UR controller not loading
I am getting the following error
Unable to identify any set of controllers that can actuate the specified joints: [ robot1_elbow_joint robot1_shoulder_lift_joint robot1_shoulder_pan_joint robot1_wrist_1_joint robot1_wrist_2_joint robot1_wrist_3_joint ]
[ERROR] [1620053743.038853681]: Known controllers and their joints
I have tried changing the action_ns to scaled_pos_traj_controller. I notice that the controllers are not starting. rosservice call /controller_manager/list_controller_types is not available.
Here is my controller.yaml
controller_list:
- name: "robot1_controller"
action_ns: scaled_pos_traj_controller/follow_joint_trajectory
type: FollowJointTrajectory
joints:
- robot1_shoulder_pan_joint
- robot1_shoulder_lift_joint
- robot1_elbow_joint
- robot1_wrist_1_joint
- robot1_wrist_2_joint
- robot1_wrist_3_joint
- name: "robot2_controller"
action_ns: scaled_pos_traj_controller/follow_joint_trajectory
type: FollowJointTrajectory
joints:
- robot2_shoulder_pan_joint
- robot2_shoulder_lift_joint
- robot2_elbow_joint
- robot2_wrist_1_joint
- robot2_wrist_2_joint
- robot2_wrist_3_joint
Please help.
SOLUTION I was trying to run this directly from execution without gazebo file so obviously the controller_manager pkg wont load.
Try leaving the controller's name empty as described here
I have now removed the name of the controller from controllers.yaml and also from ros_controllers.yaml just in case but I'm still getting the same error
I'm sorry, I just realized that you prefixed your robot with "robot1_" In that case, you'll have to adapt the controllers from the driver, as well. I assume, you are using
ur_robot_driver
?Can you please guide me on how to use the robot driver. I have it installed but im only doing simulation and so i dont have the robot ip and calibration file required by the robot driver
@sudhanv: what was the solution? Which answer was accepted?
@gvdhoorn i have added the solution at the end.
Please do not post solutions as comments under your question.
Post an answer, then accept your own answer.
Please also don't close questions with answers. There is no need.