Unable to interface moveit with gazebo - Controllers not loaded and unable to spawn robot model
I'm trying to interface moveit with gazebo for simulation.
I'm following the construct sim tutorial for the same, which uses ubuntu 16.04 and ros-kinetic
https://www.theconstructsim.com/contr...
I'm using ros-melodic and ubuntu 18.04 with gazebo - version 9.12
Linux 5.3.0-42-generic x86_64
HP pavillion notebook
UR package that i downloaded for urdf from melodic-devel branch
https://github.com/ros-industrial/uni...
Question 1 : I'm unable to see the action servers having type of controller FollowJointTrajectory as it is given in the tutorial when i run [ $ rostopic list ] after launching ur5.launch in the ur package
Terminal shows this
$ rostopic list
/calibrated
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_group_position_controller/command
/joint_states
/rosout
/rosout_agg
/tf
and i suppose this could be one of the reasons of not getting the controllers loaded to gazebo.
The model also gets loaded to gazebo which is very translucent as in i think it is not spawned correctly and i recieve this error
$ roslaunch ur_gazebo ur5.launch
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://xxxx-HP-Pavilion-Laptop-xxxxxxx/
SUMMARY
========
PARAMETERS
* /arm_controller/action_monitor_rate: 10
* /arm_controller/constraints/elbow_joint/goal: 0.1
* /arm_controller/constraints/elbow_joint/trajectory: 0.1
* /arm_controller/constraints/goal_time: 0.6
* /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
* /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
* /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
* /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
* /arm_controller/constraints/stopped_velocity_tolerance: 0.05
* /arm_controller/constraints/wrist_1_joint/goal: 0.1
* /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_2_joint/goal: 0.1
* /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_3_joint/goal: 0.1
* /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
* /arm_controller/joints: ['shoulder_pan_jo...
* /arm_controller/state_publish_rate: 25
* /arm_controller/stop_trajectory_duration: 0.5
* /arm_controller/type: position_controll...
* /gazebo/enable_ros_network: True
* /joint_group_position_controller/joints: ['shoulder_pan_jo...
* /joint_group_position_controller/type: position_controll...
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: melodic
* /rosversion: 1.14.5
* /use_sim_time: True
NODES
/
arm_controller_spawner (controller_manager/controller_manager)
fake_joint_calibration (rostopic/rostopic)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_controller_spawner (controller_manager/controller_manager)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_manager (controller_manager/controller_manager)
spawn_gazebo_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [24412]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 8a547ef4-75d3-11ea-bcec-302432c29868
process[rosout-1]: started with pid [24423]
started core service [/rosout]
process[gazebo-2]: started with pid [24430]
process[gazebo_gui-3]: started with pid [24435]
process[spawn_gazebo_model-4]: started with pid [24440]
process[robot_state_publisher-5]: started with pid [24441]
process[fake_joint_calibration-6]: started with pid [24442]
process[joint_state_controller_spawner-7]: started with pid [24448]
process[arm_controller_spawner-8]: started with pid [24450]
process[ros_control_controller_manager-9]: started with pid [24451]
[ INFO] [1585936203.649255599]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585936203.651239013]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1585936203.713316303]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1585936203.715368125]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1585936203.982848, 0.000000]: Loading model ...