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Failed to load r_cart

asked 2012-02-14 04:47:32 -0500

zhenli gravatar image

updated 2014-11-22 17:05:05 -0500

ngrennan gravatar image

Dear All. while I following the step from the website: http://www.ros.org/wiki/pr2_simulator/Tutorials/Teleop%20PR2%20arm%20in%20simulation

  1. roscore
  2. roslaunch pr2_gazebo pr2_empty_world.launch
  3. roslaunch jtteleop.launch Then from the terminal I find the following information administrator@ubuntu:~$ roslaunch jtteleop.launch ... logging to /home/administrator/.ros/log/ea179d4e-5728-11e1-af87-18f46a4fafa8/roslaunch-ubuntu-19389.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:58130/

SUMMARY

PARAMETERS * /r_cart/joint_max_effort/r_forearm_roll_joint * /r_cart/pose_command_filter * /r_cart/joint_max_effort/r_shoulder_pan_joint * /r_cart/joint_feedforward/r_shoulder_lift_joint * /r_cart/joint_feedforward/r_elbow_flex_joint * /r_cart/joint_max_effort/r_wrist_flex_joint * /r_cart/joint_max_effort/r_upper_arm_roll_joint * /r_cart/joint_feedforward/r_shoulder_pan_joint * /rosdistro * /r_cart/vel_saturation_trans * /r_cart/joint_feedforward/r_wrist_roll_joint * /r_cart/cart_gains/trans/d * /rosversion * /r_cart/joint_max_effort/r_shoulder_lift_joint * /r_cart/cart_gains/trans/p * /r_cart/type * /r_cart/tip_name * /r_cart/vel_saturation_rot * /r_cart/joint_feedforward/r_forearm_roll_joint * /r_cart/cart_gains/rot/p * /r_cart/root_name * /r_cart/jacobian_inverse_damping * /r_cart/joint_max_effort/r_elbow_flex_joint * /r_cart/k_posture * /r_cart/cart_gains/rot/d * /r_cart/joint_max_effort/r_wrist_roll_joint * /r_cart/joint_feedforward/r_upper_arm_roll_joint * /r_cart/joint_feedforward/r_wrist_flex_joint

NODES / stop_r_arm (pr2_controller_manager/pr2_controller_manager) spawn_cart (pr2_controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[stop_r_arm-1]: started with pid [19407] process[spawn_cart-2]: started with pid [19408] [stop_r_arm-1] process has finished cleanly. log file: /home/administrator/.ros/log/ea179d4e-5728-11e1-af87-18f46a4fafa8/stop_r_arm-1*.log [ERROR] [WallTime: 1329237265.196718] [254.818000] Failed to load r_cart

I am in ubuntu 11.10 , electric ros package. I also rosmake pr2_controller_manager and download the source code from svn teleop_controllers. Thanks for any help. Zhenli

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answered 2012-02-14 07:06:57 -0500

Hi,

in ROS Electric the controller moved to the robot_mechanism_controllers package.

In the launch file you had to create during the tutorial, change the controller type from "JTTeleopController" to "robot_mechanism_controllers/JTCartesianController". Then it should work.

Best, Juergen

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Asked: 2012-02-14 04:47:32 -0500

Seen: 305 times

Last updated: Feb 14 '12