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Action client not connected: vs060/arm_controller/follow_joint_trajectory #50

Closed ferraridamiano closed 2 years ago

ferraridamiano commented 2 years ago

Hi, I'm trying to connect ROS and MoveIt to the simulated vs060 inside Wincaps 3. I followed your tutorial but when I launch roslaunch denso_robot_bringup vs060_bringup.launch sim:=false ip_address:=WINDOWS_PC_ADDRESS I see in the standard output two errors:

...
[ERROR] [1655719837.693261276]: Invalid robot type.
...
[ERROR] [1655719854.571573812]: Action client not connected: vs060/arm_controller/follow_joint_trajectory
...

Here's everything I did:

  1. Installed Ubuntu 18.04
  2. Installed ROS Melodic
  3. Installed ros-melodic-denso-robot-ros
  4. Created a WinCaps 3 project with vs060 robot and started the simulation on the Windows PC
  5. Started the service on bcapconfig
  6. launched the command above

Obviously if I try to move the robot in Rviz and click plan and execute I got more error messages:

[ERROR] [1655720657.389995057]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ERROR] [1655720657.390058348]: Known controllers and their joints:

[ERROR] [1655720657.390088555]: Apparently trajectory initialization failed

I can confirm that the packets between Ubuntu and Windows are exchanged (checked with Wireshark)

What should I do? Thank you in advance

furukawahiromi commented 2 years ago

Thank you for trying the denso_robot_ros package. denso_robot_descriptions/vs060_description supports standard VS060. When creating a project with WinCAPS, Robot Model No. depends on the options.

It is recommended to generate the URDF with ROSConverter. If you want to fix it manually, change robot_name in vs060.launch.xml to your robot model no.

cf. Coding Information of Robot Model https://www.fa-manuals.denso-wave.com/en/usermanuals/000017/