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Launch moveit_planning_execution.launch fails

asked 2019-06-23 03:03:26 -0600

victor_234 gravatar image

updated 2019-06-23 06:12:49 -0600

gvdhoorn gravatar image

I follow all the steps that are explained in this link ( ). However, when launching the file moveit_planning_execution.launch I launch the robot in the simulation environment but I get the following error and I can't plan and execute any movement:

Action client not connected: / follow_joint_trajectory

Does anyone know why this happens?

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answered 2019-06-23 06:03:23 -0600

drodgu gravatar image

updated 2019-06-23 06:13:04 -0600

gvdhoorn gravatar image

Have you spawned the controller manager for the arm in simulation? If so, try with remapping the action controller node with the name of the controller you've declared in your XX_controllers.yaml. Here I leave an example of remapping topics:

  <!-- Remap follow_joint_trajectory. Remaping el suscrbed topic -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory/action_topics/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
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I create the controllers.yaml file in the same way as in the link, I do not get the error: Action client not connected: (topic). But when I execute a movement in RViz I get the following error:

--Unable to identify any set of controllers that can actuate the specific joints: [joint1, joint2, joint3 ...] --Known controllers and their joints: --Apparently trajectory initialization failed --Solution found but controller failed during execution

The robot I want to control has several controllers. I do not know if, instead of putting in the file controllers.yaml name = "", I need to put the name of the driver. However, when filling in this field with a name, the error reappears: Action client not connected: (topic).

Also, when I launch the file moveit_planning_execution.launch and I do a rostopic list the different topics that send the trajectories of movement do not appear.

victor_234 gravatar image victor_234  ( 2019-06-24 05:05:25 -0600 )edit

If the terminal shows you the "Action client not connected" error that means that you've started properly your controllers. The thing is that ROS tries to find the real controllers and it cannot find them, so it closes that topic. You have to remap as I told before because you are working with a simulation. Remapping is like telling ROS that a topic must be linked with another one. So try using this in the controllers launch file:

  <remap from="/follow_joint_trajectory/action_topics/follow_joint_trajectory" to="/follow_joint_trajectory"/>
drodgu gravatar image drodgu  ( 2019-06-24 12:43:05 -0600 )edit

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Asked: 2019-06-23 03:03:26 -0600

Seen: 49 times

Last updated: Jun 23 '19