Joint trajectory action rejected: Controller not connected
Hello,
i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.
[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle reports status FAILED
I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:
$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )
How can i efficiently debug the problem?
EDIT:
I have loaded the hardware_controllers.yaml which isnt a controller_list and i get
[ERROR] [1466425266.321644220]: No controller_list specified.
Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?
These are (some of) the topics i see:
/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status
<launch>
<!-- The planning and execution components of MoveIt! configured to run -->
<!-- using the ROS-Industrial interface. -->
<!-- Non-standard joint names: -->
<rosparam command="load" file="$(find kuka_rsi_hw_interface)/config/controller_joint_names.yaml"/>
<!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
<!-- - if sim=false, a robot_ip argument is required -->
<arg name="sim" default="true" />
<arg name="robot_ip" unless="$(arg sim)" />
<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="$(find agil_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<rosparam command="load" file="$(find agil_moveit_config)/config/controllers.yaml"/>
<!-- remap topics to conform to ROS-I specifications -->
<remap from="/position_trajectory_controller/follow_joint_trajectory" to="/joint_trajectory_action" />
<remap from="/position_trajectory_controller/state" to="/feedback_states" />
<remap from="/position_trajectory_controller/command" to="/joint_path_command"/>
<!-- run the robot simulator and action interface nodes -->
<group if="$(arg sim)">
<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
<include file="$(find kuka_rsi_hw_interface)/test/test_hardware_interface.launch" />
</group>
<include file="$(find agil_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find agil_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<include file="$(find agil_moveit_config)/launch/default_warehouse_db.launch" />
</launch>