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justagist / franka_ros_interface

A ROS/Python API for controlling and managing the Franka Emika Panda robot (real and simulated).
http://justagist.github.io/franka_ros_interface
Apache License 2.0
171 stars 59 forks source link

I got a Problem with the arm controller #24

Closed ghost closed 3 years ago

ghost commented 3 years ago

When I launch the moveit demo and want to execute an arm movement, I receive the following error:

[ERROR] [1616651255.407653286]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ERROR] [1616651255.407667569]: Known controllers and their joints: controller 'franka_gripper' controls joints: panda_finger_joint1 panda_finger_joint2

There is no problem with executing a hand movement and the franka-ros and also the libfranka demos are working fine. The panda robot is on firmware 4.0.4. libfranka on 0.8.0 and franka-ros on 0.7.1

ghost commented 3 years ago

while launching the interface, I noticed that the position_joint_trajectory_controller/follow_joint_trajectory is not connected.

[ERROR] [1616654245.872824741]: Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory

how do I connect it?

justagist commented 3 years ago

You might be missing the joint-trajectory-controller package. Try running the launch file after apt install ros-melodic-joint-trajectory-controller.

ghost commented 3 years ago

Is working now, thank you!