When I run: roslaunch sam_moveit_wizard_generated move_group.launch
It says:
[ INFO] [1400647657.748106413, 748.461000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1400647657.809613293, 748.476000000]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.
[ INFO] [1400647657.826129681, 748.479000000]: Trajectory execution is managing controllers
and I try to run:
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ rosrun sam_moveit_learning pose right_arm 0.7 -0.2 0.7 0 0 0
[ INFO] [1400647661.271172191, 749.458000000]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1400647661.271335019, 749.458000000]: Move to : x=0.700000, y=-0.200000, z=0.700000, roll=0.000000, pitch=0.000000, yaw=0.000000
[ INFO] [1400647662.016181981, 749.640000000]: ABORTED: Solution found but controller failed during execution
^Csam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$
I also got this error:
[ INFO] [1400647661.483935586, 749.503000000]: Path simplification took 0.016063 seconds
[ERROR] [1400647662.013314708, 749.640000000]: Unable to identify any set of controllers that can actuate the specified joints: [ r_elbow_flex_joint r_forearm_roll_joint r_shoulder_lift_joint r_shoulder_pan_joint r_upper_arm_roll_joint r_wrist_flex_joint r_wrist_roll_joint ]
[ERROR] [1400647662.013418353, 749.640000000]: Apparently trajectory initialization failed
I try to fix it by install but not works:
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ sudo apt-get install ros-groovy-pr2-moveit-plugins
[sudo] password for sam:
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-groovy-pr2-moveit-plugins is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 168 not upgraded.
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$
How to solve it?
Thank you~
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