ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Cannot find controller

asked 2015-03-09 06:18:55 -0500

nikitas350 gravatar image

updated 2015-03-09 06:24:56 -0500

gvdhoorn gravatar image


I am having trouble simulating the shadow robot in the gazebo simulator.

I receive the following error:

[ERROR] [1425897239.729246960, 50.527000000]: Could not load controller 'r_arm_joint_trajectory_controller' because controller type 'robot_mechanism_controllers/JointSplineTrajectoryController' does not exist.

The controller r_arm_joint_trajectory_controler is defined in:

part of file: arm_controller.yaml

  type: robot_mechanism_controllers/CartesianPoseController
  root_name: shadowarm_base
  tip_name: palm
    p: 20.0
    i: 0.5
    d: 0.0
    i_clamp: 1.0
    p: 0.5
    i: 0.1
    d: 0.0
    i_clamp: 0.2

  type: robot_mechanism_controllers/JointSplineTrajectoryController
    - ShoulderJRotate
    - ShoulderJSwing
    - ElbowJSwing
    - ElbowJRotate
    - WRJ2
    - WRJ1
    ShoulderJRotate: {p: 140.0, d: 30.0}
    ShoulderJSwing: {p: 140.0, d: 30.0}
    ElbowJSwing: {p: 140.0, d: 30.0}
    ElbowJRotate: {p: 140.0, d: 30.0}
    WRJ2: {p: 140.0, d: 30.0}
    WRJ1: {p: 140.0, d: 30.0}

I have package ros-indigo-robot-mechanism-controllers installed. I am running ros indigo on ubuntu 14.04.2.


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2015-03-09 07:07:18 -0500

Ugo gravatar image

Dear Nikitas,

This controller is unfortunately deprecated and we haven't had time to update to the new Joint Trajectory Action Controller yet. I reported the issue here. Pull requests are always appreciated :).

It is still possible to use the simulated arm and hand using direct position targets through the relevant topics as is.



edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2015-03-09 06:18:55 -0500

Seen: 170 times

Last updated: Mar 09 '15