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moveit Action client not connected

asked 2015-08-11 14:50:25 -0500

mg001 gravatar image

Hello,

I need help with MoveIt setup for a custom robot. I am using ROS Indigo, Ubuntu 14.04 with latest MoveIt.

All robot packages with MoveIt configured are here: https://github.com/byeongkyu/safe_arm
The robot is described here: http://www.slideshare.net/ahnbk/oroca...

It can be started by running these files in separate terminals:
roslaunch safe_arm_bringup bringup.launch
roslauch safe_arm_bringup bringup_moveit.launch

The path planning works, however execution doesn't. I get the following error when starting the simulator:

  • MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory
  • MoveitSimpleControllerManager: Action client not connected: safe_arm/r_arm_joint_controller/follow_joint_trajectory

Also, I get warnings:

  • Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/joint_controller_spawner-5] process has finished cleanly

  • Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/l_controller_spawner-7] process has finished cleanly

  • Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/r_controller_spawner-8] process has finished cleanly

I have these packages installed:

ros-indigo-gazebo-ros-pkgs,
ros-indigo-gazebo-ros-control,
ros-indigo-moveit-*,
ros-indigo-ros-control,
ros-indigo-ros-controllers,
ros-indigo-joint-state-controller,
ros-indigo-effort-controllers,
ros-indigo-position-controllers,
ros-indigo-joint-trajectory-controller.

Is there something missing? I have spent a lot of time tweaking the configuration files, but no luck... Any help would be much appreciated.

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answered 2015-08-12 09:05:27 -0500

mg001 gravatar image

updated 2015-08-12 09:06:24 -0500

Solved the problem by installing Gazebo4. Initially I have been testing with Gazebo2, but seems like ros-control is not fully compatible with it...

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Hello Sorry, but could you solve your problem?.. I have the same problem and I don't have idea how to solve it

Diana gravatar image Diana  ( 2015-09-04 06:22:12 -0500 )edit

Hi! Yes, I have solved it by upgrading from Gazebo2 to Gazebo4. If you set up ROS Control with your robot model properly it should work. Check out this project: https://github.com/byeongkyu/safe_arm . It is a working example of MoveIt + ROS Control.

mg001 gravatar image mg001  ( 2015-09-04 14:24:40 -0500 )edit

hello, I test your safe_arm package, but have wrong output:

MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory

I use gazebo2 in indigo, I need upgrade my gazebo?

yin gravatar image yin  ( 2016-11-28 07:33:29 -0500 )edit

Did you ever fix this issue? MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory

robot_commander gravatar image robot_commander  ( 2017-03-01 10:43:33 -0500 )edit

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Asked: 2015-08-11 14:50:25 -0500

Seen: 1,580 times

Last updated: Sep 04 '15