Could not load custom controller, controller type does not exist

asked 2019-10-07 04:32:30 -0500

Alex_36 gravatar image

updated 2019-10-07 07:21:34 -0500

Hello,

I'm a ROS novice trying to run a Gazebo simulation with a user defined Joint Position Controller and I'm experiencing some difficulties loading the controller.

I have the code running successfully on another machine and now I'm trying to migrate to a new computer. I duplicated the configuration as best I could but upon running my controller launch file, I get the following error which I'm not sure how to resolve:

 [ERROR] [1569865552.085248704]: Could not load class 'user_joint_position_controller/userJointPositionController': MultiLibraryClassLoader: Could not create object of class type controller_ns::userJointPositionController as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [ERROR] [1569865552.085297045]: Could not load controller 'steering_position_controller' because controller type 'user_joint_position_controller/userJointPositionController' does not exist. [ERROR] [1569865552.085313300]: Use 'rosservice call controller_manager/list_controller_types to get the available types`

Here is the output of running rosservice call /toninus_rdt/controller_manager/list_controller_types:

user_joint_position_controller/userJointPositionController is there, 5th from the end

types: [ackermann_steering_controller/AckermannSteeringController, controller_manager_tests/DerivedController,
  controller_manager_tests/EffortTestController, controller_manager_tests/ExtensibleController,
  controller_manager_tests/MyDummyController, controller_manager_tests/PosEffController,
  controller_manager_tests/PosEffOptController, controller_manager_tests/VelEffController,
  diff_drive_controller/DiffDriveController, effort_controllers/GripperActionController,
  effort_controllers/JointEffortController, effort_controllers/JointGroupEffortController,
  effort_controllers/JointGroupPositionController, effort_controllers/JointPositionController,
  effort_controllers/JointTrajectoryController, effort_controllers/JointVelocityController,
  force_torque_sensor_controller/ForceTorqueSensorController, imu_sensor_controller/ImuSensorController,
  joint_state_controller/JointStateController, pos_vel_acc_controllers/JointTrajectoryController,
  pos_vel_controllers/JointTrajectoryController, position_controllers/GripperActionController,
  position_controllers/JointGroupPositionController, position_controllers/JointPositionController,
  position_controllers/JointTrajectoryController, user_joint_position_controller/userJointPositionController,
  velocity_controllers/JointGroupVelocityController, velocity_controllers/JointPositionController,
  velocity_controllers/JointTrajectoryController, velocity_controllers/JointVelocityController]
base_classes: ['controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase', 'controller_interface::ControllerBase',
  'controller_interface::ControllerBase']

Here is my .yaml:

toninus_rdt:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  steering_position_controller:
    type: user_joint_position_controller/userJointPositionController
    joint: steering
    pid: {p: 300.0, i: 0.0, d: 7.5}
    # Delay time = delayQueueLength * max_step_size from .world file
    delayQueueLength: 1660
    deadzoneThreshold: 0.0
  rear_velocity_controller:
    type: effort_controllers/JointVelocityController
    joint: rear_wheel_joint
    pid: {p: 40.0, i: 0.0, d: 1.00}

Here is the .launch file:

<?xml version="1.0" encoding="UTF-8"?> <launch>

<!-- Load joint controller configurations from YAML file to parameter server -->  <rosparam file="$(find toninus_rear_asm)/control/config/toninus_rear_asm_control.yaml" command="load"/>

 <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"    output="screen" ns="/toninus_rdt" args="steering_position_controller rear_velocity_controller >joint_state_controller"/>

 <!-- convert joint states to TF transforms for rviz, etc -->  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"    respawn="false" output="screen">    <remap from="/joint_states" to="/toninus_rdt/joint_states" />  </node>

</launch>

Here is my controller_plugins.xml:

<library path="lib/libeffort_controllers">
    <class name="user_joint_position_controller/userJointPositionController"
           type="controller_ns::userJointPositionController"
           base_class_type="controller_interface::ControllerBase">
    </class>
</library>

Here is the controller source from user_joint_position_controller.cpp, it's barely modified from the standard position controller :

#include <effort_controllers/user_joint_position_controller.h>
#include <angles/angles.h>
#include <pluginlib/class_list_macros.hpp>
#include <queue> 

static std::queue<double> delayQueue;
static double deadzoneThreshold = 0.0;

namespace ...
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Comments

1

Could you please check formatting of your .yaml files? It doesn't appear to be valid yaml right now. That is not the cause of your problem -- most likely -- but would make it easier to understand what is going on.

gvdhoorn gravatar imagegvdhoorn ( 2019-10-07 04:56:55 -0500 )edit

My bad, the formatting has been corrected.

Alex_36 gravatar imageAlex_36 ( 2019-10-07 05:30:13 -0500 )edit

Just to doublecheck:

Could not create object of class type controller_ns::userJointPositionController

The namespace in your source code as well as the type in your plugin.xml do match?

mgruhler gravatar imagemgruhler ( 2019-10-07 06:09:34 -0500 )edit

I believe the namespaces match, I've included the plugin.xml and the controller source.

Alex_36 gravatar imageAlex_36 ( 2019-10-07 07:22:48 -0500 )edit

Was this ever resolved?

jdcarp19 gravatar imagejdcarp19 ( 2019-10-14 12:05:04 -0500 )edit

Not yet, do you have a similar problem?

Alex_36 gravatar imageAlex_36 ( 2019-10-15 04:41:53 -0500 )edit