MoveIt - unable to identify any set of controllers

asked 2019-04-12 11:30:41 -0500

Pawel_www gravatar image

updated 2019-04-12 13:41:55 -0500

jayess gravatar image

Hi Everyone! Actually i `m working with MoveIt! To start, I have watched this tutorial: https://www.youtube.com/watch?v=j6bBx...

i did the same, i can see my robot in rviz (Kuka kr150 3100 prime), i can rotate and etc. But when i press "Execute", nothing happend - i only see error:

[ERROR] [1555085718.387324665]: Unable to identify any set of controllers that can actuate the specified joints: [ base_link__link_01 link_01__link_02 link_02__link_03 link_03__link_04 link_04__link_05 link_05__link_06 ]
[ERROR] [1555085718.387367066]: Known controllers and their joints:

[ERROR] [1555085718.387435223]: Apparently trajectory initialization failed

I try to check everything but nothing happend.

Here are my files: controller.yaml

    controller_list:
 - name: JointPositionController
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: true
   joints:
     - base_link__link_01
     - link_01__link_02
     - link_02__link_03
     - link_03__link_04
     - link_04__link_05
     - link_05__link_06

-joint_names.yaml

controller_joint_names: [base_link__link_01, link_01__link_02, link_02__link_03, link_03__link_04, link_04__link_05, link_05__link_06]

-mrm_moveit_controller_manager.launch.xml

    <launch>
  <rosparam file="$(find myrobot_moveit_config)/config/controller.yaml"/>
  <param name="use_controller_manager" value="false"/>
  <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
</launch>

-myrobot_planning_execution.launch

<launch>

  <rosparam command="load" file="$(find myrobot_moveit_config)/config/joint_names.yaml"/>

  <include file="$(find myrobot_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
    <rosparam param="/source_list">[/joint_states]</rosparam>
  </node>

  <include file="$(find myrobot_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find myrobot_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

</launch>

I would be very grateful for Your help!

Pawel

edit retag flag offensive close merge delete

Comments

1

Can anyone help me?

Pawel_www gravatar imagePawel_www ( 2019-04-13 07:52:59 -0500 )edit

Hi, i am receiving exactly the same error for exactly the same robot! Did you ever work this one out? Cheers

sw14928 gravatar imagesw14928 ( 2019-06-17 02:37:38 -0500 )edit

Hi, I had found that I didn't have follow_joint_trajectory service, so Moveit couldnt find those controllers. https://www.youtube.com/watch?v=K09E-...

Pawel_www gravatar imagePawel_www ( 2019-06-23 03:12:26 -0500 )edit

Ah ok, I managed to solve mine in the end. I discovered the controller naming was wrong in one of my config files

sw14928 gravatar imagesw14928 ( 2019-06-24 05:35:47 -0500 )edit