Ask Your Question
0

Cannot create trajectory from message. It does not contain the expected joints.

asked 2017-05-04 08:46:29 -0600

waschbaer gravatar image

updated 2017-05-04 10:11:14 -0600

gvdhoorn gravatar image

Command I run in terminal:

$ roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

$ rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'arm_1_joint'
points:
- positions: [0.5]
  velocities: [0]
  accelerations: [0]
  effort: [0]
  time_from_start: {secs: 1, nsecs: 0}"

Result from terminal:

[ERROR] [1493904854.162621476, 91.554000000]: Cannot create trajectory from message. It does not contain the expected joints.

However I can see from gazebo simulator there is arm_1_joint by expanding the model of tiago_steel.

How could I solve this problem?

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
2

answered 2017-05-18 06:20:06 -0600

msabur gravatar image

updated 2017-05-18 06:28:23 -0600

The controller you are using is this.

if allow_partial_joints_goal: True is not set your have to specify all of the joints in de arm_controller.

Like:

$ rostopic pub -1 /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
     secs: 0
     nsecs: 0
  frame_id: ''
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
points:
- positions: [0.5, 0, 0, 0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"
edit flag offensive delete link more

Comments

I have sent joint values from csv file yet i get this error. Please help. I have also set the above constraint true

PS: Only joint 1 and 2 of my robot can be detected

prashanthi tata gravatar imageprashanthi tata ( 2018-12-10 03:12:02 -0600 )edit
0

answered 2017-06-11 12:47:25 -0600

waschbaer gravatar image

Sorry for the late feedback, I lost my account for a while.

Yes, msabur is correct, one has to give all arm joint names to publish this message.

But, if you want to only control single arm joint with a convenient way, you could go into the tiago workspace and source there, then you rosrun rqt_joint_trajectory_controller AUTO-COMPLETE. So use the rqt gui to see how single joint could move.

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

Stats

Asked: 2017-05-04 08:46:29 -0600

Seen: 723 times

Last updated: May 18 '17