marip8
commented
3 years ago [ERROR] [1616759340.518161232]: Unable to identify any set of controllers that can actuate the specified joints: [ arm_left_joint_1_s arm_left_joint_2_l arm_left_joint_3_e arm_left_joint_4_u arm_left_joint_5_r arm_left_joint_6_b arm_left_joint_7_t ] [ERROR] [1616759340.518215238]: Known controllers and their joints:
This appears to be a MoveIt configuration issue. The move_group node does not know about any controllers that are able to execute trajectories for the particular set of joints that you planned for. These controllers are configured in the controllers.yaml and ..._moveit_controller_manager.launch.xml files of the MoveIt configuration package. This is what they should look like for the SDA10F (pulled from the SDA10F MoveIt config package in this repository):
Are you using the SDA10F MoveIt config package from the kinetic-devel branch of this repository, or a custom version? In either case can you confirm that these two files are configured correctly on your computer? As far as I know, this repository's MoveIt config package for the SDA10F is set up correctly
pablomalvido
gavanderhoorn
Hello,
I am working with a SDA10F robot with a FS100 controller and I am having problems for moving the real robot through ROS. This is the information about my system:
I have followed the tutorials in http://wiki.ros.org/motoman_driver/Tutorials for installing the ROS server in the controller (first) and for commanding the robot using ROS (second tutorial). I have installed MotoROS using binaries (MotoRosFS_v192.out) and the MD5 hash is exactly the same as the one in the tutorial. I have noticed that my problem is very similar to the one in #343 , where the problem was in the INIT_ROS job. In my case I directly copy-pasted the job in https://github.com/ros-industrial/motoman/blob/kinetic-devel/motoman_driver/Inform/DX200%2C%20FS100%2C%20YRC1000/sda_dual_arm/INIT_ROS.JBI in the controller using a USB, following the tutorial steps, however as you can see in the picture below, when I open the JOB in the pendant I cannot see the first lines, it starts from the NOP line. I don't know if this could be a problem, so I just let you know.
I downloaded the Motoman package from https://github.com/ros-industrial/motoman and followed all the instructions in the README file for the installation.
Now I will describe the steps followed for moving the robot and the obtained error:
roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=10.0.0.2 controller:=fs100rosservice call /robot_enable "{}"). The servos of the robot turn on (green light in the pendant and I can hear them) and I get this output in Terminal 3:And this output in Terminal 2:
[ WARN] [1616759147.593787130]: Motoman robot is now enabled and will accept motion commands.rosrun rqt_graph rqt_graphin a new terminal (Terminal 4) and this is the result:And I obtain this output in Terminal 2:
I hope you can help me to solve this problem. Please, let me know if you need more information and thank you very much in advance.
Pablo.