Arnolvalencia1's profile - activity

hi, when i try to connect moveit to my gazebo simulation i get the following error:

[ WARN] [1633040618.377249905]: Waiting for dof_fit/follow_joint_trajectory to come up
[ERROR] [1633040624.377429395]: Action client not connected: dof_fit/follow_joint_trajectory
[ERROR] [1633040629.027678746]: Unable to connect to move_group action server 'move_group' within allotted time (30s)

i am using noetic ros, ubuntu 18.04, gazebo and moveit.

Mi archivo controllers.yaml luce del siguiente modo:

joint_state_controller:
type: joint_state_controller/JointStateController
  publish_rate: 50
controller_list:
  - name: dof_fit
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - Joint_1
      - Joint_2
      - ...
  - name: hand_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    parallel: true
    joints:
      - Gripper_Idol_Gear_Joint
      - Gripper_Servo_Gear_Joint

my kimo_control.yaml file:

dof_fit:
    # Publish all joint states -----------------------------------
    joint_state_controller:
      type: joint_state_controller/JointStateController
      publish_rate: 50

    # Position Controllers ---------------------------------------
    Joint_1_position_controller:
      type: effort_controllers/JointPositionController
      joint: Joint_1
      pid: {p: 60.0, i: 40.0, d: 0.0}
    Joint_2_position_controller:
      type: effort_controllers/JointPositionController
      joint: Joint_2
      pid: {p: 80.0, i: 60.0, d: 0.0}
    Joint_3_position_controller:
  #..........

a part of the error:

[ INFO] [1633040607.368356602]: About to load: pilz_industrial_motion_planner::PlanningContextLoaderPTP
[ INFO] [1633040607.369259001]: Registered Algorithm [PTP]
[ INFO] [1633040607.369275481]: Using planning interface 'Pilz Industrial Motion Planner'
[ WARN] [1633040612.377062495]: Waiting for dof_fit/follow_joint_trajectory to come up
[ WARN] [1633040618.377249905]: Waiting for dof_fit/follow_joint_trajectory to come up
[ERROR] [1633040624.377429395]: Action client not connected: dof_fit/follow_joint_trajectory
[ERROR] [1633040629.027678746]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ INFO] [1633040629.028283349]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1633040629.392726935]: Waiting for hand_controller/follow_joint_trajectory to come up
[ WARN] [1633040635.392889117]: Waiting for hand_controller/follow_joint_trajectory to come up
[ERROR] [1633040641.393057390]: Action client not connected: hand_controller/follow_joint_trajectory
[ INFO] [1633040641.403387237]: Returned 0 controllers in list
[ INFO] [1633040641.412451398]: Trajectory execution is managing controllers
[ INFO] [1633040641.412487078]: MoveGroup debug mode is ON

This error happens when I try to connect my gazebo simulation with moveit_rviz.launch and start to do movement planning.

Is the choice of controllers in controllers.yaml correct?

action_ns: follow_joint_trajectory
    type: FollowJointTrajectory

What controllers should I choose to control a joint: type: effort_controllers / JointPositionController?

rosnode list:

/arm_controller_spawner
/dof_fit/controller_spawner
/gazebo
/gazebo_gui
/move_group
/robot_state_publisher
/rosout
/rviz_iudc_desktop_pc_18608_6360793226529266128

rostopic list:

/attached_collision_object
/clock
/collision_object
/dof_fit/Gripper_Idol_Gear_Joint_position_controller/command
/dof_fit/Gripper_Idol_Gear_Joint_position_controller/pid/parameter_descriptions
/dof_fit/Gripper_Idol_Gear_Joint_position_controller/pid/parameter_updates
/dof_fit/Gripper_Idol_Gear_Joint_position_controller/state
/dof_fit/Gripper_Servo_Gear_Joint_position_controller/command
/dof_fit/Gripper_Servo_Gear_Joint_position_controller/pid/parameter_descriptions
/dof_fit/Gripper_Servo_Gear_Joint_position_controller/pid/parameter_updates
/dof_fit/Gripper_Servo_Gear_Joint_position_controller/state
/dof_fit/Joint_1_position_controller/command
/dof_fit/Joint_1_position_controller/pid/parameter_descriptions
/dof_fit/Joint_1_position_controller/pid/parameter_updates
/dof_fit/Joint_1_position_controller/state
/dof_fit/Joint_2_position_controller/command
/dof_fit/Joint_2_position_controller/pid/parameter_descriptions
/dof_fit/Joint_2_position_controller/pid/parameter_updates
/dof_fit/Joint_2_position_controller/state
/dof_fit/Joint_3_position_controller/command
/dof_fit/Joint_3_position_controller/pid/parameter_descriptions
/dof_fit/Joint_3_position_controller/pid/parameter_updates
/dof_fit/Joint_3_position_controller/state
/dof_fit/Joint_4_position_controller/command
/dof_fit/Joint_4_position_controller/pid/parameter_descriptions
/dof_fit/Joint_4_position_controller/pid/parameter_updates
/dof_fit/Joint_4_position_controller/state
/dof_fit/Joint_5_position_controller/command
/dof_fit/Joint_5_position_controller/pid/parameter_descriptions
/dof_fit/Joint_5_position_controller/pid/parameter_updates
/dof_fit/Joint_5_position_controller/state
/dof_fit/Joint_6_position_controller/command
/dof_fit/Joint_6_position_controller/pid/parameter_descriptions
/dof_fit/Joint_6_position_controller/pid/parameter_updates
/dof_fit/Joint_6_position_controller/state
/dof_fit/joint_states
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/head_mount_kinect/depth_registered/points
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group ...