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### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


After all, I have some questions if I'm even on the right track. In some answers and tutorials, it sounds like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. Therefore, in any case I would have to do my own controller. Is this correct? Or is it (as I tried) enough to reference one of the controllers of ros_control? If so, what am I doing wrong?

I'm just trying to use a simple controller which I can give a pose/trajectory, which it executes.

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


After all, I have some questions if I'm even on the right track. In some answers and tutorials, it sounds like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. Therefore, in any case I would have to do my own controller. Is this correct? Or is it (as I tried) enough to reference one of the controllers of ros_control? If so, what am I doing wrong?

I'm just trying to use a simple controller which I can give a pose/trajectory, which it executes.

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either.

Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


After all, I have some questions if I'm even on the right track. In some answers and tutorials, it sounds like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. Therefore, in any case I would have to do my own controller. Is this correct? Or is it (as I tried) enough to reference one of the controllers of ros_control? If so, what am I doing wrong?

I'm just trying to use a simple controller which I can give a pose/trajectory, which it executes.

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either.

Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


After all, I have some questions if I'm even on the right track. In some answers and tutorials, it sounds like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. Therefore, in any case I would have to do my own controller. Is this correct? Or is it (as I tried) enough to reference one of the controllers of ros_control? If so, what am I doing wrong?

I'm just trying to use a simple controller which I can give a pose/trajectory, which it executes.

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

SOLVED SUB-PROBLEM: Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


I was able to resolve this issue by editing the ompl_planning.yaml file: Near the end all planning groups are listed and specified. In two cases, the default_planner_config-tag was set to None. It has to be "" for all planning groups.

Panda:
default_planner_config: ""
planner_configs:
- SBL
- EST


### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either.either. It fixes the error that no controller_list was specified, but the other error is still there.

After all, I have some questions I'm also asking myself if I'm even on the right track. In some answers and tutorials, it sounds sounded like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. Therefore, in any case I would have to do my own controller. Is this correct? Or But the more I read about ros_control, the more certain I get that it is it (as I tried) enough to reference one of the controllers of ros_control? If so, But if that's true, what am I doing wrong?

I'm just trying to use a simple controller which I can give a pose/trajectory, which it executes.

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

SOLVED SUB-PROBLEM: Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


I was able to resolve this issue by editing the ompl_planning.yaml file: Near the end all planning groups are listed and specified. In two cases, the default_planner_config-tag was set to None. It has to be "" for all planning groups.

Panda:
default_planner_config: ""
planner_configs:
- SBL
- EST


### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either. It fixes the error that no controller_list was specified, but the other error is still there.

After all, I'm also asking myself if I'm even on the right track. In some answers and tutorials, it sounded like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. But the more I read about ros_control, the more certain I get that it is enough to reference one of the controllers of ros_control? But if that's true, what am I doing wrong?

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

SOLVED SUB-PROBLEM: Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


I was able to resolve this issue by editing the ompl_planning.yaml file: Near the end all planning groups are listed and specified. In two cases, the default_planner_config-tag was set to None. It has to be "" for all planning groups.

Panda:
default_planner_config: ""
planner_configs:
- SBL
- EST
[...]


### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either. It fixes the error that no controller_list was specified, but the other error is still there.there. After a few tests, I even recognized that the first type of solution (moveit_controllers.yaml file) has no effect and can even be left out. So right now I'm trying it just with the ros_controllers.yaml file. This lets me see the controllers in the rqt Controller Manager and I'm able to control the joints trough the Joint Trajectory Controller of rqt. But whenever I send a move() command from MoveIt, I still get the error message with the empty list of available controllers.

After all, I'm also asking myself if I'm even on the right track. In some answers and tutorials, it sounded like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. But the more I read about ros_control, the more certain I get that it is enough to reference one of the controllers of ros_control? But if that's true, what am I doing wrong?

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

SOLVED SUB-PROBLEM: Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


I was able to resolve this issue by editing the ompl_planning.yaml file: Near the end all planning groups are listed and specified. In two cases, the default_planner_config-tag was set to None. It has to be "" for all planning groups.

Panda:
default_planner_config: ""
planner_configs:
- SBL
- EST
[...]


### Setting up controllers: No controllers found, no controller_list specified

Hello everyone!

I'm trying to control the panda robot together with the UR5 robot through MoveIt!. For this, I combined both robots in a xacro file and correctly set up the simulation, including moving to poses etc.

Now I want to work with the real robots and have some troubles with the controllers. At first, I only try to control the Panda robot. The franka_example_controllers worked fine. Now I try to use a new controller. My controllers.yaml file looks like this:

UR5_controller:
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- ur5_shoulder_pan_joint
- ur5_shoulder_lift_joint
- ur5_elbow_joint
- ur5_wrist_1_joint
- ur5_wrist_2_joint
- ur5_wrist_3_joint

Panda_controller:
type: effort_controllers/JointTrajectoryController
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
gains:
panda_joint1: { p: 120, d: 5, i: 0.0, i_clamp: 10000 }
panda_joint2: { p: 300, d: 10, i: 0.02, i_clamp: 10000 }
panda_joint3: { p: 180, d: 5, i: 0.01, i_clamp: 1 }
panda_joint4: { p: 180, d: 7, i: 0.01, i_clamp: 10000 }
panda_joint5: { p: 120, d: 7, i: 0.01, i_clamp: 1 }
panda_joint6: { p: 100, d: 5, i: 0.01, i_clamp: 1 }
panda_joint7: { p: 100, d: 2, i: 0.0, i_clamp: 1 }
constraints:
goal_time: 2.0
state_publish_rate: 25


This leads me to an error while setting up:

[ERROR] [1561555629.203914705]: No controller_list specified.


The rest of setting up works: RViz opens, showing me the real robot states.

When trying to execute a trajectory, I get the following error message:

[ERROR] [1561553234.640997333]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ERROR] [1561553234.641057622]: Known controllers and their joints:

[ERROR] [1561553234.641112443]: Apparently trajectory initialization failed


It sounds like there weren't any controllers found, though the (rqt_)controller_manager says something different.

Here comes my first question, because it really confuses me that in some places it says, the controllers.yaml file should look like this:

controller_list:
- name: UR5_controller
[...]


When I tried the latter method, I got another error:

[ERROR] [1561554412.210393573]: Could not load controller 'Panda_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/Panda_controller')?


In this case, the controller manager doesn't know my controllers.

EDIT: According to this post you have to configure two controllers.yaml-files: one for moveit, one for ROS. Can somebody confirm this? Doesn't sound like a clean solution. I tried to make it in this way, but it didn't work either. It fixes the error that no controller_list was specified, but the other error is still there. After a few tests, I even recognized that the first type of solution (moveit_controllers.yaml file) has no effect and can even be left out. So right now I'm trying it just with the ros_controllers.yaml file. This lets me see the controllers in the rqt Controller Manager and I'm able to control the joints trough the Joint Trajectory Controller of rqt. But whenever I send a move() command from MoveIt, I still get the error message with the empty list of available controllers.

After all, I'm also asking myself if I'm even on the right track. In some answers and tutorials, it sounded like there would be no predefined controllers (except from the franka_example_controllers, which already include the desired poses) at all. But the more I read about ros_control, the more certain I get that it is enough to reference one of the controllers of ros_control? But if that's true, what am I doing wrong?

This is my setup:

• ROS Melodic
• Ubuntu 18.04.2 LTS
• Intel® Xeon(R) CPU E3-1225 v3 @ 3.20GHz × 4
• Realtime Kernel (4.19.37-rt20-rc1 #1 SMP PREEMPT RT)

Thanks a lot! If you need any additional information (launch file, rqt_graph, ...) , let me know!

SOLVED SUB-PROBLEM: Also, when I'm setting up, I get another error, which I already got in the simulation. I guess it's not relevant and related to OMPL, because there are logging messages about OMPL before and after it.

[ INFO] [1561554412.219047682]: Initializing OMPL interface using ROS parameters
[ERROR] [1561554412.229484188]: Could not find the planner configuration 'None' on the param server
[ERROR] [1561554412.246956134]: Could not find the planner configuration 'None' on the param server
[ INFO] [1561554412.270927903]: Using planning interface 'OMPL'


I was able to resolve this issue by editing the ompl_planning.yaml file: Near the end all planning groups are listed and specified. In two cases, the default_planner_config-tag was set to None. It has to be "" for all planning groups.

Panda:
default_planner_config: ""
planner_configs:
- SBL
- EST
[...]