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Joint configuration issues with Schunk Powerball-MoveIt integration

asked 2013-05-22 01:06:47 -0600

jir-tobi gravatar image

updated 2014-01-28 17:16:36 -0600

ngrennan gravatar image

Hello everybody,

I am currently attempting to integrate the Schunk Powerball manipulator with MoveIt through the ROS packages developed by Fraunhofer IPA (github.com/ipa320) and experience some issues with the joint configuration.

After running the setup assistant and following the instructions in the Industrial Robot Simulator tutorial, I get a configuration which works fine with the simulator. But if I then try to use the IPA packages by launching the respective packages instead of the simulator, I continuously get the following messages:

[ERROR] [1369212664.452440575]: Joint 'arm_controller' not found in model 'powerball'
[ERROR] [1369212664.452510068]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452566988]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452616925]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452665534]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452718125]: Joint '' not found in model 'powerball'

I have configured the joint names as "arm_X_joint" as required by the robot's URDF description. The robot's topics use the namespace "/arm_controller/follow_joint_trajectory" instead of "/joint_trajectory_action", but I've configured this in the controllers.yaml file like written in the tutorial.

Here are some of my launch files and the controller/joint configuration:

moveit_planning_execution_sim.launch (this one works fine):

<launch>
 # The planning and execution components of MoveIt! configured to run
 # using a simulated ROS-Industrial node

 #-------------------------------------
 # These actions are normally handled in the "real" robot's bringup launch file
 #
 # load the URDF
<param name="robot_description" command="$(find xacro)/xacro.py '$(find schunk_hardware_config)/powerball/urdf/powerball.urdf.xacro'" />
 # run the robot simulator and action interface nodes
 <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />

 # publish the robot state (tf transforms)
 <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 #-------------------------------------

 <include file="$(find powerball_moveit)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 <include file="$(find powerball_moveit)/launch/moveit_rviz.launch"/>

 <rosparam command="load" file="$(find powerball_moveit)/config/joint_names.yaml"/>

</launch>

moveit_planning_execution_real.launch (this one does not work):

<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find schunk_hardware_config)/powerball/urdf/powerball.urdf.xacro'" />
 <include file="$(find schunk_bringup)/components/powerball_solo.launch" />

 <include file="$(find powerball_moveit)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 <include file="$(find powerball_moveit)/launch/moveit_rviz.launch"/>

 <rosparam command="load" file="$(find powerball_moveit)/config/joint_names.yaml"/>

</launch>

controllers.yaml:

controller_manager_ns: pr2_controller_manager
controller_list:
  - name: "arm_controller"
    ns: follow_joint_trajectory
    default: true
    joints:
     - arm_0_joint
      - arm_1_joint
      - arm_2_joint
      - arm_3_joint
      - arm_4_joint
      - arm_5_joint
      - arm_6_joint

joint_names.yaml:

controller_joint_names: ['arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint']

Now I'm really a bit out of ideas. Does anybody have an idea where this obviously wrong joint configuration might come from? Has anybody worked on the integration of the Powerball into MoveIt yet?

I know that this might be a little stumbling in the dark if someone hasn't worked with the IPA ROS packages before, but maybe you can give me a hint where I could continue debugging. If necessary, I can provide you with some more of my launch or configuration files.

Thank you, best regards,

Tobi

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1 Answer

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3

answered 2013-05-22 02:37:29 -0600

fivef gravatar image

updated 2013-05-23 03:20:22 -0600

  1. Make sure that the urdf for the MoveIt Assistant was created out of schunk_hardware_config/powerball/urdf/powerball.urdf.xacro
  2. Try this launch file:

    I just took schunk_bringup/components/powerball_solo.launch and put it into your moveit_planning_execution_real.launch but I commented out the "upload joint configuration" part.(It uploads schunk_default_config/config/powerball_joint_configurations.yaml to the parameter server. But this yaml has a different joint config. And MoveIt already does this for you.)

    <launch>

    <!-- upload robot_description -->
            <include file="$(find schunk_hardware_config)/powerball/urdf/upload_powerball.launch" />
    
    <!-- start robot_state_publisher -->
    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
    
    <!-- upload joint configuration 
    <include file="$(find schunk_default_config)/launch/upload_param_powerball.launch" /> -->
    
    <!-- start arm  -->
    <include file="$(find schunk_bringup)/components/powerball.launch" />
    
    
    <include file="$(find powerball_moveit)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
    </include>
    
    <include file="$(find powerball_moveit)/launch/moveit_rviz.launch"/>
    
    <rosparam command="load" file="$(find powerball_moveit)/config/joint_names.yaml"/>
    

    </launch>

  3. Check your controllers.yaml formatting.

  4. If this doesn't work recursively check all launch files called by powerball.launch for parameter server uploads (yaml files) you don't need.

  5. Can you post your moveit_controller_manager.launch.

    Make sure you have disabled the controller_manager.

My moveit_controller_manager.launch

<launch>
  <arg name="moveit_controller_manager"
       default="pr2_moveit_controller_manager/Pr2MoveItControllerManager"/>
  <param name="moveit_controller_manager"
         value="$(arg moveit_controller_manager)"/>

  <arg name="controller_manager_name"
       default="pr2_controller_manager" />
  <param name="controller_manager_name"
         value="$(arg controller_manager_name)"/>

  <arg name="use_controller_manager" default="false" />
  <param name="use_controller_manager"
         value="$(arg use_controller_manager)" />

  <rosparam file="$(find kurtana_moveit_config)/config/controllers.yaml"/>
</launch>

My controllers.yaml

 controller_manager_ns:
    pr2_controller_manager
    controller_list:
      - name: "katana_arm_controller"
        ns: follow_joint_trajectory
        default: true
        joints:
           - katana_motor1_pan_joint
           - katana_motor2_lift_joint
           - katana_motor3_lift_joint
           - katana_motor4_lift_joint
           - katana_motor5_wrist_roll_joint

In your error message the joint "arm_controller" is not found. Somehow the controller name definition is parsed as a joint definition. You could try another name in your controllers.yaml and check how the error changes. Perhaps just make a completely new controllers.yaml.

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Comments

Thanks a lot! Unfortunately, it still doesn't work although I've tried all your suggestions. Everywhere joint names appear, they are in the format arm_X_joint. I've also checked /arm_controller/joint_names and /controller_joint_names at runtime, they seem to be set correctly. Any other ideas?

jir-tobi gravatar imagejir-tobi ( 2013-05-23 01:13:12 -0600 )edit
1

One last guess: in schunk_hardware_config/powerball/config/powerball_trajectory_controller.yaml the joint index starts with 1. In your controllers.yaml in starts with 0. Same for schunk_default_config /config/ powerball_joint_configurations.yaml. Please check new 5. in my answer.

fivef gravatar imagefivef ( 2013-05-23 02:50:49 -0600 )edit
1

So indeed I had to remove arm_0_joint. But the actual error was located somewhere different, that is, there was a bug in the ipa_canopen package which made these messages appear. I've fixed it and reported it back to the IPA people. Thanks a lot for your help!

jir-tobi gravatar imagejir-tobi ( 2013-05-28 03:52:03 -0600 )edit

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Asked: 2013-05-22 01:06:47 -0600

Seen: 1,294 times

Last updated: May 23 '13