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2013-05-28 03:52:03 -0500 commented answer Joint configuration issues with Schunk Powerball-MoveIt integration

So indeed I had to remove arm_0_joint. But the actual error was located somewhere different, that is, there was a bug in the ipa_canopen package which made these messages appear. I've fixed it and reported it back to the IPA people. Thanks a lot for your help!

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2013-05-23 01:13:12 -0500 commented answer Joint configuration issues with Schunk Powerball-MoveIt integration

Thanks a lot! Unfortunately, it still doesn't work although I've tried all your suggestions. Everywhere joint names appear, they are in the format arm_X_joint. I've also checked /arm_controller/joint_names and /controller_joint_names at runtime, they seem to be set correctly. Any other ideas?

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2013-05-22 01:06:47 -0500 asked a question Joint configuration issues with Schunk Powerball-MoveIt integration

Hello everybody,

I am currently attempting to integrate the Schunk Powerball manipulator with MoveIt through the ROS packages developed by Fraunhofer IPA (github.com/ipa320) and experience some issues with the joint configuration.

After running the setup assistant and following the instructions in the Industrial Robot Simulator tutorial, I get a configuration which works fine with the simulator. But if I then try to use the IPA packages by launching the respective packages instead of the simulator, I continuously get the following messages:

[ERROR] [1369212664.452440575]: Joint 'arm_controller' not found in model 'powerball'
[ERROR] [1369212664.452510068]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452566988]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452616925]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452665534]: Joint '' not found in model 'powerball'
[ERROR] [1369212664.452718125]: Joint '' not found in model 'powerball'

I have configured the joint names as "arm_X_joint" as required by the robot's URDF description. The robot's topics use the namespace "/arm_controller/follow_joint_trajectory" instead of "/joint_trajectory_action", but I've configured this in the controllers.yaml file like written in the tutorial.

Here are some of my launch files and the controller/joint configuration:

moveit_planning_execution_sim.launch (this one works fine):

<launch>
 # The planning and execution components of MoveIt! configured to run
 # using a simulated ROS-Industrial node

 #-------------------------------------
 # These actions are normally handled in the "real" robot's bringup launch file
 #
 # load the URDF
<param name="robot_description" command="$(find xacro)/xacro.py '$(find schunk_hardware_config)/powerball/urdf/powerball.urdf.xacro'" />
 # run the robot simulator and action interface nodes
 <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />

 # publish the robot state (tf transforms)
 <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 #-------------------------------------

 <include file="$(find powerball_moveit)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 <include file="$(find powerball_moveit)/launch/moveit_rviz.launch"/>

 <rosparam command="load" file="$(find powerball_moveit)/config/joint_names.yaml"/>

</launch>

moveit_planning_execution_real.launch (this one does not work):

<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find schunk_hardware_config)/powerball/urdf/powerball.urdf.xacro'" />
 <include file="$(find schunk_bringup)/components/powerball_solo.launch" />

 <include file="$(find powerball_moveit)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 <include file="$(find powerball_moveit)/launch/moveit_rviz.launch"/>

 <rosparam command="load" file="$(find powerball_moveit)/config/joint_names.yaml"/>

</launch>

controllers.yaml:

controller_manager_ns: pr2_controller_manager
controller_list:
  - name: "arm_controller"
    ns: follow_joint_trajectory
    default: true
    joints:
     - arm_0_joint
      - arm_1_joint
      - arm_2_joint
      - arm_3_joint
      - arm_4_joint
      - arm_5_joint
      - arm_6_joint

joint_names.yaml:

controller_joint_names: ['arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint']

Now I'm really a bit out of ideas. Does anybody have an idea where this obviously wrong joint configuration might come from? Has anybody worked on the integration of the Powerball into MoveIt yet?

I know that this might be a little stumbling in the dark if someone hasn't worked with the IPA ROS packages before, but maybe you can give me a hint where I could continue debugging. If necessary, I can provide you with some more of my launch or configuration files.

Thank you, best regards,

Tobi