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MoveItSimpleControllerManager: Action client not connected: /follow_joint_trajectory

asked 2018-04-11 05:41:46 -0600

zjuig gravatar image

updated 2018-04-23 13:44:25 -0600

jayess gravatar image

When I simulate the UR package in , I run the

roslaunch ur_gazebo ur5.launch


roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

it turned out the error:

MoveItSimpleControllerManager: Action client not connected: /follow_joint_trajectory

Is I miss something? My system version is ubuntu14.04+indigo

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answered 2018-04-23 13:30:25 -0600

Abdu gravatar image

updated 2018-04-24 10:16:57 -0600

I usually run the following, do u get same issue if you add limited:=true

roslaunch ur_gazebo ur5.launch
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
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I don't think this is correct. When simulating using Gazebo, the driver (any driver) isn't used.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-23 14:26:25 -0600 )edit

but how to use motion planning, how do u move ur5??!!

Abdu gravatar imageAbdu ( 2018-04-23 15:55:55 -0600 )edit

Not with the driver.

ur_gazebo includes a setup for gazebo_ros_control (ie: ros_control in Gazebo), which exposes the same Action based interface as the driver. That is what you use to control the robot.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 03:43:38 -0600 )edit

could you please tell me how do u move ur5 with only launching roslaunch ur_gazebo ur5.launch I understand that u still need driver !!!!

Abdu gravatar imageAbdu ( 2018-04-24 08:21:39 -0600 )edit

Have you seen the instructions in the readme of the universal_robot repository? Specifically the section Usage with Gazebo Simulation.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 10:06:27 -0600 )edit

oh, ok, then ur_modern_driver is only used for real ur5, thx letting me know.

Abdu gravatar imageAbdu ( 2018-04-24 10:15:26 -0600 )edit

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Asked: 2018-04-11 05:41:46 -0600

Seen: 490 times

Last updated: Apr 24 '18