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Hi,

System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic

I am working on manipulator jogging using the jog_control package. I've posted this on the github issues page already but I thought I'd try here as well.

I am trying to set this package up to use the Kuka KR16 arm but am having some problems with the controllers which is giving me the following warning:

Waiting for arm_controller/follow_joint_trajectory server...

as it is waiting on the TrajClient's waitForServer method.

I have been trying to replicate the contents of the launch files in the example given in the readme for the UR5 arm but am still coming up short. I am not sure how the follow_joint_trajectory server is being created in the UR5 packages and I have not been able to find a tutorial or guide that explains the follow_joint_trajectory controller.

I don't want to make the post too long so I will only include my launch files for now and if need be, I can include other info later as required.

This first launch file, kr16.launch, launches Gazebo, Rviz, MoveIt! and loads the arm and controllers.

<?xml version="1.0"?>
<launch>
  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
  <arg name="gui" default="false" doc="Starts gazebo gui" />
  <arg name="sim" default="false" doc="If true, use the simulated joint controllers"/>
  <arg name="use_moveit" default="true"/>
  <arg name="use_rviz" default="true"/>

  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gui)"/>
  </include>

  <!-- send robot urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr16_support)/urdf/kr16_2.xacro'" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.0" respawn="false" output="screen" />

  <!-- spawn the joint_state_controller and joint_trajectory_controller-->
  <rosparam file="$(find kr16_moveit_config)/config/ros_controllers.yaml" command="load"/>
  <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" ns="kuka_kr16_2" args="joint_state_controller arm_controller" respawn="false" output="screen"/>

  <!-- Remap joint_states -->
  <remap from="/joint_states" to="/kuka_kr16_2/joint_states"/>

  <!-- Robot state publisher -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" type="string" value="" />

  </node>

  <!-- Launch rviz -->
  <node if="$(arg use_rviz)"
    name="rviz" pkg="rviz" type="rviz"
    args="-d $(find jog_launch)/launch/jog.rviz"/>


  <!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/kuka_kr16_2/arm_controller/follow_joint_trajectory"/>

  <!-- Launch MoveIt! -->
  <include if="$(arg use_moveit)"
       file="$(find kr16_moveit_config)/launch/move_group.launch"/>

</launch>

This file gives the following notable fatal error when launched:

[FATAL] [1565103003.906290212]: Parameter '~moveit_controller_manager' not ...

Hello,

System: Virtualbox VM Linux: Ubuntu 16.04 ROS: Kinetic

I am following the tutorials on using MoveIt with ROS. I have tried 2 tutorials both here and here.

The problem occurs in both tutorials after creating the MoveIt config file and attempting to launch it with roslaunch:

roslaunch myworkcell_moveit_config myworkcell_planning_execution.launch

The Rviz splashscreen shows up with the initialising status but does not progress from this. There is an error about the planner:

[ERROR] [1560344053.702727103]: Could not find the planner configuration 'None' on the param server

It even states in the terminal:

You can start planning now.

I am able to run rviz fine on its own with:

rosrun rviz rviz

The rest of the output in the terminal is as follows:

`

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/source_list: ['move_group/fake...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'joints': ['joi...
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/default_planner_config: None
 * /move_group/manipulator/longest_valid_segment_fraction: 0.005
 * /move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
 * /move_group/manipulator/projection_evaluator: joints(joint_a1,j...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type: geometric::PDST
 * /move_group/planner_configs/PRM/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRM/type: geometric::PRM
 * /move_group/planner_configs/PRMstar/type: geometric::PRMstar
 * /move_group/planner_configs/ProjEST/goal_bias: 0 ...