MoveItSimpleControllerManager: Action client not connected [closed]

asked 2017-11-12 09:05:25 -0600

tengfei gravatar image

updated 2017-11-14 13:17:17 -0600

Hi all. I roslaunch the moveit_planning_execution.launch, but got some errors like this

[ERROR] [1510493735.221182418]: MoveItSimpleControllerManager: Action client not connected: jakaUr/jaka_joint_controller/follow_joint_trajectory

Here are the related files moveit_planning_execution.lsunch:

<launch>
<arg name="sim" default="true" />
  <arg name="robot_ip" unless="$(arg sim)" />

  <include file="$(find jaka_ur_moveit_config2)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>



 <group if="$(arg sim)">
    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
  </group>

  <group unless="$(arg sim)">
    <include file="$(find [robot_interface_pkg])/launch/robot_interface.launch" >
      <arg name="robot_ip" value="$(arg robot_ip)"/>
    </include>
  </group>


     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find jaka_ur_moveit_config2)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find jaka_ur_moveit_config2)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

  <include file="$(find jaka_ur_moveit_config2)/launch/default_warehouse_db.launch" />


</launch>

the planning_context.launch

<launch>
  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
  <arg name="load_robot_description" default="false"/>

  <!-- The name of the parameter under which the URDF is loaded -->
  <arg name="robot_description" default="robot_description"/>

  <!-- Load universal robot description format (URDF) -->
  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find jaka_ur_description_pkg)/urdf/jaka.urdf.xacro'"/>

  <!-- The semantic description that corresponds to the URDF -->
  <param name="$(arg robot_description)_semantic" textfile="$(find jaka_ur_moveit_config2)/config/jakaUr.srdf" />

  <!-- Load updated joint limits (override information from URDF) -->
  <group ns="$(arg robot_description)_planning">
    <rosparam command="load" file="$(find jaka_ur_moveit_config2)/config/joint_limits.yaml"/>
  </group>

  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
  <group ns="$(arg robot_description)_kinematics">
    <rosparam command="load" file="$(find jaka_ur_moveit_config2)/config/kinematics.yaml"/>
  </group>

</launch>

the robot_interface_simulator.launch

  <!-- industrial_robot_simulator: accepts robot commands and reports status -->
  <node pkg="industrial_robot_simulator" type="industrial_robot_simulator" name="industrial_robot_simulator"/>

  <!-- joint_trajectory_action: provides actionlib interface for high-level robot control -->
  <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action"/>

</launch>

Here is the output of rostopic list

![/attached_collision_object
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal](/upfiles/1510498793189035.jpeg)
/execute_trajectory/result
/execute_trajectory/status
/feedback_states
/joint_path_command
/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
/move_group/cancel
/move_group/display_contacts

/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates

    /move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback

    /pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/robot_status
/rosout

/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/rviz_shantengfei_pc_5217_6285278760314515870/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_shantengfei_pc_5217_6285278760314515870/motionplanning_planning_scene_monitor/parameter_updates
/tf
/tf_static
/trajectory_execution_event

the picture is the output of rosrun rqt_graph rqt_graph.I searched the similar quesition here here but I cannot solve my problem.Could anyone give me some suggestions? Thank you! image description update: I tried to solve it but I have some new problem. The origin controllers.yaml is

controller_manager_ns: controller_manager
controller_list:
  - name: "jakaUr/jaka_joint_controller"
    action_ns: followJointTrajectory
    type: FollowJointTrajectory
    default: true
    joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

and the node name is joint_trajectory_action which ... (more)

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Closed for the following reason duplicate question by tengfei
close date 2017-11-15 20:15:39.777122

Comments

Where is the original question then ? @tengfei

pmuthu2s gravatar imagepmuthu2s ( 2019-03-13 10:00:09 -0600 )edit