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Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

EDIT:

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

EDIT:

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

image description

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

EDIT:

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

image description

<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->

  <!-- Non-standard joint names:
   - Create a file [robot_moveit_config]/config/joint_names.yaml
       controller_joint_names: [joint_1, joint_2, ... joint_N] 
   - Update with joint names for your robot (in order expected by rbt controller)
   - and uncomment the following line: -->
   <rosparam command="load" file="$(find kuka_rsi_hw_interface)/config/controller_joint_names.yaml"/>

  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
    <arg name="sim" default="true" />
    <arg name="robot_ip" unless="$(arg sim)" />

    <!-- load the robot_description parameter before launching ROS-I nodes -->
    <include file="$(find agil_moveit_config)/launch/planning_context.launch" >
      <arg name="load_robot_description" value="true" />
    </include>

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

    <!-- remap topics to conform to ROS-I specifications -->
    <remap from="/position_trajectory_controller/follow_joint_trajectory" to="/joint_trajectory_action" />
    <remap from="/position_trajectory_controller/state" to="/feedback_states" />
    <remap from="/position_trajectory_controller/command" to="/joint_path_command"/>

    <!-- run the robot simulator and action interface nodes -->
    <group if="$(arg sim)">
      <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />

      <include file="$(find kuka_rsi_hw_interface)/test/test_hardware_interface.launch" />
    </group>

    <!-- run the "real robot" interface nodes -->
    <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
    <!--   - replace these calls with appropriate robot-specific calls or launch files -->
    <group unless="$(arg sim)">
      <include file="$(find [robot_interface_pkg])/launch/robot_interface.launch" >
        <arg name="robot_ip" value="$(arg robot_ip)"/>
      </include>
    </group>

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

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

    <include file="$(find agil_moveit_config)/launch/moveit_rviz.launch">
      <arg name="config" value="true"/>
    </include>

    <include file="$(find agil_moveit_config)/launch/default_warehouse_db.launch" />

  </launch>

Joint trajectory action rejected: Controller not connected

Hello,

i get the following error when i try to connect MoveIt! to a KUKA Agilus via the kuka_experimental package. I try to first use the simulation environment.

[ERROR] [1466076139.148929605]: Joint trajectory action rejected: waiting for (initial) feedback from controller
[ WARN] [1466076139.149173520]: Controller  failed with error code INVALID_GOAL
[ WARN] [1466076139.149246314]: Controller handle  reports status FAILED

I suppose the controller is not connected to the joint_trajectory_action topic. However, my controller is running:

$ rosrun controller_manager controller_manager list
joint_state_controller - hardware_interface::JointStateInterface ( running )

How can i efficiently debug the problem?

EDIT:

I have loaded the hardware_controllers.yaml which isnt a controller_list and i get

[ERROR] [1466425266.321644220]: No controller_list specified.

Do i have to create a separate controller_list or should hardware_controller.yaml be formatted to be a controller_list?

These are (some of) the topics i see:

/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
...
/position_trajectory_controller/command
/position_trajectory_controller/follow_joint_trajectory/cancel
/position_trajectory_controller/follow_joint_trajectory/feedback
/position_trajectory_controller/follow_joint_trajectory/goal
/position_trajectory_controller/follow_joint_trajectory/result
/position_trajectory_controller/follow_joint_trajectory/status

image description

<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->

  <!-- Non-standard joint names:
   - Create a file [robot_moveit_config]/config/joint_names.yaml
       controller_joint_names: [joint_1, joint_2, ... joint_N] 
   - Update with joint names for your robot (in order expected by rbt controller)
   - and uncomment the following line: names: -->
   <rosparam command="load" file="$(find kuka_rsi_hw_interface)/config/controller_joint_names.yaml"/>

  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
    <arg name="sim" default="true" />
    <arg name="robot_ip" unless="$(arg sim)" />

    <!-- load the robot_description parameter before launching ROS-I nodes -->
    <include file="$(find agil_moveit_config)/launch/planning_context.launch" >
      <arg name="load_robot_description" value="true" />
    </include>

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

    <!-- remap topics to conform to ROS-I specifications -->
    <remap from="/position_trajectory_controller/follow_joint_trajectory" to="/joint_trajectory_action" />
    <remap from="/position_trajectory_controller/state" to="/feedback_states" />
    <remap from="/position_trajectory_controller/command" to="/joint_path_command"/>

    <!-- run the robot simulator and action interface nodes -->
    <group if="$(arg sim)">
      <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
       <include file="$(find kuka_rsi_hw_interface)/test/test_hardware_interface.launch" />
    </group>

    <!-- run the "real robot" interface nodes -->
    <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
    <!--   - replace these calls with appropriate robot-specific calls or launch files -->
    <group unless="$(arg sim)">
      <include file="$(find [robot_interface_pkg])/launch/robot_interface.launch" >
        <arg name="robot_ip" value="$(arg robot_ip)"/>
      </include>
    </group>

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

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

    <include file="$(find agil_moveit_config)/launch/moveit_rviz.launch">
      <arg name="config" value="true"/>
    </include>

    <include file="$(find agil_moveit_config)/launch/default_warehouse_db.launch" />

  </launch>