No p gain specified for pid error when try to spawn same 2 robots
Hi, I'm trying to spawn 2 same robots in one gazebo launch file but I see this errors.
[ERROR] [1627377078.217109504, 9.487000000]: No p gain specified for pid. Namespace: /panda2/gazebo_ros_control/pid_gains/panda_joint1
[ERROR] [1627377078.217679976, 9.487000000]: No p gain specified for pid. Namespace: /panda2/gazebo_ros_control/pid_gains/panda_joint2
[ERROR] [1627377079.655710055, 10.303000000]: No p gain specified for pid. Namespace: /panda1/gazebo_ros_control/pid_gains/panda_joint1
[ERROR] [1627377079.656238688, 10.303000000]: No p gain specified for pid. Namespace: /panda1/gazebo_ros_control/pid_gains/panda_joint2
Here is my launch file
<launch>
<group ns="/environment">
<param name="table_description" textfile="$(find franka_gazebo)/robots/table.urdf" />
<node name="spawn_table" pkg="gazebo_ros" type="spawn_model" args="-urdf -param table_description -x 0.65 -y 0.5 -model table_1"/>
</group>
<group ns="/panda1">
<param name="/panda1/robot_description" command="$(find xacro)/xacro $(find franka_gazebo)/robots/panda_gripper.urdf.xacro"/>
<!-- args'da -Y 0.5236 -->
<node name="panda1" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda1_gripper"/>
<rosparam command="load" file="$(find franka_gazebo)/config/joint_states.yaml" ns="panda1"/>
<rosparam command="load" file="$(find franka_gazebo)/config/joint_commands.yaml" ns="panda1"/>
<rosparam command="load" file="$(find franka_gazebo)/config/default.yaml"/>
<node name="panda1_controller_spawner" pkg="controller_manager" type="spawner" args=
"panda1/joint_state_controller
panda1/joint1_position_controller
panda1/joint2_position_controller
panda1/joint3_position_controller
panda1/joint4_position_controller
panda1/joint5_position_controller
panda1/joint6_position_controller
panda1/joint7_position_controller
panda1/joint8_position_controller
panda1/joint9_position_controller
panda1/joint10_position_controller
panda1/gripper1_joint_position_controller
panda1/gripper2_joint_position_controller"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="panda1_state_pub"/>
</group>
<group ns="/panda2">
<param name="/panda2/robot_description" command="$(find xacro)/xacro $(find franka_gazebo)/robots/panda_gripper.urdf.xacro"/>
<node name="panda2" pkg="gazebo_ros" type="spawn_model" args="-y 1.0 -param robot_description -urdf -model panda2_gripper"/>
<rosparam command="load" file="$(find franka_gazebo)/config/joint_states.yaml" ns="panda2"/>
<rosparam command="load" file="$(find franka_gazebo)/config/joint_commands.yaml" ns="panda2"/>
<rosparam command="load" file="$(find franka_gazebo)/config/default.yaml"/>
<node name="panda2_controller_spawner" pkg="controller_manager" type="spawner" args=
"panda2/joint_state_controller
panda2/joint1_position_controller
panda2/joint2_position_controller
panda2/joint3_position_controller
panda2/joint4_position_controller
panda2/joint5_position_controller
panda2/joint6_position_controller
panda2/joint7_position_controller
panda2/joint8_position_controller
panda2/joint9_position_controller
panda2/joint10_position_controller
panda2/gripper1_joint_position_controller
panda2/gripper2_joint_position_controller"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="panda2_state_pub"/>
</group>
<!--<group ns="/environment">
<param name="wound_description" textfile="$(find franka_gazebo)/robots/wound.urdf" />
<node name="spawn_wound" pkg="gazebo_ros" type="spawn_model" args="-urdf -param wound_description -x 0.65 -y 0.0 -model wound_1"/>
</group>-->
<group ns="/environment">
<param name="tissue_description" command="$(find xacro)/xacro --inorder $(find franka_gazebo)/robots/tissue.urdf.xacro" />
<node name="spawn_tissue" pkg="gazebo_ros" type="spawn_model" args="-urdf -param tissue_description -x 0.8 -y -0.084 -model tissue_1" />
</group>
<group ns="/environment">
<param name="holder_description" command="$(find xacro)/xacro --inorder $(find franka_gazebo)/robots/needle_holder.urdf.xacro" />
<node name="spawn_holder" pkg="gazebo_ros" type="spawn_model" args="-urdf -param holder_description -x 0.8 -y -0.157 -model needle_holder" />
</group>
<group ns="/environment">
<param name="needle_description" command="$(find xacro)/xacro --inorder $(find franka_gazebo)/robots/needle40mm.urdf.xacro" />
<node name ...