Hello everyone,

I would like to integrate the moveit_configuration, and gazebo plugin for the Yaskawa motoman HC10, but I have problems doing so.

These are the steps I am trying to do:

1. Load the model into ROS and control it with moveit (done)
I was able to create a moveit_config with the moveit assistant and have tested the motion planning in RVIZ.

2. Load the model into Gazebo and control it with moveit (UNSOLVED)

I have adjusted the URDF Model and several launch files, following the tutorial here and here

Problem: Following error appears and we have not found a solution to it

[ERROR] [1623157501.677193336, 0.552000000]: Could not find joint 'joint_1_s' in 'hardware_interface::PositionJointInterface'.  
[ERROR] [1623157501.677458206, 0.552000000]: Failed to initialize the controller  
[ERROR] [1623157501.677608332, 0.552000000]: Initializing controller 'arm_controller' failed  
[ERROR] [1623157502.680148, 1.547000]: Failed to load arm_controller  

This is my first time doing this and it would nice if someone could help me.

Environment:

• Ubuntu 18.04
• List item
• Melodic
• ros-industrial/motoman motoman hc10

My Project Files