UR controller not loading

asked 2021-05-03 10:01:24 -0500

sudhanv
21 ●3 ●5 ●7

updated 2021-05-09 05:09:15 -0500

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.

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Try leaving the controller's name empty as described here

fexner ( 2021-05-03 10:09:12 -0500 )edit

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

sudhanv ( 2021-05-03 11:44:33 -0500 )edit

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?

fexner ( 2021-05-03 13:48:52 -0500 )edit

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 ( 2021-05-04 01:22:13 -0500 )edit

@sudhanv: what was the solution? Which answer was accepted?

gvdhoorn ( 2021-05-09 05:53:48 -0500 )edit

@gvdhoorn i have added the solution at the end.

sudhanv ( 2021-05-09 06:12:58 -0500 )edit

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.

gvdhoorn ( 2021-05-09 06:27:13 -0500 )edit

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answered 2021-05-04 04:57:16 -0500

fexner
221 ●5 ●14 ●9

What do you mean by "only doing simulation"? Are you using gazebo, are you using URSim or are you only loading and visualizing the URDF? It would be good to know your complete setup, what launch files are you starting?

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yeah im using gazebo. I followed the usual steps, generated the moveit config files, added joint names and an execution launch file. I run the execution launch file and open up rviz and motion planner.

Here is where im having problems as i said in the question. the controller is not available. Can you please expand on your comment " adapt the controllers from the driver"

sudhanv ( 2021-05-04 06:08:01 -0500 )edit

If you're simulating using Gazebo, you do not use the driver, nor should you try to use it.

And the error message you show is a MoveIt error message, not one from a driver or ros_control itself.

gvdhoorn ( 2021-05-05 00:31:39 -0500 )edit

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UR controller not loading

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