Unable to use effort controllers on the real robot

[AbdulMughniKUCAR]

I'm facing this error when trying to run my controllers on the real robot, They work in gazebo by the way.

[ERROR] [1686577035.355803649]: This controller requires a hardware interface of type 'hardware_interface::EffortJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class.

[cedricgoubard]

Hi @AbdulMughniKUCAR,

I'm not sure the UR robot supports this kind of controller; when you look at the hardware interface code, I think this driver only accepts position or velocity commands.

That being said, your error probably comes from the fact that the default hardware interface in the robot's description file is a PositionJointInterface, but your controller expects an EffortJointInterface.

Disclaimer: I might be wrong, I'm just another user who spent some time looking into similar problems.