Unable to identify any set of controllers that can actuate the specified joints

asked 2019-11-26 03:12:15 -0600

Nmiya gravatar image

updated 2019-11-27 20:52:06 -0600

thank you for your watching.

I'm trouble now. I'm trying launch sawyer_gazebo/sawyer_world.launch, but the error occur.

[ERROR] [1574757924.499885118, 41.628000000]: Unable to identify any set of controllers that can actuate the specified joints: [ right_j0 right_j1 right_j2 right_j3 right_j4 right_j5 right_j6 ] [ERROR] [1574757924.499907719, 41.628000000]: Known controllers and their joints:

https://github.com/Mnoritsugu/sawyer_...

i think the connection between moveit and gazebo is bad.

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Comments

Hi @Nmiya

The link your provided is not visible. Furthermore, can you give us any insights of your problem, maybe what you are trying to achieve, some output msgs or error screenshots. With that little information it will be difficult to understand the problem and help you.

Weasfas gravatar imageWeasfas ( 2019-11-26 05:13:07 -0600 )edit

I added the discription about the error. I hope your help.

Nmiya gravatar imageNmiya ( 2019-11-27 22:10:44 -0600 )edit

Are you trying to launch those files on the real robot or with Gazebo simulator. As far as I understand they implemented an Ad Hoc plugin to control the sawyer robot: libsawyer_gazebo_ros_control.

If you are using the real robot the developers added a comment in the launch file to not launch it in that case.

If you are working with Gazebo the package named sawyer_simulator provides all the necessary set up files in order to launch the robot simulation. It seems to me you are launching only the description but not Gazebo and not loading the proper controllers.

Furthermore, the package move_it provided all the files to connect to Gazebo.

Check all your set up and ensure you have all the necessary files.

Weasfas gravatar imageWeasfas ( 2019-11-28 07:03:12 -0600 )edit

Mr. Weasfa, thank you for your reply. I'm trying with Gazebo, and I use original xacro file. I add FTsensor to sawyer xacro file getting from thislink text, and I can't use libsawyer_gazebo_ros_control. So I use libgazebo_ros_control instead of libsawyer_gazebo_ros_control. Now, I am faced with adove error.

Nmiya gravatar imageNmiya ( 2019-11-28 17:56:27 -0600 )edit

Hello,

I think that is the problem. The package and sawyer model is implemented to be used with its own controller: libsawyer_gazebo_ros_control, so if you are using libgazebo_ros_control you will get that error because the libgazebo_ros_control is unable to properly load all the controller the robot description needs.

Why are you loading the libgazebo_ros_control interface instead the libsawyer_gazebo_ros_control?

If you want to load the libgazebo_ros_control you will have to load the proper controllers for each pair: joint/actuator.

Weasfas gravatar imageWeasfas ( 2019-11-29 09:53:38 -0600 )edit

I added the FT-sensor link to sawyer xacro file, and I changed the connection of sawyer and end effector. So, I can't use libsawyer_gazebo_ros_control and I use libgazebo_ros_control. Following your advise, I will try to load the proper controllers for each pair: joint/actuator.

Nmiya gravatar imageNmiya ( 2019-12-01 18:15:28 -0600 )edit