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waitForServer issue

asked 2019-08-06 11:09:59 -0500

mt gravatar image

Hi,

System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic

I am working on manipulator jogging using the jog_control package. I've posted this on the github issues page already but I thought I'd try here as well.

I am trying to set this package up to use the Kuka KR16 arm but am having some problems with the controllers which is giving me the following warning:

Waiting for arm_controller/follow_joint_trajectory server...

as it is waiting on the TrajClient's waitForServer method.

I have been trying to replicate the contents of the launch files in the example given in the readme for the UR5 arm but am still coming up short. I am not sure how the follow_joint_trajectory server is being created in the UR5 packages and I have not been able to find a tutorial or guide that explains the follow_joint_trajectory controller.

I don't want to make the post too long so I will only include my launch files for now and if need be, I can include other info later as required.

This first launch file, kr16.launch, launches Gazebo, Rviz, MoveIt! and loads the arm and controllers.

<?xml version="1.0"?>
<launch>
  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
  <arg name="gui" default="false" doc="Starts gazebo gui" />
  <arg name="sim" default="false" doc="If true, use the simulated joint controllers"/>
  <arg name="use_moveit" default="true"/>
  <arg name="use_rviz" default="true"/>

  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gui)"/>
  </include>

  <!-- send robot urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr16_support)/urdf/kr16_2.xacro'" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.0" respawn="false" output="screen" />

  <!-- spawn the joint_state_controller and joint_trajectory_controller-->
  <rosparam file="$(find kr16_moveit_config)/config/ros_controllers.yaml" command="load"/>
  <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" ns="kuka_kr16_2" args="joint_state_controller arm_controller" respawn="false" output="screen"/>

  <!-- Remap joint_states -->
  <remap from="/joint_states" to="/kuka_kr16_2/joint_states"/>

  <!-- Robot state publisher -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" type="string" value="" />

  </node>

  <!-- Launch rviz -->
  <node if="$(arg use_rviz)"
    name="rviz" pkg="rviz" type="rviz"
    args="-d $(find jog_launch)/launch/jog.rviz"/>


  <!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/kuka_kr16_2/arm_controller/follow_joint_trajectory"/>

  <!-- Launch MoveIt! -->
  <include if="$(arg use_moveit)"
       file="$(find kr16_moveit_config)/launch/move_group.launch"/>

</launch>

This file gives the following notable fatal error when launched:

[FATAL] [1565103003.906290212]: Parameter '~moveit_controller_manager' not ...
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Comments

1

I've posted this on the github issues page already but I thought I'd try here as well.

please do not cross-post questions like this.

Give the developers/maintainers of the package a chance to respond.

gvdhoorn gravatar imagegvdhoorn ( 2019-08-06 11:28:33 -0500 )edit

1 Answer

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answered 2019-08-13 08:26:04 -0500

longjie0723 gravatar image

updated 2019-08-13 11:36:33 -0500

jayess gravatar image

Hi, Please check if your gazebo setup can launch all of the joint controllers correctly.

  • Your setting should control the robot joints in gazebo viewer
  • The controller should publish joint_states and accept FollowJointTrajectory action
  • This have nothing to do with jog_control packages

I'm afraid the URDF in kuka_experimental/kuka_kr16_support need more descriptions for gazebo simulation at a glance. Please refer to ur_gazebo package in which you can easily start the system as:

roskaunch ur_gazebo ur5.launch

The alternative is to use fake_joint package instead of gazebo. I believe it is much easier if it fit your needs. And please notice the example in jog_control/jog_launch are all using fake_joint_driver, not gazebo.

In any ways, you need to confirm your robot can be controlled using MoveIt! before proceeding to jog_control. I recommend to check it step by step modifying the sample files.

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Asked: 2019-08-06 11:09:59 -0500

Seen: 63 times

Last updated: Aug 13