Please help!! Position_controllers/JointPositionController is missing from the moveit setup assistant.

asked 2022-01-22 22:13:27 -0500

sm3304ove
11 ●1 ●2 ●5

updated 2022-01-23 00:13:05 -0500

Description

After updating to ubuntu 20.04, I tried to create a new config file using moveit setup assistant. However, position_controllers/JointTrajectoryController was identified in the ROS Control pane selector, but position_controllers/JointPositionController was missing.

My environment

ROS Distro: [noetic]

OS Version: Ubuntu 20.04

Steps to reproduce :

https://ros-planning.github.io/moveit...

I followed the link above to proceed with the movement setup assistant tutorial.

Expected behaviour :

Select Position_controllers/Joint Position Controller from the ROS Control pane selector.

Actual behaviour :

Position_controllers/JointPositionController does not exist in the option.

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Cross-posted to ros-planning/moveit#3033andros-planning/moveit_tutorials#698.

Please do not cross-post like this.

gvdhoorn ( 2022-01-24 03:33:43 -0500 )edit

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answered 2022-01-23 06:22:22 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

However, position_controllers/JointTrajectoryController was identified in the ROS Control pane selector, but position_controllers/JointPositionController was missing.

I believe this is expected, as MoveIt cannot directly use a plain JointPositionController.

It needs a JointTrajectoryController. That's why you only see those in the dropdown.

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So should I choose JointTrajectoryController? I used to be able to select Position_controllers/JointPositionController in ubuntu 18.04, why is it gone in the noetic version?

sm3304ove ( 2022-01-24 06:49:57 -0500 )edit

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answered 2022-01-23 07:46:26 -0500

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

This may happen if the position controller package is not installed for some reason.

Try:

sudo apt-get install ros-noetic-position-controllers

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I tried the method you suggested, but it says the latest version is already installed.

sm3304ove ( 2022-01-24 06:46:07 -0500 )edit

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Please help!! Position_controllers/JointPositionController is missing from the moveit setup assistant.

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Please help!! Position_controllers/JointPositionController is missing from the moveit setup assistant.