Error trying to run Teleop PR2 arm in simulation Tutorial

asked 2018-11-05 12:01:15 -0500

benwex93 gravatar image

Hi, I'm following the tutorial on http://wiki.ros.org/pr2_simulator/Tut... but when I try launching

roscore

roslaunch pr2_gazebo pr2_empty_world.launch

gazebo crashes, so instead i launch it using

roslaunch gazebo_ros empty_world.launch

roslaunch pr2_gazebo pr2.launch

but then when I launch

roslaunch teleop_arms jtteleop.launch

I get the following error:

[ERROR] [1541440472.270917968, 52.628000000]: Could not load class JTTeleopController: According to the loaded plugin descriptions the class JTTeleopController with base class type pr2_controller_interface::Controller does not exist. Declared types are  ethercat_trigger_controllers/MultiTriggerController ethercat_trigger_controllers/ProjectorController ethercat_trigger_controllers/TriggerController joint_qualification_controllers/CheckoutController joint_qualification_controllers/CounterbalanceTestController joint_qualification_controllers/HeadPositionController joint_qualification_controllers/HysteresisController joint_qualification_controllers/HysteresisController2 joint_qualification_controllers/JointLimitCalibrationController joint_qualification_controllers/MotorJointCalibrationController joint_qualification_controllers/WristDifferenceController pr2_calibration_controllers/CasterCalibrationController pr2_calibration_controllers/FakeCalibrationController pr2_calibration_controllers/GripperCalibrationController pr2_calibration_controllers/JointCalibrationController pr2_calibration_controllers/WristCalibrationController pr2_controller_manager/TestController pr2_gripper_sensor_controller/PR2GripperSensorController pr2_mechanism_controllers/CasterController pr2_mechanism_controllers/CasterControllerNode pr2_mechanism_controllers/LaserScannerTrajController pr2_mechanism_controllers/Pr2BaseController pr2_mechanism_controllers/Pr2BaseController2 pr2_mechanism_controllers/Pr2GripperController pr2_mechanism_controllers/Pr2Odometry robot_mechanism_controllers/CartesianPoseController robot_mechanism_controllers/CartesianTwistController robot_mechanism_controllers/CartesianWrenchController robot_mechanism_controllers/JTCartesianController robot_mechanism_controllers/JointEffortController robot_mechanism_controllers/JointPositionController robot_mechanism_controllers/JointSplineTrajectoryController robot_mechanism_controllers/JointTrajectoryActionController robot_mechanism_controllers/JointVelocityController
[ERROR] [1541440472.271004399, 52.628000000]: Could not load controller 'r_cart' because controller type 'JTTeleopController' does not exist
[ERROR] [1541440472.272149814, 52.629000000]: Could not load controller 'stop' because the type was not specified. Did you load the controller configuration on the parameter server?

I'm using Kinetic for Ubuntu 16.04, is this maybe deprecated code that can't work on this distribution or am I doing something wrong? Thank you

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