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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: 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): moveit_planning_execution_real.launch (this one does not work): controllers.yaml: joint_names.yaml: 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 |