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moveit: error: moveit_controller_manager::MoveItControllerManager does not exist

Hello,

I'm trying to run the ABB_experimental moveit gazebo integration tutorial as suggested here.

When i run the command to invoke rviz i get following error:

FATAL: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. 
Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager

anybody has any idea why it is happening??

Update 1:

I get below output when i run rosdep check ..

image description

Full terminal text is as follows:

mvish7@FlyingDutchman:~/abb_experimental_ws$ source devel/setup.bash
mvish7@FlyingDutchman:~/abb_experimental_ws$ roslaunch abb_irb120_moveit_config moveit_planning_execution_gazebo.launch
... logging to /home/mvish7/.ros/log/d908f578-01f5-11e9-a70b-f82819cb83d3/roslaunch-FlyingDutchman-16792.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://FlyingDutchman:40763/

SUMMARY

PARAMETERS
 * /controller_joint_names: ['joint_1', 'join...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'action_ns': 'j...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0.87266
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 4.36332
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0.87266
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 4.36332
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0.87266
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 4.36332
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.11701
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 5.58505
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.11701
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 5.58505
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.46608
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 7.33038
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_FlyingDutchman_16792_4065435250501456474/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_FlyingDutchman_16792_4065435250501456474/manipulator/kinematics_solver_attempts: 3
 * /rviz_FlyingDutchman_16792_4065435250501456474/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_FlyingDutchman_16792_4065435250501456474/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    rviz_FlyingDutchman_16792_4065435250501456474 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [16831]
process[rviz_FlyingDutchman_16792_4065435250501456474-2]: started with pid [16832]
[ INFO] [1545049118.418269454]: Loading robot model 'abb_irb120_3_58'...
[ WARN] [1545049118.418407165]: Skipping virtual joint 'FixedBase' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1545049118.418428731]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1545049118.730317810]: rviz version 1.12.16
[ INFO] [1545049118.730692875]: compiled against Qt version 5.5.1
[ INFO] [1545049118.730791095]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1545049118.974079229, 10.832000000]: Loading robot model 'abb_irb120_3_58'...
[ WARN] [1545049118.974221331, 10.832000000]: Skipping virtual joint 'FixedBase' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1545049118.974322899, 10.832000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1545049119.200424816, 11.006000000]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1545049119.210833470, 11.014000000]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1545049119.210968657, 11.014000000]: Starting scene monitor
[ INFO] [1545049119.229138081, 11.026000000]: Listening to '/planning_scene'
[ INFO] [1545049119.229190067, 11.026000000]: Starting world geometry monitor
[ INFO] [1545049119.246428800, 11.032000000]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1545049119.259278362, 11.038000000]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1545049119.303855945, 11.070000000]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1545049119.780185094, 11.430000000]: Initializing OMPL interface using ROS parameters
[ INFO] [1545049119.798733628, 11.438000000]: Stereo is NOT SUPPORTED
[ INFO] [1545049119.800284253, 11.440000000]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1545049119.950414297, 11.528000000]: Using planning interface 'OMPL'
[ INFO] [1545049120.016565913, 11.575000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1545049120.018583037, 11.577000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1545049120.019895910, 11.578000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1545049120.024003512, 11.580000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1545049120.025028170, 11.581000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1545049120.026289359, 11.582000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1545049120.026438676, 11.582000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1545049120.026487551, 11.582000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1545049120.026529470, 11.582000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1545049120.026571327, 11.582000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1545049120.026612482, 11.582000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1545049120.063741397, 11.601000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1545049120.167525692, 11.658000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1545049120.640839503, 11.969000000]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1545049120.641280457, 11.969000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1545049120.641899680, 11.969000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1545049124.839961950, 15.482000000]: Loading robot model 'abb_irb120_3_58'...
[ WARN] [1545049124.840036503, 15.483000000]: Skipping virtual joint 'FixedBase' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1545049124.840060422, 15.483000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1545049125.074569608, 15.595000000]: Loading robot model 'abb_irb120_3_58'...
[ WARN] [1545049125.074612144, 15.595000000]: Skipping virtual joint 'FixedBase' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1545049125.074628911, 15.595000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1545049125.613088469, 15.985000000]: Starting scene monitor
[ INFO] [1545049125.628353877, 15.992000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1545049126.052740310, 16.309000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1545049127.337027217, 17.188000000]: Ready to take commands for planning group manipulator.
[ INFO] [1545049127.337738321, 17.188000000]: Looking around: no
[ INFO] [1545049127.338773703, 17.188000000]: Replanning: no
[ WARN] [1545049127.355300666, 17.198000000]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
^C[rviz_FlyingDutchman_16792_4065435250501456474-2] killing on exit
[move_group-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
mvish7@FlyingDutchman:~/abb_experimental_ws$

Asked by mvish7 on 2018-12-17 08:13:18 UTC

Comments

I'm trying to run the ABB_experimental moveit gazebo integration tutorial as suggested here.

are you referring to the readme? Because I don't know of any tutorial fitting the topic here.

Asked by gvdhoorn on 2018-12-17 08:17:23 UTC

anybody has any idea why it is happening??

most likely because you don't have the moveit_simple_controller_manager package installed.

How did you install MoveIt?

Also: did you run rosdep check .. before trying to use the pkg from ros-industrial/abb_experimental?

Asked by gvdhoorn on 2018-12-17 08:18:47 UTC

I have installed moveit from source. As suggested in this readme i have setup the workspace and as suggested here i'm trying to execute the commands

Asked by mvish7 on 2018-12-17 09:40:17 UTC

i'll check about rosdep check . . and moveit_simple_controller_manager package and report here.

Asked by mvish7 on 2018-12-17 09:41:08 UTC

After having sourced your devel/setup.bash, what is the output of rospack find moveit_simple_controller_manager?

Asked by gvdhoorn on 2018-12-17 09:51:19 UTC

re: your edit:

  1. rosdep check .. is not the full command. You'll have to add the required arguments.
  2. never use a screenshot to show us console text. It's not needed and doesn't scale.

Asked by gvdhoorn on 2018-12-17 09:56:41 UTC

@gvdhoorn: Please find updated question with snapshot of rosdep check. I find moveit_plugins(which include moveit_simple_controller_manager) is not installed on my pc. can you suggest me how to uninstall current moveit installation and what's the ideal way to install moveit again??

Asked by mvish7 on 2018-12-17 10:01:39 UTC

Do you still need / want your from-source build?

If not: remove the packages from your Catkin workspace, remove the devel and build folders and rebuild your workspace.

Make sure to (re)install MoveIt using apt.

If you still want your from-source build you'll have to figure out ..

Asked by gvdhoorn on 2018-12-17 10:03:25 UTC

.. why moveit_plugins wasn't built / installed.

Asked by gvdhoorn on 2018-12-17 10:03:36 UTC

i didn't find the reason behind it, i downloaded the zip from this link and kept individual folder of moveit_plugins in my source build and that error of control manager vanished.

Asked by mvish7 on 2018-12-17 10:33:48 UTC

Answers