Failed to load arm_controller
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
Quick comment: Gazebo requires intertias, masses and
dynamicselements for alllinks andjoints. 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.
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)
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.
I present the same problem with my own project, do you have an advance or a possible solution that you will not publish?