Gnr's profile - activity

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 ... (more)