Hey guys,
I'm working on a ROS-Industrial package for the ABB-IRB14000, and recently have run into a new problem. Despite connecting to the robot perfectly fine(I'm using a real robot), and being able to plan trajectories, when I give the command to execute, I get the following error:
[ERROR] [1469166414.255451135]: Joint trajectory action failing on invalid joints
[ERROR] [1469166414.255451135]: Joint trajectory action failing on invalid joints
[ WARN] [1469166414.255676736]: Controller left_arm failed with error code INVALID_JOINTS
[ WARN] [1469166414.255676736]: Controller right_arm failed with error code INVALID_JOINTS
Any ideas what is wrong? I'm using ROS-Indigo, with Ubuntu 14.04, with ABB RobotWare 6.03.
EDIT 1:
Here is my `controllers.yaml` file:
controller_list:
- name: "left_arm"
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints:
- gripper_l_joint
- yumi_joint_1_l
- yumi_joint_2_l
- yumi_joint_3_l
- yumi_joint_4_l
- yumi_joint_5_l
- yumi_joint_6_l
- yumi_joint_7_l
- name: "right_arm"
action_ns: joint_trajectory_action
type: FollowJointTrajectory
joints:
- gripper_r_joint
- yumi_joint_1_r
- yumi_joint_2_r
- yumi_joint_3_r
- yumi_joint_4_r
- yumi_joint_5_r
- yumi_joint_6_r
- yumi_joint_7_r
The only other thing I use for the joints is a `joint_names_yumi.yaml` file, which is pretty basic:
controller_joint_names: ['gripper_l_joint', 'gripper_r_joint', 'yumi_joint_1_l', 'yumi_joint_1_r', 'yumi_joint_2_l', 'yumi_joint_2_r', 'yumi_joint_3_l', 'yumi_joint_3_r', 'yumi_joint_4_l', 'yumi_joint_4_r', 'yumi_joint_5_l', 'yumi_joint_5_r', 'yumi_joint_6_l', 'yumi_joint_6_r', 'yumi_joint_7_l', 'yumi_joint_7_r', ]
EDIT 2: Pastebin of `roslaunch --screen`: http://pastebin.com/vB0YdYpP
↧