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dVeon-loch / ReinforcementLearning_Arm

Application of reinforcement learning to a simulated ROS based robotic arm, to allow it to move to a desired point in 3D space.
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[ERROR] No p gain specified for pid #1

Open nichuan12 opened 1 year ago

nichuan12 commented 1 year ago

I try use "roslaunch arm_bringup sim_bringup.launch world:=empty" on terminal.It displays the following errors:

[ERROR] [1687770192.960259231, 0.179000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/plat_joint [ERROR] [1687770192.960719786, 0.179000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/shoulder_joint [ERROR] [1687770192.960985955, 0.179000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/forearm_joint [ERROR] [1687770192.961295038, 0.179000000]: No p gain specified for pid. Namespace: /arm/gazebo_ros_control/pid_gains/wrist_joint

So how can I fix it?

dVeon-loch commented 1 year ago

Just to clarify, is the issue just that the errors are being displayed in the terminal or is everything else also not functioning as described? I seem to remember also seeing that error and coming to the conclusion that this is just a ROS error related to not using PID controllers to control the joints, see the following discussion from the ROS forums: https://answers.ros.org/question/293830/what-is-the-fix-for-no-p-gain-specified-for-pid-namespace-gazebo_ros_controlpid_gainsback_right_wheel_joint-ros-melodic/