Denso Robot Control can't find controller_interface/launch controllers

asked 2019-05-31 15:20:03 -0600

tswie gravatar image

Hello,

I am using ROS Melodic on an Ubuntu 18.04 desktop. I'm currently attempting to control a DENSO VS-6577-B A 6DOF Robot Arm using the denso_robot_ros package found here. So far, I have been able to use the package to control a VS060 arm in simulation. In addition, I've also succeeded in importing the VS-6577 arm with a custom end effector attached and simulating it in Gazebo while controlling it in RViz. However, now I am attempting to connect the computer to the physical arm. Here is the output when I attempt this:

... logging to /home/cerlabdesktop/.ros/log/edd43876-83de-11e9-bd36-509a4c1bf48c/roslaunch-cerlabdesktop-6567.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cerlabdesktop:38669/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/publish_frequency: 125.0
 * /joint_state_publisher/source_list: ['/vs6577/joint_s...
 * /joint_state_publisher/use_gui: False
 * /mongo_wrapper_ros_cerlabdesktop_6567_5184178168998292675/database_path: /home/cerlabdeskt...
 * /mongo_wrapper_ros_cerlabdesktop_6567_5184178168998292675/overwrite: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.05
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/use_controller_manager: True
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/flange_joint/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/flange_joint/has_velocity_limits: False
 * /robot_description_planning/joint_limits/flange_joint/max_acceleration: 0
 * /robot_description_planning/joint_limits/flange_joint/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 1
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: False
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 1
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /rviz_cerlabdesktop_6567_7574852909027240469/arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_cerlabdesktop_6567_7574852909027240469/arm/kinematics_solver_attempts: 3
 * /rviz_cerlabdesktop_6567_7574852909027240469/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_cerlabdesktop_6567_7574852909027240469/arm/kinematics_solver_timeout: 0.005
 * /vs6577/arm_controller/joints: ['joint_1', 'join...
 * /vs6577/arm_controller/type: position_controll...
 * /vs6577/arm_group: 0
 * /vs6577/config_file: /home ...
(more)
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