[WARN] [1549645986.850056, 54.996000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

asked 2019-02-08 11:40:26 -0600

chirag_agrawal gravatar image

updated 2019-02-08 19:02:08 -0600

jayess gravatar image

Hello! I am getting this error

[WARN] [1549645986.850056, 54.996000]: Controller Spawner couldn't find the expected controller_manager ROS interface

while launching a urdf in gazebo. I am new to ROS and have looked for a solution but couldn't find it. A similar question is asked here. I have done everything suggested in that link and the libjoint_state_controller.so file is present at opt/ros/kinetic/lib. I have added the gazebo plugin in my .xacro file.

<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/mushak</robotNamespace>
      <robotParam>/mushak/robot_description</robotParam>
    </plugin>
</gazebo>

This is the .launch file.

<?xml version="1.0" encoding="UTF-8"?>
<launch>
 <group ns="/mushak"> 
   <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mushak_pkg)/urdf/mushak_model.xacro'" />
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0.2412"/>

    <!-- Spawn the robot model -->
    <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
          args="-urdf -param robot_description -model mushak -x $(arg x) -y $(arg y) -z $(arg z)" />

    <!-- Load controllers -->
    <rosparam command="load" file="$(find mushak_pkg)/config/config.yaml" />

    <!-- Controllers -->

    <node name="controller_spawner" pkg="controller_manager" type="spawner"
        respawn="false" output="screen" ns="/mushak"
        args="
        joint_state_controller
        joint1_position_controller
        joint2_position_controller
        joint3_position_controller
        joint4_position_controller
        joint5_position_controller
        joint6_position_controller
        --timeout 50
        ">
    </node>

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
        <remap from="/joint_states" to="/mushak/joint_states" />
    </node>

</group>

</launch>

The model is opening in rviz without any error. This is the output when I run

rospack find joint_state_controller 

/opt/ros/kinetic/share/joint_state_controller

Can someone help me please?

Thanks!

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