Rviz/ Moveit! issue with controller: Action client not connected

asked 2019-03-25 04:55:44 -0600

Joel1394 gravatar image

I followed this Youtube-tutorial, but I end up not being able to execute any movements, planning works fine so far. These are the errors I get when my Robot is launched in Rviz.

Planning scene monitors started.
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
[ INFO] [1553337565.370296058]: Initializing OMPL interface using ROS parameters
[ERROR] [1553337565.372918282]: Could not find the planner configuration 'None' on the param server
[ INFO] [1553337565.398083911]: Using planning interface 'OMPL'
[ INFO] [1553337565.402952252]: Param 'default_workspace_bounds' was not set. Using default value: 10

and furthermore:

[ INFO] [1553337568.871929164]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1553337570.434930513]: Waiting for arm_controller/follow_joint_trajectory to come up
[ INFO] [1553337573.874676121]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-melodic-moveit-ros-planning-0.10.8/planning_scene_monitor/src/planning_scene_monitor.cpp:495
[ INFO] [1553337574.138897903]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ WARN] [1553337576.435329652]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1553337582.435615335]: Action client not connected: arm_controller/follow_joint_trajectory
[ INFO] [1553337582.443550146]: Returned 0 controllers in list
[ INFO] [1553337582.460904199]: Trajectory execution is managing controllers

When I use rostopic list in a seperate shell when launching the above file, I can see the arm_controller, but once everything settled launching the above file, the arm_controller is no more shown on rostopic list and several other topics are then displayed.

Now this is the error I eventually get when trying to execute a planned path:

[ERROR] [1553338700.303182035]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1553338700.303209126]: Known controllers and their joints:

[ERROR] [1553338700.303249995]: Apparently trajectory initialization failed
[ INFO] [1553338700.312482359]: ABORTED: Solution found but controller failed during execution
libpng warning: iCCP: known incorrect sRGB profile

I have checked several files like Appreciate your help! Thanks!

Joel

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Comments

Can you provide details about the complete simulation environment? are you trying to send the trajectory generated by moveit to any simulator?? Because if you want to visualize the trajectory in RVIZ then fake trajectory execution takes place which is governed by fake_controllers (You can find them in your moveit_config package)

mvish7 gravatar imagemvish7 ( 2019-03-25 06:26:50 -0600 )edit
Waiting for arm_controller/follow_joint_trajectory to come up

This would seem to indicate that either you have no drivers running for your robot, they are not correctly configured or MoveIt isn't correctly configured to use them.

You'll have to provide a little more detail on what exactly you are running. Showing launch files would be easiest. Also include a screenshot of rqt_graph and the output of rostopic list in both cases (so when the action server still seems to be there and once not any longer).

gvdhoorn gravatar imagegvdhoorn ( 2019-03-25 07:00:55 -0600 )edit

Okay I finally figured it out, apparently many things have to be right. I noticed when I ran my gazebo Simulator an issue I previously addressed appeared again. So I had to apply the fix from this one in the shell where I would launch rviz. It was crucial that the gazebo simulator was running too, to eventually work.

Joel1394 gravatar imageJoel1394 ( 2019-03-25 08:58:00 -0600 )edit