Hello,
I’m trying to achieve pick and place in gazebo for panda arm by using moveit+rviz to plan motion.
I’m getting below error on the terminal from which i launch moveit_planning _execution.launch file.
> Controller panda/panda_hand_controller failed with error code INVALID_JOINTS
here is my config/controllers.yaml file from moveit side
controller_manager_ns: controller_manager
controller_list:
- name: panda/panda_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- panda_joint1
- panda_joint2
- panda_joint3
- panda_joint4
- panda_joint5
- panda_joint6
- panda_joint7
- name: panda/panda_hand_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- panda_finger_joint1
- panda_finger_joint2
Below is my joint_names.yaml file
controller_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', ’panda_finger_joint1’, ’panda_finger_joint2’]
About moveit planning groups from setup assistant tool, below are the groups i have created. I’m using panda_arm as planning group in my code
Can someone tell me how to solve or debug this issue?
↧