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Unable to implement control on MoveIt: Parameter '~moveit_controller_manager' not specified

asked 2016-06-16 02:52:38 -0500

rohin gravatar image

I am struggling to implement a joint_trajectory_controller on Moveit.

I have: 1. Set up my controllers.yaml file

controller_list:
       - name: /nymble_arm_controller
         action_ns: joint_trajectory_action
         type: FollowJointTrajectory
         default: true
         joints:
             - base_swivel
             - arm_joint
             - elbow_joint  
             - wrist_pitch
             - wrist_yaw
             - wrist_roll

2.Implemented an action server node for joint_trajectory_action interface.

Action server I have implemented is from here

3.Created a moveit_planning_execution launch file as described here

This launch file contains the required controller_manager.launch file described here

4.Created a launch file to start action server and included above launch file.

I have gone through all the similar questions asked before but none has helped me.

Will be grateful for some help.

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answered 2016-06-16 08:28:11 -0500

rohin gravatar image

The mistake I was making was that the controller.launch file was not named in the following convention:

"robotname"_moveit_controller_manager.launch.xml

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Asked: 2016-06-16 02:52:38 -0500

Seen: 282 times

Last updated: Jun 16 '16