Action client not connected

asked 2020-12-19 22:50:47 -0600

Sission gravatar image

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 ...
(more)
edit retag flag offensive close merge delete