Failed to load arm_controller

asked 2021-06-08 11:22:25 -0600

Rakkidi gravatar image

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

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Comments

Quick comment: Gazebo requires intertias, masses and dynamics elements for all links and joints. If those are not present, it will filter those elements out of the model it loads.

Afaik, the HC10 model you use doesn't have those elements, which could very well be the cause of the errors you describe.

gvdhoorn gravatar image gvdhoorn  ( 2021-06-08 13:35:00 -0600 )edit

Sorry, I didn't stated it more precisely. I have used from the Moveit Setup Assistant the URDF auto generator and exported a new model, which you can find here (xacro will be created later if it works)

Rakkidi gravatar image Rakkidi  ( 2021-06-08 14:07:51 -0600 )edit

Then there is perhaps another cause. I would not know which one without trying to replicate your setup. Unfortunately I don't have time to do that right now.

Perhaps another forum member is willing to look into your problem.

gvdhoorn gravatar image gvdhoorn  ( 2021-06-09 02:44:12 -0600 )edit

I present the same problem with my own project, do you have an advance or a possible solution that you will not publish?

Arnolvalencia1 gravatar image Arnolvalencia1  ( 2021-10-08 11:48:13 -0600 )edit