Action client not connected
I suffered an error "action client not connected" when I try to use Moveit in the gazebo.
It looks like Moveit can load my controller.yaml and control.yaml. files correctly when I execute
roslaunch <pkg> moveit_planning_execution.launch
. However, I can not find what is wrong here.
franka_haptic_control.yaml:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 100
panda_robot_planning_group_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
panda_arm_planning_group_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: {p: 3000, i: 10.0, d: 50.0}
panda_joint2: {p: 3000, i: 10.0, d: 50.0}
panda_joint3: {p: 3000, i: 10.0, d: 50.0}
panda_joint4: {p: 3000, i: 10.0, d: 50.0}
panda_joint5: {p: 3000, i: 10.0, d: 50.0}
panda_joint6: {p: 3000, i: 10.0, d: 50.0}
panda_joint7: {p: 3000, i: 10.0, d: 50.0}
controllers.yaml:
controller_list:
- name: panda_robot_planning_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- name: panda_arm_planning_group_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
moveit_planning_execution.launch
<launch>
<include file="$(find franka_haptic_moveit)/launch/planning_context.launch"/>
<!-- The planning and execution components of MoveIt! configured to
publish the current configuration of the robot (simulated or real)
and the current state of the world as seen by the planner -->
<include file="$(find franka_haptic_moveit)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
<arg name="allow_trajectory_execution" value="true"/>
<arg name="info" value="true"/>
</include>
<!-- Generate/Load robot description file -->
<include file="$(find franka_haptic_control)/launch/franka_haptic_control.launch"/>
<!-- The visualization component of MoveIt! -->
<include file="$(find franka_haptic_moveit)/launch/moveit_rviz.launch"/>
</launch>
After > roslaunch <pkg> moveit_planning_execution.launch, the error:
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 100
* /joint_state_controller/type: joint_state_contr...
* /move_group/allow_trajectory_execution: True
* /move_group/controller_list: [{'default': True...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/panda_arm_planning_group/planner_configs: ['AnytimePathShor...
* /move_group/panda_robot_planning_group/planner_configs: ['AnytimePathShor...
* /move_group/planner_configs/AnytimePathShortening/hybridize: True
* /move_group/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
* /move_group/planner_configs/AnytimePathShortening/num_planners: 4
* /move_group/planner_configs/AnytimePathShortening/shortcut: True
* /move_group/planner_configs/AnytimePathShortening/type: geometric::Anytim...
* /move_group/planner_configs/BFMT/balanced: 0
* /move_group/planner_configs/BFMT/cache_cc: 1
* /move_group/planner_configs/BFMT/extended_fmt: 1
* /move_group/planner_configs/BFMT/heuristics: 1
* /move_group/planner_configs/BFMT/nearest_k: 1
* /move_group/planner_configs/BFMT/num_samples: 1000
* /move_group/planner_configs/BFMT/optimality: 1
* /move_group/planner_configs/BFMT/radius_multiplier: 1.0
* /move_group/planner_configs/BFMT/type: geometric::BFMT
* /move_group/planner_configs/BKPIECE/border_fraction: 0.9
* /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECE/range: 0.0
* /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
* /move_group/planner_configs/BiEST/range: 0.0
* /move_group/planner_configs/BiEST/type: geometric::BiEST
* /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRT/init_temperature: 100
* /move_group/planner_configs/BiTRRT/range: 0.0
* /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
* /move_group/planner_configs/EST/goal_bias: 0.05
* /move_group/planner_configs/EST/range: 0 ...