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2019-05-20 02:23:22 -0600 marked best answer How to change the robot_description paramter for the joint_trajectory_controller

Dear ROS community,

i am simulating a ABB IRB2400 robot arm in gazebo controlling it with MoveIt. This is working so far. My goal is to simulate two arms. So i moved them in different namespaces and give their descriptions different names. The Problem that now is occurring that the joint_trajectory_controllercant find the 'robot_description' parameter on the parameter server.

The errors i get are:

[ERROR] [1500973451.323217096, 0.454000000]: Could not find parameter robot_description on parameter server
[ERROR] [1500973451.323364757, 0.454000000]: Failed to parse URDF contained in 'robot_description' parameter
[ERROR] [1500973451.323468398, 0.454000000]: Failed to initialize the controller
[ERROR] [1500973451.323531930, 0.454000000]: Initializing controller 'arm_controller' failed
[ERROR] [WallTime: 1500973452.325133] [1.452000] Failed to load arm_controller

I looked up in the Wiki and the code and as far as i know there is no way to tell the joint_trajectory_controller to look for the robot description under a different name than 'robot_description'. Am i wrong? Is there a simple way i am overseeing?

If there is no way implemented i would like to do so. But i could use some enlightening on how to do that a good way. Entering the robot description in the yaml file describing the controller would be the way i would choose. But i have not yet found the part of the code wich parses the arguments from the yaml to the actual controller.

2017-08-29 03:50:23 -0600 commented answer How to change the robot_description paramter for the joint_trajectory_controller

I added them to my answer.

2017-08-29 03:48:46 -0600 commented answer How to change the robot_description paramter for the joint_trajectory_controller

Thanks for your Answer. I was aware of that :) I solved the problem already myself, but i can't accept my own answer hah

2017-08-29 03:46:43 -0600 edited answer How to change the robot_description paramter for the joint_trajectory_controller

As my own comment said i managed to change the joint trajectory controller to get a parameter from the parameter server.

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2017-08-24 08:09:04 -0600 commented answer This robot has a joint named "foo" which is not in the gazebo model.

The problem occured to me because i used "planar" as a joint type. Gazebo does apparently not support that.

2017-08-24 04:31:43 -0600 commented question Motion planning for multiple robots with moveit

So you ran only one move group node?

2017-08-24 04:09:42 -0600 answered a question How to change the robot_description paramter for the joint_trajectory_controller

As my own comment said i managed to change the joint trajectory controller to get a parameter from the parameter server.

2017-08-22 10:53:09 -0600 commented question Motion planning for multiple robots with moveit

I guess i kind of did it. By putting everything in an other namespace, the two move groups can coexist. Who doesn't get

2017-08-14 08:58:07 -0600 commented question [MoveIt!] Cannot update robot's state

I am having the same Problem. Everything seems to be set up correctly and i got it to work. After moving the robot in an

2017-08-03 08:57:39 -0600 received badge  Enthusiast
2017-08-01 05:18:52 -0600 commented question How to change the robot_description paramter for the joint_trajectory_controller

I managed to implement the use of a different robot description. It was quite easy after i understood how everything wor

2017-07-25 08:32:21 -0600 asked a question How to change the robot_description paramter for the joint_trajectory_controller

How to change the robot_description paramter for the joint_trajectory_controller Dear ROS community, i am simulating a