Ask Your Question
0

[ERROR] []: Action client not connected, Moveit to Gazebo

asked 2020-05-11 13:34:47 -0600

matthewmarkey gravatar image

Hello again friends,

This is almost an exact replica as question 319411, but as there is no answer there, I have included more information in an attempt to solve the issue.

The error is received when attempting to run the file t800_planning_execution.launch as seen below:

 <launch>

  <rosparam command ="load" file="$(find t800_moveit_config)/config/joint_names.yaml"/>

  <include file="$(find t800_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="true"/>
  </include>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="false"/>
    <rosparam param="source_list">[/joint_states]</rosparam>
  </node>
<!-- Launch moveit -->
    <include file="$(find t800_moveit_config)/launch/move_group.launch">
        <arg name="publish_monitored_planning_scene" default="true"/>
    </include>

    <!-- Run Rviz and load the default config to see the state of the move_group node -->
    <include file="$(find t800_moveit_config)/launch/moveit_rviz.launch">
      <arg name="config" value="true"/>
    </include>

</launch>

When t800_planning_execution.launch is run, and before the system is settled, the rostopic list results can be seen below:

/attached_collision_object
/collision_object
/head_mount_kinect/depth_registered/points
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/rviz_ubuntu_19788_1914554999/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_ubuntu_19788_1914554999/motionplanning_planning_scene_monitor/parameter_updates
/t800_controller/follow_joint_trajectory/cancel
/t800_controller/follow_joint_trajectory/feedback
/t800_controller/follow_joint_trajectory/goal
/t800_controller/follow_joint_trajectory/result
/t800_controller/follow_joint_trajectory/status
/tf
/tf_static
/trajectory_execution_event

And after:

/attached_collision_object
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/head_mount_kinect/depth_registered/points
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/rosout
/rosout_agg
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/rviz_ubuntu_19788_1914554999/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_ubuntu_19788_1914554999/motionplanning_planning_scene_monitor/parameter_updates
/tf
/tf_static
/trajectory_execution_event

Unfortunately I am still a pleb, so I cannot take a picture of my rqt_graph, but it is only a /joint_state_publisher node sending /joint_states to a /move_group node, and to itself.

edit retag flag offensive close merge delete

Comments

1

Could you please post the actual error message and the content of your moveit_config package's ros_controllers.yaml? Do the controller names that gazebo offers match the names in that file?

fvd gravatar image fvd  ( 2020-05-12 22:27:07 -0600 )edit

The actual error message was the same (verbatim) as question #319411:

[ERROR] [1553337582.435615335]: Action client not connected: arm_controller/follow_joint_trajectory
[ INFO] [1553337582.443550146]: Returned 0 controllers in list
[ INFO] [1553337582.460904199]: Trajectory execution is managing controllers

and

[ERROR] [1553338700.303182035]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1553338700.303209126]: Known controllers and their joints:

[ERROR] [1553338700.303249995]: Apparently trajectory initialization failed

I ended up using another method however.

matthewmarkey gravatar image matthewmarkey  ( 2020-05-13 04:22:03 -0600 )edit

This indeed was an issue of matching the controller names in the file to those expected in gazebo! @fvd

My git for the project can be found here.

The files that I created:

controllers.yaml controllers1.yaml

The files I modified: demo_gazebo.launch gazebo.launch ros_controllers.launch arm_moveit_controller_manager.launch.xml

When demo_gazebo.launch is run, both rviz and gazebo open successfully and I am able to send the moveit instructions to the gazebo model.

matthewmarkey gravatar image matthewmarkey  ( 2020-05-13 04:27:21 -0600 )edit

The only issue now is that I have not successfully fixed my base_link to the gazebo world and am now struggling with that. Thank you for the response @fvd

matthewmarkey gravatar image matthewmarkey  ( 2020-05-13 04:28:26 -0600 )edit
1

I'm glad you could solve it. Could you post this as an answer and accept it, so it is out of the queue? Thanks!

fvd gravatar image fvd  ( 2020-05-13 05:27:10 -0600 )edit
1

Ya, sorry about that I wasn't sure if that was an ok thing to do. Thanks again for the guidance...if you have a second and you know of a quick fix...352213...if not thanks for taking a look anyways!

matthewmarkey gravatar image matthewmarkey  ( 2020-05-13 05:33:14 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2020-05-13 05:30:27 -0600

matthewmarkey gravatar image

updated 2020-05-13 05:31:14 -0600

This indeed was an issue of matching the controller names in the file to those expected in gazebo! @fvd My git for the project can be found here.

The files that I created: controllers.yaml controllers1.yaml

The files I modified: demo_gazebo.launch gazebo.launch ros_controllers.launch arm_moveit_controller_manager.launch.xml

When demo_gazebo.launch is run, both rviz and gazebo open successfully and I am able to send the moveit instructions to the gazebo model.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2020-05-11 13:34:47 -0600

Seen: 326 times

Last updated: May 13 '20