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issaiass / ur5_robotiq_85_picknplace

|| Pick n Place application files for ROS Noetic and Moveit with an UR5 and RobotIQ 2DoF Hand ||
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Controller loaded but cannot move #1

Open ZZWang21 opened 1 year ago

ZZWang21 commented 1 year ago

Hi @issaiass

sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move.

"ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints:

[ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed "

for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds "

I tried to do this for some time. please help. Thanks.

issaiass commented 1 year ago

Did you find the yaml file of the controllers with the same name?

Also can you check with rqt joint trajecory controller what is loaded?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Zezhong Wang @.> Sent: Saturday, June 17, 2023 2:49:04 AM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Subject: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Hi @issaiasshttps://github.com/issaiass

sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move.

"ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints:

[ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed "

for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds "

I tried to do this for some time. please help. Thanks.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P3OULLRSMESPHHETXTXLVOPBANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

ZZWang21 commented 1 year ago

Did you find the yaml file of the controllers with the same name? Also can you check with rqt joint trajecory controller what is loaded? Sent from Outlook for Androidhttps://aka.ms/AAb9ysg … ____ From: Zezhong Wang @.> Sent: Saturday, June 17, 2023 2:49:04 AM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Subject: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1) Hi @issaiasshttps://github.com/issaiass sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move. "ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints: [ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed " for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds " I tried to do this for some time. please help. Thanks. — Reply to this email directly, view it on GitHub<#1>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P3OULLRSMESPHHETXTXLVOPBANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

Thanks for reply.

the controllers are all loaded, "[INFO] [1687029245.973286, 0.334000]: Controller Spawner: Loaded controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687029245.990829, 0.338000]: Started controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687029248.804234, 1.433000]: Controller Spawner: Loaded controllers: [INFO] [1687029248.819273, 1.434000]: Started controllers: "

but there is an error: "Exception while loading controller manager 'ur5e_robotiq': According to the loaded plugin descriptions the class ur5e_robotiq with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager moveit_ros_control_interface::MoveItControllerManager moveit_ros_control_interface::MoveItMultiControllerManager moveit_simple_controller_manager/MoveItSimpleControllerManager"

Donot know if it is related.

ZZWang21 commented 1 year ago

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

issaiass commented 1 year ago

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in /config/ros_controllers.yaml For example...

controller_list:

Also if the controller is different you can remap it to

<remap if="$(arg sim)" from="/follow_joint_trajectory" to="/<your_controller>/follow_joint_trajectory"/>

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

ZZWang21 commented 1 year ago

Thanks. I just followed your tutorial. Do you have the joint_position_controller/followjointtrajectory?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Rangel Isaías Alvarado Walles @.> Sent: Sunday, June 18, 2023 2:04:33 PM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Zezhong Wang @.>; Author @.> Subject: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in /config/ros_controllers.yaml For example...

controller_list:

Also if the controller is different you can remap it to

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

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issaiass commented 1 year ago

it is installed on moveit i think with ros--moveit-config or in ros--ros_controllers

use the synaptic package manager to find all the installers

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 11:26 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Thanks. I just followed your tutorial. Do you have the joint_position_controller/followjointtrajectory?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Rangel Isaías Alvarado Walles @.> Sent: Sunday, June 18, 2023 2:04:33 PM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Zezhong Wang @.>; Author @.> Subject: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in /config/ros_controllers.yaml For example...

controller_list:

Also if the controller is different you can remap it to

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

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ZZWang21 commented 1 year ago

I am still working on this, added "gazebo_ros_control" plugin in urdf and the error "Action client not connected: joint_position_controller/follow_joint_trajectory" was gone. but another error came: "Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687175085.219962578, 6.985000000]: Known controllers and their joints: "

but when i rosservice call /controller_manager/list_controllers "controller:

What is wrong? Thanks.

issaiass commented 1 year ago

It doesn't seems to be the proper controllers i think.

Your launch file must find the ros controllers before doing the task. I know the issue is on the launch and the controllers.

Use rqt joint trajerctory controllers to validate the actions

http://wiki.ros.org/rqt_joint_trajectory_controller

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 6:48 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

I am still working on this, added "gazebo_ros_control" plugin in urdf and the error "Action client not connected: joint_position_controller/follow_joint_trajectory" was gone. but another error came: "Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687175085.219962578, 6.985000000]: Known controllers and their joints: "

but when i rosservice call /controller_manager/list_controllers "controller:

name: "arm_controller" state: "running" type: "position_controllers/JointTrajectoryController" claimed_resources:

hardware_interface: "hardware_interface::PositionJointInterface"
resources:
  - elbow_joint
  - shoulder_lift_joint
  - shoulder_pan_joint
  - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint

* name: "gripper_controller" state: "running" type: "position_controllers/JointTrajectoryController" claimed_resources:

hardware_interface: "hardware_interface::PositionJointInterface" resources:

hardware_interface: "hardware_interface::JointStateInterface" resources: []

"

What is wrong? Thanks.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1597041142, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4PZVARHNBMMLGAJIWC3XMA4CVANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

ZZWang21 commented 1 year ago

I used the rqt joint trajectory controllers, but the robot is not moving, not in RVIz, not in Gazebo.

I tried to load joint_position_controller as well, but it is the same.

you mentioned, the controllers are not proper controller, what should be the proper controllers? I followed your video: https://youtu.be/TcUmlq6eStg. I think the controllers are the same as the video.

Thank you.

ZZWang21 commented 1 year ago

after launch simulation.launch: " [ INFO] [1687232638.601544211, 0.212000000]: Loaded gazebo_ros_control. [INFO] [1687232638.628677, 0.212000]: Loading controller: gripper_controller [ INFO] [1687232638.644219273, 0.212000000]: ft_sensor plugin reporting wrench values to the frame [wrist_3_link] [ INFO] [1687232638.644564165, 0.212000000]: imu plugin missing , defaults to 0.0 [INFO] [1687232638.773978, 0.225000]: Loading controller: joint_state_controller [INFO] [1687232638.822311, 0.241000]: Controller Spawner: Loaded controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687232638.835162, 0.242000]: Started controllers: arm_controller, gripper_controller, joint_state_controller "

after i press "Execute" on RVIZ: "[ERROR] [1687232794.993147903, 47.439000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687232794.993376245, 47.439000000]: Known controllers and their joints: "

issaiass commented 1 year ago

I could attend you in the weekend if you want.

Right now i have not much time to replicate the problem. Tell me if you are available, contact me via my whatsapp on the links.

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 10:34 p. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

I used the rqt joint trajectory controllers, but the robot is not moving, not in RVIz, not in Gazebo.

I tried to load joint_position_controller as well, but it is the same.

you mentioned, the controllers are not proper controller, what should be the proper controllers? I followed your video: https://youtu.be/TcUmlq6eStg. I think the controllers are the same as the video.

Thank you.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1598059945, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P4Q4A5M233TARN2FLLXMEK3JANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

ZZWang21 commented 1 year ago

Thank you very much! Yes, will contact you. But I did not see the link?

issaiass commented 1 year ago

on github landing page

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 10:59 p. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Thank you very much! Yes, will contact you. But I did not see the link?

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1598072997, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4PZCU5FTI3BDMJNWADDXMENZ5ANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>