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Action client not connected: /follow_joint_trajectory

Hello,

I am running ros Kinetic on Ubuntu 16.04. Moveit works correctly with in simulation with a UR5 but during actual testing with the hardware I get an error message that reads

[ERROR] Action client not connected: /followjointtrajectory

I've followed the readme here: https://github.com/ros-industrial/ur_modern_driver

Here are the commands I am running:

roslaunch urmoderndriver ur5bringup.launch robotip:=ROBOTIP [reverseport:=REVERSEPORT] roslaunch ur5moveitconfig ur5moveitplanning_execution.launch sim:=true

My controllers.yaml file has the FollowJointTrajectory action specified as in the urmoderndriver tutorial.

Can someone let me know what I'm missing?

Asked by shu on 2019-11-18 05:02:49 UTC

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Answers

Fixed this by changing line 26 in action_server.cpp to

  : as_(nh_, "/vel_based_pos_traj_controller/follow_joint_trajectory", boost::bind(&ActionServer::onGoal, this, _1),

Asked by shu on 2019-11-21 05:24:17 UTC

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