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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Bug]: Forearm_roll controller missing from arm_controller setup? #38

Closed Dorteel closed 1 year ago

Dorteel commented 1 year ago

What happened?

When trying to use MoveIt and running the script from the tutorial I get an error when trying to execute a planned movement.

It seems like the forearm_roll controller is missing from the arm_controller setup?

Robot Model

locobot_wx_250s

Operating System

Ubuntu 20.04

ROS Distro

ROS 1 Noetic

Steps To Reproduce

Run roslaunch interbotix_xslocobot_moveit_interface xslocobot_moveit_interface.launch robot_model:=locobot_wx250s show_lidar:=true use_gazebo:=true use_python_interface:=true

Relevant log output

[ INFO] [1678184709.139283917, 67.386000000]: Returned 2 controllers in list
[ERROR] [1678184709.139314165, 67.387000000]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow forearm_roll shoulder waist wrist_angle wrist_rotate ]
[ERROR] [1678184709.139331344, 67.387000000]: Known controllers and their joints:
controller 'arm_controller' controls joints:
  elbow
  shoulder
  waist
  wrist_angle
  wrist_rotate
controller 'gripper_controller' controls joints:
  left_finger
  right_finger

Additional Info

No response

Dorteel commented 1 year ago

The issue was that the launch file had dof argument specified as 5.