Closed ebarnette closed 6 years ago
It seems like you’re missing the Joint Trajectory Action Server. Prior to launching, in a separate terminal window, run
$ rosrun intera_interface joint_trajectory_action_server.py
This will connect the action client that translates the moveit commands into joint commands Sawyer will execute. Please let me know if that solves it
@sastorer, did running the JTAS solve your issue?
This does not solve issues in gazebo simulation. I have tried that as well. the rosservice call to robot/controller_manager/list_controllers works but when I run the launch file I see the warning:
Failed to read controllers from /controller_manager/list_controllers
Can this work somehow by changing rosservice call param?
When using rviz to plan and execute a trajectory, planning goes well but executing the path fails with this error:
[ERROR] [1519413877.822655341]: Unable to identify any set of controllers that can actuate the specified joints: [ right_j0 right_j1 right_j2 right_j3 right_j4 right_j5 right_j6 ] [ERROR] [1519413877.822726115]: Known controllers and their joints:
All Moveit! packages are installed and our Sawyer is running on release-5.2.0
When launching sawyer_moveit.launch this shows up:
[ERROR] [1519414365.681661603]: Action client not connected: /robot/limb/right/follow_joint_trajectory
but everything else goes well and I am able to plan.I looked into the joints available in rviz but the joints there are named something like 'right_l0' instead of the expected names in sawyer_controllers.yaml