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Action client not connected: /follow_joint_trajectory

asked 2019-11-18 04:02:49 -0600

shu gravatar image

updated 2019-11-21 04:27:32 -0600

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: /follow_joint_trajectory

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

Here are the commands I am running:

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOTIP [reverse_port:=REVERSE_PORT] roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

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

Can someone let me know what I'm missing?

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answered 2019-11-21 04:24:17 -0600

shu gravatar image

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),
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Asked: 2019-11-18 04:02:49 -0600

Seen: 34 times

Last updated: Nov 21