Hi,
I was setting up MoveIt! for my robot, which uses [ros_canopen](http://wiki.ros.org/ros_canopen?distro=indigo) as its driver. I used moveit_setup_assistant to generate the moveit_config package and follow [this tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/controller_configuration.html) to configure MoveIt! to talk to the real robot.
Rostopic list shows that the **FollowJointTrajectory** action on the server side(robot driver) is ready:
/joint_trajectory_controller/command
/joint_trajectory_controller/follow_joint_trajectory/cancel
/joint_trajectory_controller/follow_joint_trajectory/feedback
/joint_trajectory_controller/follow_joint_trajectory/goal
/joint_trajectory_controller/follow_joint_trajectory/result
/joint_trajectory_controller/follow_joint_trajectory/status
/joint_trajectory_controller/state
My **controller.yaml** for the MoveIt side is
controller_list:
- name: joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- I1_Joint
- T2_Joint
- T3_Joint
- i4_Joint
- t5_Joint
When I clicked the execute button in rviz, errors showed up:
[ERROR]: Unable to identify any set of controllers that can actuate the specified joints: [ I1_Joint T2_Joint T3_Joint i4_Joint t5_Joint ]
[ERROR] : Known controllers and their joints:
[ERROR] : Apparently trajectory initialization failed
[The moveit_controller_manager.launch](https://github.com/Linkeway/BIRL_modular_robot/blob/master/manipulator5d_moveit_config/launch/manipulator5d_moveit_controller_manager.launch) starts the moveit side for the system.
I use Indigo and Ubuntu14.04.
Any help will be much appreciated.
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