I had previously messed around with the UR5 in simulation around June, and it worked fine (though the PID gains were a bit off). Has anyone else had this problem? Have you figured out how to fix it?

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answered 2014-10-07 14:17:56 -0500

gvdhoorn gravatar image

If this is a source install, you might want to run rosdep check .. on the ur_gazebo package. pr2_mechanism_diagnostics is a run dependency, as stated in the package.xml.

If you installed ur_gazebo using the Debians, please submit a bug report at universal_robot/issues.

Could you update your question with the relevant information?

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Thanks. I've submitted the bug report.

rkeatin3 gravatar image rkeatin3  ( 2014-10-09 12:23:01 -0500 )edit

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Asked: 2014-10-07 12:59:54 -0500

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Last updated: Oct 07 '14