Joint trajectory action failing on invalid joints

asked 2016-10-08 12:15:21 -0600

Josephlin gravatar image

updated 2016-10-08 12:16:21 -0600

HI! everyone I'm working on a ROS-Industrial package for my own robot,and i follow Industrial/Tutorials to create my moveit_planning_execution.launch everything works perfect.

when I give the command to execute, I get the following error like this problem Moveit execution fails - invalid joints I had already check my joint,but i can not find the problem.


here is my controllers.yaml

controller_manager_ns: joint_trajectory_controller
controller_list:
- name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: 
  - R_arm_joint1
  - R_arm_joint2
  - R_arm_joint3
  - R_arm_joint4
  - R_arm_joint5
  - R_arm_joint6

  - name: ""
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints: 
  - L_arm_joint1
  - L_arm_joint2
  - L_arm_joint3
  - L_arm_joint4
  - L_arm_joint5
  - L_arm_joint6

thanks for any advise! ROS:indigo ubuntu:14.04

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Comments

The only advice I can give from similar issues is to check through each line called from the main launch file. More often that not, it comes from missing joint or improper name somewhere along the pipeline. Unfortunately the MoveIt nodes are very interconnected, so it can be hard finding the problem

JoshMarino gravatar image JoshMarino  ( 2016-10-08 14:52:58 -0600 )edit

If i have one end effector on the arm ,should i add this link in the controllers.yaml? but the end effector do not have any joint

Josephlin gravatar image Josephlin  ( 2016-10-10 05:31:42 -0600 )edit