: Unable to identify any set of controllers that can actuate the specified joints

asked 2018-08-15 12:58:18 -0600

Samrader12 gravatar image

updated 2018-08-16 06:11:40 -0600

I'm running ROS Melodic, on Ubuntu 18.04.

We got the right arm working with PID and tried transfering their gains to the left arm to test but we're getting an error message when we launch Go to Position. When we give it inputs, it moved the right arm instead of the left. I have looked through Gazebo Setup, UDRF, Controllers, ROS launch and a few others.

ROS Empty Launch: <launch>

<arg name="world" default="empty"/> <arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" value="$(find tr1_gazebo)/worlds/tr1_empty.world"/> <arg name="paused" value="$(arg paused)"/> <arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="gui" value="$(arg gui)"/> <arg name="headless" value="$(arg headless)"/> <arg name="debug" value="$(arg debug)"/> </include>

<node name="tr1_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model tr1"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
    <param name="publish_frequency" type="double" value="30.0"/>
</node>

<rosparam file="$(find tr1_hardware_interface)/config/hardware.yaml" command="load"/> <rosparam file="$(find tr1_hardware_interface)/config/controllers_sim.yaml" command="load"/> <rosparam file="$(find tr1_hardware_interface)/config/joint_limits.yaml" command="load"/> <rosparam file="$(find tr1_hardware_interface)/config/joint_offsets.yaml" command="load"/>

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/" args=" /tr1/controller/state /tr1/controller/trajectory/RightPosition /tr1/controller/trajectory/LeftPosition /tr1/controller/effort/JointRightGripper /tr1/controller/position/JointRightGripper /tr1/controller/position/neck_to_head /tr1/controller/position/neck_base_to_neck /tr1/controller/effort/JointBaseWheelFR /tr1/controller/effort/JointBaseWheelFL /tr1/controller/effort/JointBaseWheelBR /tr1/controller/effort/JointBaseWheelBL /tr1/controller/effort/JointTorsoExtension "/>

UDRF: <transmission name="JointLeftShoulderPan_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor11"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftShoulderPan"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftShoulderTilt_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor12"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftShoulderTilt"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftUpperArmRoll_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor13"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftUpperArmRoll"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftElbowFlex_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor14"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftElbowFlex"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftForearmRoll_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor15"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftForearmRoll"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftWristFlex_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor16"> <mechanicalreduction>2000</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftWristFlex"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftWristRoll_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor17"> <mechanicalreduction>378</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftWristRoll"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<transmission name="JointLeftGripper_trans"> <type>transmission_interface/SimpleTransmission</type> <actuator name="motor18"> <mechanicalreduction>378</mechanicalreduction> <hardwareinterface>EffortJointInterface</hardwareinterface> </actuator> <joint name="JointLeftGripper"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> </transmission>

<joint name="JointLeftShoulderPan" type="revolute">
    <parent link="left_arm1_link"/>
    <child link ...
(more)
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Comments

Please fix the formatting of your post. As-is, it's unreadable and that is not conducive to board members helping you.

Select xml, code, console output and press ctrl+k or press the Preformatted Text button (the one with 101010 on it).

gvdhoorn gravatar imagegvdhoorn ( 2018-08-15 14:32:20 -0600 )edit