ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Action client not connected: /follow_joint_trajectory

asked 2019-11-18 04:02:49 -0500

shu gravatar image

updated 2019-11-21 04:27:32 -0500


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:

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?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-11-21 04:24:17 -0500

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),
edit flag offensive delete link more

Question Tools


Asked: 2019-11-18 04:02:49 -0500

Seen: 1,742 times

Last updated: Nov 21 '19