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RethinkRobotics / sawyer_moveit

MoveIt! configurations and plugins for the Sawyer robot.
http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial
Apache License 2.0
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No known controllers #30

Closed ebarnette closed 6 years ago

ebarnette commented 6 years ago

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

IanTheEngineer commented 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

IanTheEngineer commented 6 years ago

@sastorer, did running the JTAS solve your issue?

dt1729 commented 1 year ago

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?