Generating UR5 Robot Package with Moveit Setup Assistant
Hello I created moveit package with MSA tool, It gave me a edited URDF for UR5 robot and created its own launch and config directory with neccesary files. And after that I would like to simulate this system with RViz and Gazebo. (I know that you dont have to create a Moveit package, there are UR5 Repositories that already did the work, but my case is different).
I run empty.world gazebo with:
roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false recording:=false debug:=true
Add up my urdf file in to the system:
rosrun gazebo_ros spawn_model -file place/catkin_ws/src/universal_robot/ur_description/urdf/gaze.urdf -urdf -x 0 -y 0 -z 1 -model ur5
And when I run my launch file with Rviz
<launch>
<rosparam command="load" file="$(find gaze_demo_moveit_config)/config/joint_names.yaml"/>
<include file="$(find gaze_demo_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/joint_states]</rosparam>
</node>
<include file="$(find gaze_demo_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find gaze_demo_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
</launch>
My controller.yaml
controller_list:
- name: gaze_controller_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
It gives me errors such as:
[ERROR]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] : Known controllers and their joints:
[ERROR]: Apparently trajectory initialization failed
And this:
[ERROR]: Action client not connected: gaze_controller_controller/follow_joint_trajectory
I checked my controllers.yaml many times. but everything seem fine. After that I saw some people in answers.ros talks about follow_joint_trajectory topic. when I checked my rostopic I couldnt find that topic? I believe it can be the problem. How can I add that service?
Please help
I don't have time for a full answer right now, but in short: you're not starting any controller. Gazebo only provides a stand-in for your hw, not the control(ler) interface.
Take a look at the
ur_gazebo
packages and how they load the appropriateros_control
controller(s).Thanks I Added a comment and upvote you