Panda error using effort controllers in gripper
Hello,
Im trying to use effort controllers in my panda gripper but it wont work. Before effort controllers, I was using follow_joint_trajectory controller and everything worked well. Now, after changing to effort_controllers/JointTrajectoryController I get an error when simulating at gazebo and Rviz.
[ERROR] [1605273071.006584287, 24.096000000]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_finger_joint1 panda_finger_joint2 ]
[ERROR] [1605273071.006641908, 24.096000000]: Known controllers and their joints:
controller 'arm_controller' controls joints:
panda_joint1
panda_joint2
panda_joint3
panda_joint4
panda_joint5
panda_joint6
panda_joint7
[ERROR] [1605273071.006709493, 24.096000000]: Apparently trajectory initialization failed
Using the move_it assistant, the program always adds two controllers for the hand group, as you can see here:
# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm
joint_model_group_pose: home
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- panda_finger_joint1
- panda_finger_joint2
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
- name: arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- name: hand_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:
- panda_finger_joint1
- panda_finger_joint2
hand_controller:
type: effort_controllers/JointPositionController
joints:
- panda_finger_joint1
- panda_finger_joint2
gains:
panda_finger_joint1:
p: 100
d: 1
i: 1
i_clamp: 1
panda_finger_joint2:
p: 100
d: 1
i: 1
i_clamp: 1
so, I dont know how to fix this. I guess i miss something very simple but I cant find out the problem