I am trying to use moveit to control the robotic arm m1n6s300, but i encoubnter issues with move_group controllers.
Through the kinova_interactive_control node, have confirmed that the robotic arm can be control through the computer, but cannot be controlled through moveit.
Version
ROS distribution : Noetic
Branch and commit you are using : Noetic devel
Then Rviz will start, move the end effector to a different position
Press plan and execute
Execution will then fail
Expected behavior
The rviz will be able to plan the trajectory and the robotic arm would execute it.
Error logs/Terminal output
# Terminal 1
roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=m1n6s300
process[m1n6s300_driver-2]: started with pid [73955]
process[m1n6s300_state_publisher-3]: started with pid [73956]
[ INFO] [1720782021.117304492]: kinova_robotType is m1n6s300.
[ INFO] [1720782021.118113907]: kinova_robotName is m1n6s300.
[ INFO] [1720782021.120667506]: Initializing Kinova USB API (header version: 50300, library version: 5.2.0)
[ INFO] [1720782021.279917131]: Found 1 device(s), using device at index 0 (model: Mico Service, serial number: PJ-----------0 , code version: 393481, code revision: 6)
[ INFO] [1720782021.352973166]: Initializing fingers...this will take a few seconds and the fingers should open completely
[ INFO] [1720782021.441604662]: The arm is ready to use.
m1n6s300_joint_1 m1n6s300_joint_2 m1n6s300_joint_3 m1n6s300_joint_4 m1n6s300_joint_5 m1n6s300_joint_6
# Terminal 2
roslaunch m1n6s300_moveit_config m1n6s300_demo.launch
# some warnings and errors from terminal 2
ROS_MASTER_URI=http://localhost:11311
process[m1n6s300_joint_trajectory_action_server-1]: started with pid [75590]
process[m1n6s300_gripper_command_action_server-2]: started with pid [75591]
process[move_group-3]: started with pid [75592]
process[rviz_isd_ROG_Strix_SCAR_18_G834JYR_G834JYR_75512_4786984848253227277-4]: started with pid [75594]
[ WARN] [1720782681.456862727]: MoveGroup launched with ~default_planning_pipeline '' not configured in ~planning_pipelines
[ WARN] [1720782681.457127337]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1720782681.459723164]: Loading robot model 'm1n6s300'...
[ INFO] [1720782681.513197696]: rviz version 1.14.25
[ INFO] [1720782681.513218894]: compiled against Qt version 5.12.8
[ INFO] [1720782681.513222431]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1720782681.519241128]: Forcing OpenGl version 0.
[ WARN] [1720782681.553433700]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1720782681.556284656]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1720782681.558135578]: IK Using joint m1n6s300_link_1 -3.40282e+38 3.40282e+38
# Skipping some lines
[ INFO] [1720782685.127784705]: Starting planning scene monitor
[ INFO] [1720782685.130003892]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1720782685.218859448]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1720782686.855563100]: Waiting for m1n6s300/effort_joint_trajectory_controller/follow_joint_trajectory to come up...
[ INFO] [1720782690.237495682]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1720782690.237618241]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1720782691.855699443]: Waiting for m1n6s300/effort_joint_trajectory_controller/follow_joint_trajectory to come up...
[ERROR] [1720782696.855878052]: Action client not connected: m1n6s300/effort_joint_trajectory_controller/follow_joint_trajectory
[ WARN] [1720782701.879202387]: Waiting for m1n6s300/effort_finger_trajectory_controller/follow_joint_trajectory to come up...
[ WARN] [1720782706.879325485]: Waiting for m1n6s300/effort_finger_trajectory_controller/follow_joint_trajectory to come up...
[ERROR] [1720782711.879478855]: Action client not connected: m1n6s300/effort_finger_trajectory_controller/follow_joint_trajectory
[ INFO] [1720782711.896405377]: Returned 0 controllers in list
[ INFO] [1720782711.903937686]: Trajectory execution is managing controllers
[ INFO] [1720782711.903964092]: MoveGroup debug mode is ON
# I attempt to execute a trajectory
[ERROR] [1720785071.936976136]: Unable to identify any set of controllers that can actuate the specified joints: [ m1n6s300_joint_1 m1n6s300_joint_2 m1n6s300_joint_3 m1n6s300_joint_4 m1n6s300_joint_5 m1n6s300_joint_6 ]
[ERROR] [1720785071.937001128]: Known controllers and their joints:
[ INFO] [1720785071.975678069]: ABORTED: CONTROL_FAILED
In moveit, planning for a trajectory would work, but when i attempt to execute the path, it would not work.
In an attempt to debug the problem, i ran the rostopic list command:
I can see that the closest thing to the missing "m1n6s300/effort_finger_trajectory_controller/follow_joint_trajectory" topic is "/m1n6s300/follow_joint_trajectory", therefore, in kinova_moveit/robot_configs/m1n6s300_moveit_config/config/controllers_ros_control.yaml, i modified name: m1n6s300/effort_finger_trajectory_controller -> name: m1n6s300
After doing such modifcation and relaunching moveit, the previous errors regarding "Action client not connected" is gone, but when i again try to execute a trajectory, i still get the following error:
[ INFO] [1720784301.340700986]: Returned 1 controllers in list
[ERROR] [1720784301.340721584]: Unable to identify any set of controllers that can actuate the specified joints: [ m1n6s300_joint_1 m1n6s300_joint_2 m1n6s300_joint_3 m1n6s300_joint_4 m1n6s300_joint_5 m1n6s300_joint_6 ]
[ERROR] [1720784301.340733187]: Known controllers and their joints:
controller 'm1n6s300' controls joints:
m1n6s300_joint_finger_1
m1n6s300_joint_finger_2
m1n6s300_joint_finger_3
[ INFO] [1720784301.377268566]: ABORTED: CONTROL_FAILED
Description
I am trying to use moveit to control the robotic arm m1n6s300, but i encoubnter issues with move_group controllers. Through the kinova_interactive_control node, have confirmed that the robotic arm can be control through the computer, but cannot be controlled through moveit.
Version
ROS distribution : Noetic Branch and commit you are using : Noetic devel
Steps to reproduce
Expected behavior
The rviz will be able to plan the trajectory and the robotic arm would execute it.
Error logs/Terminal output
In moveit, planning for a trajectory would work, but when i attempt to execute the path, it would not work. In an attempt to debug the problem, i ran the rostopic list command:
I can see that the closest thing to the missing "m1n6s300/effort_finger_trajectory_controller/follow_joint_trajectory" topic is "/m1n6s300/follow_joint_trajectory", therefore, in
kinova_moveit/robot_configs/m1n6s300_moveit_config/config/controllers_ros_control.yaml
, i modifiedname: m1n6s300/effort_finger_trajectory_controller
->name: m1n6s300
After doing such modifcation and relaunching moveit, the previous errors regarding "Action client not connected" is gone, but when i again try to execute a trajectory, i still get the following error: