Moveit Gazebo only finding gains for one arm
Hi there,
I have setup a simulation of a small factory with three robot arms, two UR arms (robots 2 and 3) and one Franka Panda arm (robot1). I have managed to get it opening in gazebo and rviz, but the system can't seem to find the gains on the two UR arms and they won't move or respond to plans, wheras the panda works fine. Given the error message, I'm not even fully sure I understand how it is managing to find the gains on the Panda arm!
The errors shown on startup are variations on the following for each of the joints on the two UR arms:
[ WARN] [1646348260.885282335, 0.160000000]: Replacing previously registered handle 'robot2_shoulder_lift_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1646348260.885297024, 0.160000000]: Replacing previously registered handle 'robot2_shoulder_lift_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1646348260.885552300, 0.160000000]: Replacing previously registered handle 'robot2_shoulder_lift_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ERROR] [1646348260.885817397, 0.160000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/robot2_shoulder_lift_joint
I tried to look at the param server to see if the /gazebo_ros_control/pid_gains/robot2_shoulder_lift_joint existed with "rosparam list", but it shows that the gains for all three robots are in two places, one directly under the controller like "/arm1_controller/gains/panda_1_joint1/p" and a second copy under "/move_group/arm1_controller/gains/panda_1_joint1/p". Now I notice that neither of these are in /gazebo_ros_control, and they use gains and not pid_gains like the error message says. However despite this, one arm works.
Does anybody have any hints on places I can start looking? I've been trying to parse through the many launch files, yaml and xml files generated by the moveit wizard but its a lot to keep track of. Thanks a lot for reading :)
See the full param server list here: https://pastebin.com/1q63bF0r
ROS version: Noetic
Ubuntu: 20.04
URDF: https://pastebin.com/yyGkE2nU
ros_controllers.yaml: https://pastebin.com/HTHmMqEb
