Could not load class 'cartesian_controller/CartesianVelocityController': Could not find library corresponding to plugin cartesian_controller/CartesianVelocityController. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

MingshanHe / Compliant-Control-and-Application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).

https://mingshanhe.github.io/Compliant-Control-and-Application/

MIT License

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Could not load class 'cartesian_controller/CartesianVelocityController': Could not find library corresponding to plugin cartesian_controller/CartesianVelocityController. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. #23

Closed zbj165 closed 1 year ago

zbj165 commented 1 year ago

在运行roslaunch ur_gazebo ur5e_bringup.launch transmission_hw_interface:=hardware_interface/PositionJointInterface specified_controller:=cartesian_velocity_controller出现问题微信图片编辑_20230303164138

MingshanHe commented 1 year ago

由于cartesian_controller控制器编译加载失败导致，建议检查编译后的文件夹，以及编译过程的输出，检查是否成功编译该控制器并且写入build文件夹

zbj165 commented 1 year ago

我是先把msg编译了下，再总的catkin-make。catkin_make中都没有报错，然后呢cartesian_controller这个我再build中搜索不到，我该去哪里再编译或者再编写过

MingshanHe commented 1 year ago

可以参考该Link，编译单独的控制器功能包，或者利用catkin build进行编译

zbj165 commented 1 year ago

好了，我用catkin build重新编译了下行了，感谢

daynad commented 1 year ago

好了，我用catkin build重新编译了下行了，感谢

您好，请问您是在哪个文件夹下catkin build的，我的build文件夹里也没有cartesian_controller