MoveIt - unable to identify any set of controllers

asked 2019-04-12 11:30:41 -0600

Pawel_www
63 ●5 ●6 ●8

updated 2019-04-12 13:41:55 -0600

jayess
6155 ●26 ●85 ●92

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

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Comments

1

Can anyone help me?

Pawel_www ( 2019-04-13 07:52:59 -0600 )edit

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

sw14928 ( 2019-06-17 02:37:38 -0600 )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 ( 2019-06-23 03:12:26 -0600 )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 ( 2019-06-24 05:35:47 -0600 )edit

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8

answered 2020-09-09 07:41:31 -0600

venkys
96 ●2 ●4 ●3

I always encountered this problem when using moveit setup assistant to create a package.

To fix it go to /your_moveit_package/config/ros_controllers.yaml. There always lies a blank controller list as such controller_list: []. Just remove the brackets and add your controller name with type. As mentioned in the previous comments it must be of type "FollowJointTrajectory"

A snippet of my ros_controllers.yaml after making the change

hardware_interface:
  joints:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7
    - panda_finger_joint1
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: panda_arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7
  - name: panda_hand_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_finger_joint1
      - panda_finger_joint2

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Comments

Hi. I am having the same problem. There was no problem you mentioned in my controller.yaml file. Same as the one you shared but still having the same problem. Do you have any idea how to solve it?