Error receiving joint states in moveit

asked 2019-06-17 04:43:11 -0500

sw14928 gravatar image

updated 2019-06-19 06:55:11 -0500

I have a problem reading joint states from my robot arm in moveit. I have a robot arm that works within RVIZ, I can move the arm around and plan paths, but every time I do I receive an error:

[ERROR] [1560760011.563298414]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_a1 joint_a2 joint_a3 joint_a4 joint_a5 joint_a6 ]
[ERROR] [1560760011.563447792]: Known controllers and their joints:
[ERROR] [1560760011.563601675]: Apparently trajectory initialization failed

What do I need to check and or change?

I believe this has something to do with the controller configuration. I have several launch files relating to controller manager: kr150_moveit_controller_manager.launch and kr150_moveit_controller_manager.launch.xml. What is the difference between .launch and .launch.xml? My controllers.yaml file and my joint_names.yaml look correct according to the tutorial I have been following:

http://wiki.ros.org/Industrial/Tutori...

Any help will be greatly appreciated!

EDIT:

I have spent the last few days researching this problem. I think I need to adjust the moveit_planning_execution.launch file. Currrently this reads: <launch>

<arg name="db" default="false"/> <arg name="db_path" default="$(find kr150_moveit_config)/default_warehouse_mongo_db"/>

<arg name="debug" default="false"/>

<rosparam command="load" file="$(find kr150_moveit_config)/config/controllers.yaml"/> <rosparam command="load" file="$(find kr150_moveit_config)/config/joint_names.yaml"/> <rosparam command="load" file="$(find kr150_moveit_config)/config/ros_controllers.yaml"/>

<arg name="use_gui" default="false"/>

<arg name="sim" default="true"/> <arg name="robot_ip" default="192.168.0.5" unless="$(arg sim)"/> <arg name="port" default="30000" unless="$(arg sim)"/>

<include file="$(find kr150_moveit_config)/launch/planning_context.launch" &gt;="" <arg="" name="load_robot_description" value="true"/> </include>

<group if="$(arg sim)"> <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch"/> </group>

<group unless="$(arg sim)"> <include file="$$(find kr150_moveit_config)/launch/robot_interface.launch" &gt;="" <arg="" name="robot_ip" value="$(arg robot_ip)"/> </include> </group>

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="follow_joint_trajectory" args="controller joint_state_controller"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> </node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

<include file="$(find kr150_moveit_config)/launch/move_group.launch"> <arg name="publish_monitored_planning_scene" value="true"/> </include>

<include file="$(find kr150_moveit_config)/launch/moveit_rviz.launch"> <arg name="config" value="true"/> </include>

<include file="$(find kr150_moveit_config)/launch/warehouse.launch" if="$(arg db)" &gt;="" <arg="" name="moveit_warehouse_database_path" value="$(arg db_path)"/> </include>

</launch>

I think I need to change something in the section. Can anyone help?

Cheers

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