As the titles says, I can load the robot model with gazebo, start the controller, and receive the robot position from Gazebo, I even can plan the movement, but the execution fails with message
[ INFO] [1506956704.438899700, 37.700000000]: Returned 0 controllers in list
[ERROR] [1506956704.438925955, 37.700000000]: Unable to identify any set of controllers that can actuate the specified joints: [ Kuka_kr3__base_revolute Kuka_kr3__fifth_rotation Kuka_kr3__first_rotation Kuka_kr3__fourth_rotation Kuka_kr3__second_rotation Kuka_kr3__third_rotation ]
[ERROR] [1506956704.438944708, 37.700000000]: Known controllers and their joints:
[ INFO] [1506956704.468491442, 37.729000000]: ABORTED: Solution found but controller failed during execution
I also noticed, that when loading the rviz, there is an error
[ERROR] [1506956691.328915099, 24.714000000]: Parameter controller_list should be specified as an array
[ INFO] [1506956691.328985645, 24.714000000]: Returned 0 controllers in list
While doing this I tried to follow [this tutorial](https://www.youtube.com/watch?v=J6Mu1P6FlxY) and I setup the gazebo controller, maybe the problem is here, here is the code:
from the gazebo control package /config
[kuka_control.yaml](https://pastebin.com/gQQrds1H)
from /launch
[kuka_control.launch](https://pastebin.com/8P9Hfytn)
Here are the topics, when I launch the kuka_control.launch
/kuka_kr3/joint_states
/kuka_kr3/joint_trajectory_controller/command
/kuka_kr3/joint_trajectory_controller/follow_joint_trajectory/cancel
/kuka_kr3/joint_trajectory_controller/follow_joint_trajectory/feedback
/kuka_kr3/joint_trajectory_controller/follow_joint_trajectory/goal
/kuka_kr3/joint_trajectory_controller/follow_joint_trajectory/result
/kuka_kr3/joint_trajectory_controller/follow_joint_trajectory/status
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__base_revolute/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__base_revolute/parameter_updates
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__fifth_rotation/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__fifth_rotation/parameter_updates
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__first_rotation/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__first_rotation/parameter_updates
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__fourth_rotation/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__fourth_rotation/parameter_updates
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__second_rotation/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__second_rotation/parameter_updates
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__third_rotation/parameter_descriptions
/kuka_kr3/joint_trajectory_controller/gains/Kuka_kr3__third_rotation/parameter_updates
/kuka_kr3/joint_trajectory_controller/state
then, the files on the Moveit side:
[controllers.yaml](https://pastebin.com/UsnBuDWt)
[demo_planning_execution.launch](https://pastebin.com/Q26h3XBG)
[Kuka_kr3_moveit_controller_manager.launch.xml](https://pastebin.com/NtsrQSB6)
I wonder, where the problem might be, since the topics are present, and I think I've targeted them correctly...
↧