Error while simulating planning execution with moveit

asked 2021-11-18 01:40:23 -0500

bhomaidan gravatar image

updated 2021-11-18 08:25:10 -0500

Hi, I'm trying to simulate the movement of one arm of YuMi IRB 14000 using this yumi_moveit_config package, but while I'm doing so I get the following Error, can you please tell me how to solve it? thanks in advance.

[ INFO] [1637220934.135844680, 194.075000000]: Returned 0 controllers in list
[ERROR] [1637220934.135911494, 194.075000000]: Unable to identify any set of controllers that can actuate the specified     joints: [ yumi_robl_joint_1 yumi_robl_joint_2 yumi_robl_joint_3 yumi_robl_joint_4 yumi_robl_joint_5 yumi_robl_joint_6 yumi_robl_joint_7 ]
[ERROR] [1637220934.135945028, 194.075000000]: Known controllers and their joints:

Here is the launch file that I'm using:

<?xml version="1.0"?>
<launch>

    <arg name="name" default="yumi" doc="The robot name. Ensure this is the same name you give to the arm in the     urdf instance."/>

    <!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find yumi_control)/config/position_controllers.yaml" command="load" ns="/yumi"/>
<rosparam file="$(find yumi_control)/config/gripper_controllers.yaml" command="load" ns="/yumi"/>
<arg name="arm_controllers" default="joint_state_controller
                                 joint_pos_controller_1_r
                                 joint_pos_controller_2_r
                                 joint_pos_controller_7_r
                                 joint_pos_controller_3_r
                                 joint_pos_controller_4_r
                                 joint_pos_controller_5_r
                                 joint_pos_controller_6_r
                                 joint_pos_controller_1_l
                                 joint_pos_controller_2_l
                                 joint_pos_controller_7_l
                                 joint_pos_controller_3_l
                                 joint_pos_controller_4_l
                                 joint_pos_controller_5_l
                                 joint_pos_controller_6_l"/>
<arg name="gripper_controllers" default="gripper_effort_controller_r
                                         gripper_effort_controller_l"/>
<node name="arm_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg arm_controllers)" ns="/yumi"/>
<node name="gripper_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg gripper_controllers)" ns="/yumi"/>

<!--  Hardware interfaces for the joints and grippers -->
<arg name="arms_hardware_interface" default="PositionJointInterface"/>
<arg name="grippers_hardware_interface" default="EffortJointInterface"/>

<!-- URDF / SRDF parameters -->
    <arg name="yumi_setup" default="default"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find yumi_description)/urdf/yumi.urdf.xacro' arms_interface:=$(arg arms_hardware_interface) grippers_interface:=$(arg grippers_hardware_interface) yumi_setup:=$(arg yumi_setup)" />
<arg name="yumi_initial_pos" default="-J yumi_robl_joint_1 0.0
                                      -J yumi_robl_joint_2 -2.2689
                                      -J yumi_robl_joint_3 0.0
                                      -J yumi_robl_joint_4 0.5238
                                      -J yumi_robl_joint_5 0.0
                                      -J yumi_robl_joint_6 0.6994
                                      -J yumi_robl_joint_7 2.3562
                                      -J yumi_robr_joint_1 0.0
                                      -J yumi_robr_joint_2 -2.2689
                                      -J yumi_robr_joint_3 0.0
                                      -J yumi_robr_joint_4 0.5238
                                      -J yumi_robr_joint_5 0.0
                                      -J yumi_robr_joint_6 0.6994
                                      -J yumi_robr_joint_7 -2.3562"/>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model yumi $(arg yumi_initial_pos) -param robot_description -unpause"  respawn="false" output="screen" />

<!-- Configuration for debug  -->
<arg name="debug" default="false"/>
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<!-- Call Gazebo -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="false"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="$(arg debug)" />
</include>
<rosparam command="load" file="$(find yumi_moveit_config)/config/joint_names.yaml" />
<!-- Joint state and robot state publisher calls -->
<node name="yumi_joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <rosparam param="source_list">["/yumi/joint_states", "/yumi/gripper_states"]</rosparam>
</node>
<node name="yumi_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!-- Launch Move Group Capabilities-->
<include file="$(find yumi_moveit_config)/launch/yumi_moveit_controller_manager.launch"/>
<include file ...
(more)
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Comments

Can you please! provide more details on what launch file you are running and are you working with a real robot with move it simulation or just moveit simulation. Your details will help us to provide a depth solution.

Thanks

Ranjit Kathiriya gravatar image Ranjit Kathiriya  ( 2021-11-18 04:16:40 -0500 )edit

@RanjitKathiriya thanks for your comment, I have added the used launch file to the question, I'm working with gazebo at first then I will apply it to the robot.

bhomaidan gravatar image bhomaidan  ( 2021-11-18 08:26:23 -0500 )edit