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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 joint7 ] #224

Open MullerLin opened 3 months ago

MullerLin commented 3 months ago

Hi, I got some Error when running the moveit part in gazebo. The moveit demo runs successfully, but when I excuted the plan trajectory in rviz, some error shows:

`[ERROR] [1712605806.834437486, 16.344000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 joint7 ] [ERROR] [1712605806.834450660, 16.344000000]: Known controllers and their joints:

[ERROR] [1712605806.834468345, 16.344000000]: Apparently trajectory initialization failed`

and the robot in gazebo had no response to the control command.

I checked the ros_control by dpkg -l | grep "ros-control", and this is what I got: ii ros-noetic-gazebo-ros-control 2.9.2-1focal.20231030.154912 amd64 gazebo_ros_control ii ros-noetic-ros-control 0.20.0-1focal.20231030.154849 amd64 A set of packages that include controller interfaces, controller managers, transmissions and hardware_interfaces. ii ros-noetic-ros-controllers 0.21.2-1focal.20240125.204748 amd64 Library of ros controllers I think I have installed all packages since I followed the required steps. I am not sure whether it could be some problem with this https://answers.ros.org/question/320990/moveit-unable-to-identify-any-set-of-controllers/

How can I solve this problem to execute plan in rviz?

penglongxiang commented 3 months ago

Hi, could you specify the exact commands you executed (in correct order) to reproduce your issue?