joint_state_controller loaded but failed to start
Dear all, i am having a situation where I have managed to load the jointstatecontroller as well as the velocity controllers for the 4 joints of my robot, but, while spawning them i get:
[INFO] [1583148364.122978, 0.000000]: Loading controller: joint_state_controller
[INFO] [1583148364.137343, 27.471000]: Loading controller: FRJ_velocity_controller
[INFO] [1583148364.224540, 27.544000]: Loading controller: FLJ_velocity_controller
[INFO] [1583148364.282939, 27.590000]: Loading controller: BLJ_velocity_controller
[INFO] [1583148364.347087, 27.639000]: Loading controller: BRJ_velocity_controller
[INFO] [1583148364.423555, 27.701000]: Controller Spawner: Loaded controllers: joint_state_controller, FRJ_velocity_controller, FLJ_velocity_controller, BLJ_velocity_controller, BRJ_velocity_controller
[ERROR] [1583148364.426532, 27.703000]: Failed to start controllers: joint_state_controller, FRJ_velocity_controller, FLJ_velocity_controller, BLJ_velocity_controller, BRJ_velocity_controller
Please note that if I replace velocity with position controllers, I am able to load joint_state_controller as well as postion controllers for my 4 joints.
My robot_control launch is:
<launch>
<param name="robot_description" textfile="$(find robot)/urdf/robot.urdf" />
<arg name="gui" default="False" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- Show in Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot)/urdf.rviz"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find robot_control)/config/robot_control.yaml" command="load"/>
<!-- 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" ns="/robot">
<remap from="/joint_states" to="/robot/joint_states" />
</node>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/robot" args="joint_state_controller FRJ_velocity_controller FLJ_velocity_controller BLJ_velocity_controller BRJ_velocity_controller"/>
</launch>
My robot_control.yaml is:
robot:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 20
# # Position Controllers ---------------------------------------
# FLJ_position_controller:
# type: effort_controllers/JointPositionController
# joint: FLJ
# pid: {p: 1.0, i: 1.0, d: 0.0}
# FRJ_position_controller:
# type: effort_controllers/JointPositionController
# joint: FRJ
# pid: {p: 1.0, i: 1.0, d: 0.0}
# BLJ_position_controller:
# type: effort_controllers/JointPositionController
# joint: BLJ
# pid: {p: 1.0, i: 1.0, d: 0.0}
# BRJ_position_controller:
# type: effort_controllers/JointPositionController
# joint: BRJ
# pid: {p: 1.0, i: 1.0, d: 0.0}
#Velocity Controllers ---------------------------------------
FRJ_velocity_controller:
type: effort_controllers/JointVelocityController
joint: FRJ
pid: {p: 1.0, i: 1.0, d: 0.0}
FLJ_velocity_controller:
type: effort_controllers/JointVelocityController
joint: FRJ
pid: {p: 1.0, i: 1.0, d: 0.0}
BRJ_velocity_controller:
type: effort_controllers/JointVelocityController
joint: BRJ
pid: {p: 1.0, i: 1.0, d: 0.0}
BLJ_velocity_controller:
type: effort_controllers/JointVelocityController
joint: BLJ
pid: {p: 1.0, i: 1.0, d: 0.0}
The URDF for the model is:
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<link name="dummy">
</link>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00390777224516517 -0.032446267219719 0.184169550820421"/>
<mass value="4.20121630268732"/>
<inertia ixx="0.0149000386129946" ixy="-4.66831001352174E-09" ixz="5.23920338795194E-08" iyy="0.0234359493013497" iyz="0.000771538751024883" izz="0.0286744535302635"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.529411764705882 0.549019607843137 0.549019607843137 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="FL">
<inertial>
<origin rpy="0 0 0" xyz="-5.55111512312578E-17 9.10729824887824E-18 -6.93889390390723E-18"/>
<mass value="0.0615219544751675"/>
<inertia ixx="5.54433425808419E-05" ixy="-1.45453466603006E-20" ixz="-1.00225538664655E-21" iyy="3.00921775305435E-05" iyz="2.309188417276E-21" izz="3.00921775305435E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/FL.STL"/>
</geometry>
<material name="">
<color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/FL.STL"/>
</geometry>
</collision>
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
<joint name="FLJ" type="continuous">
<origin rpy="1.5707963267949 0 0" xyz="-0.162088045105054 0.0440194465480433 -0.0035605397876617"/>
<parent link="base_link"/>
<child link="FL"/>
<axis xyz="-1 0 0"/>
</joint>
<link name="FR">
<inertial>
<origin rpy="0 0 0" xyz="2.77555756156289E-17 -5.3776427755281E-17 3.46944695195361E-17"/>
<mass value="0.0615219544751675"/>
<inertia ixx="5.54433425808419E-05" ixy="-1.73616162087809E-20" ixz="-8.97406720914896E-21" iyy="3.00921775305435E-05" iyz="-2.24902265994014E-21" izz="3.00921775305435E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/FR.STL"/>
</geometry>
<material name="">
<color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/FR.STL"/>
</geometry>
</collision>
</link>
<joint name="FRJ" type="continuous">
<origin rpy="1.5707963267949 0 0" xyz="0.169947769597777 0.0440194465480434 -0.00356053978766185"/>
<parent link="base_link"/>
<child link="FR"/>
<axis xyz="-1 0 0"/>
</joint>
<link name="BL">
<inertial>
<origin rpy="0 0 0" xyz="-5.55111512312578E-17 7.85396053748499E-16 -1.38777878078145E-17"/>
<mass value="0.0615219544751675"/>
<inertia ixx="5.54433425808419E-05" ixy="-5.54431358512462E-21" ixz="2.27097066282367E-22" iyy="3.00921775305435E-05" iyz="2.73146067339844E-21" izz="3.00921775305435E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/BL.STL"/>
</geometry>
<material name="">
<color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/BL.STL"/>
</geometry>
</collision>
</link>
<joint name="BLJ" type="continuous">
<origin rpy="1.5707963267949 0 0" xyz="-0.162088045105054 -0.0759805534519569 -0.00356053978766179"/>
<parent link="base_link"/>
<child link="BL"/>
<axis xyz="-1 0 0"/>
</joint>
<link name="BR">
<inertial>
<origin rpy="0 0 0" xyz="-8.32667268468867E-17 7.03430369508595E-16 2.77555756156289E-17"/>
<mass value="0.0615219544751675"/>
<inertia ixx="5.54433425808419E-05" ixy="-7.26178700863739E-21" ixz="-6.24920580783796E-21" iyy="3.00921775305435E-05" iyz="-3.51228039755728E-21" izz="3.00921775305435E-05"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/BR.STL"/>
</geometry>
<material name="">
<color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/BR.STL"/>
</geometry>
</collision>
</link>
<joint name="BRJ" type="continuous">
<origin rpy="1.5708 0 0" xyz="0.16991 -0.075981 -0.0035605"/>
<parent link="base_link"/>
<child link="BR"/>
<axis xyz="-1 0 0"/>
</joint>
<link name="TB">
<inertial>
<origin rpy="0 0 0" xyz="-7.8063E-18 1.3878E-17 0.001"/>
<mass value="0.36807"/>
<inertia ixx="0.00019523" ixy="7.0972E-20" ixz="-4.0656E-22" iyy="0.0026688" iyz="4.5169E-23" izz="0.0028638"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/TB.STL"/>
</geometry>
<material name="">
<color rgba="0.52941 0.54902 0.54902 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://robot/meshes/TB.STL"/>
</geometry>
</collision>
</link>
<joint name="TBJ" type="fixed">
<origin rpy="0 0 0" xyz="0.003912 -0.086602 0.46844"/>
<parent link="base_link"/>
<child link="TB"/>
<axis xyz="0 0 0"/>
</joint>
<!-- LIDAR -->
<gazebo reference="hokuyo_link">
<sensor name="head_hokuyo_sensor" type="ray">
<pose> 0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.57079</min_angle>
<max_angle>1.57079</max_angle>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>30</max>
<resolution>0.1</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>
<joint name="TB_Lidar" type="fixed">
<axis xyz="0 1 0"/>
<parent link="TB"/>
<child link="hokuyo_link"/>
<origin rpy="0 0 1.57079633" xyz="0 0 0.005"/>
</joint>
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
</link>
<!-- Gazebo Ros Control Plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/robot</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!-- Gazebo Transmission -->
<transmission name="FLT">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="FLJ">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="FRT">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor2">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="FRJ">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="BLT">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor3">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="BLJ">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="BRT">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor4">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="BRJ">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Differential Drive
<gazebo>
<plugin name="differential_drive_controller" filename = "libgazebo_ros_diff_drive.so">
<leftJoint>FLJ</leftJoint>
<legacyMode>false</legacyMode>
<rightJoint>FRJ</rightJoint>
<robotBaseFrame>base_link</robotBaseFrame>
<wheelSeperation>0.25</wheelSeperation>
<wheelDiameter>0.07</wheelDiameter>
<publishWheelJointState>true</publishWheelJointState>
</plugin>
</gazebo>
-->
</robot>
Asked by John999991 on 2020-03-02 07:12:14 UTC
Answers
To answer my own question: The problem seed to be in the robot_control.yaml where I should change
type: effort_controllers/JointVelocityController to
type: velocity_controllers/JointVelocityController
Asked by John999991 on 2020-03-02 19:18:43 UTC
Comments
For future questions: what you showed was not the actual error message. That was most likely (quite) some lines earlier.
Without the actual error message, this was impossible to answer.
Asked by gvdhoorn on 2020-03-03 04:40:45 UTC
Please let me check. I am almost sure i copy pasted the portion that indicates the problem, but I may have missed something. Thank you for noticing.
Asked by John999991 on 2020-03-03 05:55:27 UTC
ok Mistery solved. The error message I initially posted, was from the terminal running the robot_control.launch. But, while initilizing the controller, Gazebo terminal through an exception which I didn't see (it was on the other TAB of the command window) which was:
[ WARN] [1583237428.195313318, 8.827000000]: Resource conflict on [FRJ]. Controllers = [FRJ_velocity_controller, FLJ_velocity_controller, ]
[ERROR] [1583237428.195387541, 8.827000000]: Could not switch controllers, due to resource conflict
Asked by John999991 on 2020-03-03 07:13:57 UTC
The way I figure out the solution was through the help of a website (maybe it was a solution here) that was posting the code to initialize the velocity controllers in .yaml and I noticed that I was initializing wrong type of controllers all this time.
Asked by John999991 on 2020-03-03 07:33:48 UTC
Comments