moveit: error: moveit_controller_manager::MoveItControllerManager does not exist

asked 2018-12-17 07:13:18 -0500

mvish7 gravatar image

updated 2018-12-17 08:53:50 -0500

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 ...
(more)
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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.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 07:17:23 -0500 )edit
2

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?

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 07:18:47 -0500 )edit

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

mvish7 gravatar imagemvish7 ( 2018-12-17 08:40:17 -0500 )edit

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

mvish7 gravatar imagemvish7 ( 2018-12-17 08:41:08 -0500 )edit
1

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

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 08:51:19 -0500 )edit

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.
gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 08:56:41 -0500 )edit

@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??

mvish7 gravatar imagemvish7 ( 2018-12-17 09:01:39 -0500 )edit
2

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 ..

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 09:03:25 -0500 )edit