Cannot find user-specified joint names | Failed to initialize joint names

asked 2019-07-02 00:36:47 -0500

marcusvini178 gravatar image

updated 2019-07-02 02:15:37 -0500

jayess gravatar image

I configured the industrial robot ur10 with moveit setup assistant. Later I tried to start the industrial-robot-simulator with the command:

roslaunch industrial_robot_simulator robot_interface_simulator.launch

I have the following error message:

[ERROR] [1562043668.421588734]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1562043668.421622246]: Failed to initialize joint_names.

Well I have looked in other similar issues fixed here in forum, and so I tried to follow one which recommends to change the joint names in the industrial robot simulator source code. And I configured there the official joints names given by my joint_limits.yaml of ur10. Accorind to this file there are 6 joints...and I assigned the name of them into the industrial robot simulator source code (located in /opt/ros/kinetic/lib/industrial_robot_simulator....

 # Joint names
        def_joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]

I would like to follow the tutorial and give the command:

roslaunch ur10_moveit_config moveit_planning_execution.launch

But I need first to fix this error

What I am confused is that in "ur10e.urdf.xacro" file is given more than 6 joints...there the following joints exists besides the previous 6 related above:

  • shoulder_lift_joint; (revolute)
  • {prefix}ee_fixed_joint
  • {prefix}base_link-base_fixed_joint
  • prefix}wrist_3_link-tool0_fixed_joint

Calculating so the ur10 has 10 joints? Maybe that is why it is called ur10 hehe...so should I add these number in the source code and assign the 10 joints there? Is this the problem or other?

Thanks in advance

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Comments

Please make sure to double check the formatting of your question in the future, as it was your list didn't show properly and your error didn't show up at all. I formatted it your question best I could, but feel free to make any changes

jayess gravatar imagejayess ( 2019-07-02 02:18:22 -0500 )edit