Failed when trying to add gripper to model

[duygiang1162]

I have edited moveit to better suit my work. Specifically, I added a controller for the gripper in the controller.yaml file. However when launching roslaunch dsr_launcher dsr_moveit_gazebo.launch mode:=virtal model:=m0609 color:=blue And in the terminal an error appears: [ WARN] [1712663463.501873327, 7.068000000]: Waiting for gripper_controller/follow_joint_trajectory to come up [ERROR] [1712663474.810434039, 9.264000000]: Unable to connect to move_group action server 'move_group' within allotted time (30s) [ WARN] [1712663496.164532178, 13.068000000]: Waiting for gripper_controller/follow_joint_trajectory to come up I discovered that, when I tried to add configuration code to the gripper:

   - name: gripper_controller
     action_ns: follow_joint_trajectory
     default: True
     type: FollowJointTrajectory
     joints:
       - robotiq_85_left_knuckle_joint

Then other controllers will not be initialized. If I don't add it, it will run normally. I searched a lot for solutions, but couldn't solve the problem. Thank you for reading this far, I look forward to receiving your solution, no matter how small. I can provide more information about my file files to solve this problem.

[duygiang1162]

controller.yaml:

# by bcc
controller_manager_ns: /
controller_list:
  - name: dsr_joint_trajectory_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6

  - name: gripper_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - robotiq_85_left_knuckle_joint

# ends

ros_controller.yaml:

m0609:
# MoveIt-specific simulation settings
  moveit_sim_hw_interface:
    joint_model_group: controllers_initial_group_
    joint_model_group_pose: controllers_initial_pose_
# Settings for ros_control control loop
  generic_hw_control_loop:
    loop_hz: 300
    cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
  hardware_interface:
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
      - robotiq_85_left_knuckle_joint
    sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
  controller_list:
    []
  dsr_joint_position_controller:
    type: position_controllers/JointPositionController
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
    gains:
      joint1:
        p: 100
        d: 1
        i: 1
        i_clamp: 1
      joint2:
        p: 100
        d: 1
        i: 1
        i_clamp: 1
      joint3:
        p: 100
        d: 1
        i: 1
        i_clamp: 1
      joint4:
        p: 100
        d: 1
        i: 1
        i_clamp: 1
      joint5:
        p: 100
        d: 1
        i: 1
        i_clamp: 1
      joint6:
        p: 100
        d: 1
        i: 1
        i_clamp: 1

  gripper_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - robotiq_85_left_knuckle_joint
  gains:
    robotiq_85_left_knuckle_joint:
      p: 40
      d: 0
      i: 0
      i_clamp: 1

ros_controller.launch:

<?xml version="1.0"?>
<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find moveit_config_m0609)/config/ros_controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="m0609" args="dsr_joint_position_controller
                                      gripper_controller"/>

    <!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="dsr_joint_position_controller gripper_controller joint_state_controller"/> -->

  <!-- Convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="m0609/joint_states" />
  </node>

</launch>

[song-ms]

Dear @duygiang1162,

I think that as step of controller spwaner, you missed spawner ros_controller so that there are no initialized ros controller params as your controller manager screen.