No p gain specififed even when specified in control.yaml

edit

does #q293830 help?

It seems odd to me that the error message is actually putting <joint_name> in there...

Please share your control.yaml for further support.

(I don't think the spawner error is related...)

Here I have attached the control.yaml

link text

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

imu_joint1_controller:
  type: velocity_controllers/JointVelocityController
  joint: imu_joint1
  pid: {p: 3.0, i: 1.0, d: 1.0}

imu_joint2_controller:
  type: velocity_controllers/JointVelocityController
  joint: imu_joint2
  pid: {p: 5.0, i: 1.5, d: 1.25}

imu_joint3_controller:
  type: velocity_controllers/JointVelocityController
  joint: imu_joint3
  pid: {p: 1.2, i: 0.4, d: 0}

SUMMARY ========

PARAMETERS
 * /imu_joint1_controller/joint: imu_joint1
 * /imu_joint1_controller/pid/d: 1.0
 * /imu_joint1_controller/pid/i: 1.0
 * /imu_joint1_controller/pid/p: 3.0
 * /imu_joint1_controller/type: velocity_controll...
 * /imu_joint2_controller/joint: imu_joint2
 * /imu_joint2_controller/pid/d: 1.25
 * /imu_joint2_controller/pid/i: 1.5
 * /imu_joint2_controller/pid/p: 5.0
 * /imu_joint2_controller/type: velocity_controll...
 * /imu_joint3_controller/joint: imu_joint3
 * /imu_joint3_controller/pid/d: 0
 * /imu_joint3_controller/pid/i: 0.4
 * /imu_joint3_controller/pid/p: 1.2
 * /imu_joint3_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: False