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2019-05-24 06:00:34 -0500 marked best answer ERROR: cannot launch node of type [controller_manager/controller_manager]: can't locate node [controller_manager] in package [controller_manager]

Hi all. I installed the university_robot package and roslaunch ur_gazebo ur10.launch but there is an error output: 

`ERROR: cannot launch node of type [controller_manager/controller_manager]: can't locate node [controller_manager] in package [controller_manager]

ERROR: cannot launch node of type [controller_manager/controller_manager]: can't locate node [controller_manager] in package [controller_manager]

I runrosservice list | grep controller_manager` the output is 

`/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/switch_controller
/controller_manager/unload_controller

`I have installed the controller_manager. Could someone give me some advice?Thanks.
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2019-01-11 07:51:28 -0500 marked best answer robot in Rviz cannot move and dropping the first 1 trajectory point

Hi all! I'm now following the book Mastering ROS for Robotics Programming and build my robot in rviz and gazebo. I wrote the launch file to bring up both rviz and gazebo but some problems appeared. The first one is that after the rviz started, I give the robot a new position and click the plan and execute.it can plan successfully but cannot execute in other words, the robot in rviz cannot move to the goal position. Meanwhile in the terminal there is also a warning [ WARN] [1509967616.528903811, 3368.707000000]: Dropping first 1 trajectory point(s) out of 13, as they occur before the current time. First valid point will be reached in 0.459s. I guess that the warning is asociated with the first problem. I have searched the similar problem but I still cannot slove the problem. Could some one give me some suggestion? here is the launch file bringup.lunch which launch the rviz and gazebo together.when click the plan and execute,the robot can move correctly in gazebo but do not move in rviz. 

<launch>

 <!-- Launch Gazebo -->
<include file="$(find jaka_ur_description_pkg)/launch/gazebo.launch" />
<!-- ros_control seven dof arm launch file -->
<include file="$(find jaka_ur_description_pkg)/launch/jaka_ur_gazebo_joint_states.launch" />
<!-- ros_control position control dof arm launch file -->
<!--<include file="$(find jaka_ur_description_pkg)/launch/jaka_ur_gazebo_position.launch" /> -->
<!-- ros_control trajectory control dof arm launch file -->
<include file="$(find jaka_ur_description_pkg)/launch/jaka_ur_trajectory_controller.launch" />
<include file="$(find jaka_ur_moveit_config2)/launch/moveit_planning_execution.launch" />
</launch>

and the related config file trajectory_control.yaml file

 jaka_ur:
  jaka_joint_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
    gains:
      joint_1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_2: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_3:  {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_4:       {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_5:    {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_6:      {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
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2018-09-14 17:41:00 -0500 marked best answer build metapackage ros_controllers failed

Hi all! I git clone the metapackage from the ros_controllers into my catkin_ws/src and then I caktin_make in my ~/catkin_ws. But it failed when building the ros_controllers/velocitys. Here are the output.

[ 13%] Building CXX object ros_controllers/velocity_controllers/CMakeFiles/velocity_controllers.dir/src/joint_group_velocity_controller.cpp.o
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp: In member function ‘void effort_controllers::JointVelocityController::setGains(const double&, const double&, const double&, const double&, const double&, const bool&)’:
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:91:56: error: no matching function for call to ‘control_toolbox::Pid::setGains(const double&, const double&, const double&, const double&, const double&, const bool&)’
   pid_controller_.setGains(p,i,d,i_max,i_min,antiwindup);
                                                    ^
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:91:56: note: candidates are:
In file included from /home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/include/effort_controllers/joint_velocity_controller.h:69:0,
                 from /home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:36:
/opt/ros/indigo/include/control_toolbox/pid.h:248:8: note: void control_toolbox::Pid::setGains(double, double, double, double, double)
   void setGains(double p, double i, double d, double i_max, double i_min);
        ^

/opt/ros/indigo/include/control_toolbox/pid.h:248:8: note:   candidate expects 5 arguments, 6 provided
/opt/ros/indigo/include/control_toolbox/pid.h:254:8: note: void control_toolbox::Pid::setGains(const control_toolbox::Pid::Gains&)
   void setGains(const Gains &gains);
        ^
/opt/ros/indigo/include/control_toolbox/pid.h:254:8: note:   candidate expects 1 argument, 6 provided
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp: In member function ‘void effort_controllers::JointVelocityController::getGains(double&, double&, double&, double&, double&, bool&)’:
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:96:56: error: no matching function for call to ‘control_toolbox::Pid::getGains(double&, double&, double&, double&, double&, bool&)’
   pid_controller_.getGains(p,i,d,i_max,i_min,antiwindup);
                                                    ^
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:96:56: note: candidates are:
In file included from /home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/include/effort_controllers/joint_velocity_controller.h:69:0,
                 from /home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:36:
/opt/ros/indigo/include/control_toolbox/pid.h:232:8: note: void control_toolbox::Pid::getGains(double&, double&, double&, double&, double&)
   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
    ^
/opt/ros/indigo/include/control_toolbox/pid.h:232:8: note:   candidate expects 5 arguments, 6 provided
/opt/ros/indigo/include/control_toolbox/pid.h:238:9: note: control_toolbox::Pid::Gains control_toolbox::Pid::getGains()
   Gains getGains();
         ^
/opt/ros/indigo/include/control_toolbox/pid.h:238:9: note:   candidate expects 0 arguments, 6 provided
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp: In member function ‘void effort_controllers::JointVelocityController::getGains(double&, double&, double&, double&, double&)’:
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:102:51: error: no matching function for call to ‘control_toolbox::Pid::getGains(double&, double&, double&, double&, double&, bool&)’
   pid_controller_.getGains(p,i,d,i_max,i_min,dummy);
                                               ^
/home/shantengfei/catkin_ws/src/ros_controllers/effort_controllers/src/joint_velocity_controller.cpp:102:51: note: candidates are:
In file included from /home/shantengfei/catkin_ws/src/ros_controllers ...
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2017-12-21 03:10:34 -0500 commented question [moveit] problem about Cartesian Paths of move_group_interface

hello,I also have the same question.so you mean that the first point of the cartesian path should be the gurrent pose of
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2017-12-06 04:41:02 -0500 asked a question the utilization of rviz::Panel::load and rviz::Panel::save when create a custom rviz plugin

the utilization of rviz::Panel::load and rviz::Panel::save when create a custom rviz plugin Hi all. I'm trying to write

2017-12-02 05:15:17 -0500 commented answer Fail: ABORTED: No motion plan found. No execution attempted

Hi, I have a question that before I set the pose goal, how can I know whether the pgose goal is reachable? Is there any

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