ur5_robotiq_85_picknplace icon indicating copy to clipboard operation
ur5_robotiq_85_picknplace copied to clipboard

Published 20 hours ago • verified publisher icon issaiass

Controller loaded but cannot move

Open ZZWang21 opened this issue 1 year ago • 13 comments

Hi @issaiass

sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move.

"ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints:

[ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed "

for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds "

I tried to do this for some time. please help. Thanks.

ZZWang21 avatar Jun 17 '23 07:06 ZZWang21

Did you find the yaml file of the controllers with the same name?

Also can you check with rqt joint trajecory controller what is loaded?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Zezhong Wang @.> Sent: Saturday, June 17, 2023 2:49:04 AM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Subject: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Hi @issaiasshttps://github.com/issaiass

sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move.

"ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints:

[ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed "

for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds "

I tried to do this for some time. please help. Thanks.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P3OULLRSMESPHHETXTXLVOPBANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 17 '23 17:06 issaiass

Did you find the yaml file of the controllers with the same name? Also can you check with rqt joint trajecory controller what is loaded? Sent from Outlook for Androidhttps://aka.ms/AAb9ysg … ________________________________ From: Zezhong Wang @.> Sent: Saturday, June 17, 2023 2:49:04 AM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Subject: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1) Hi @issaiasshttps://github.com/issaiass sorry, I have loaded all the controllers, but when trying to move robot with RViz, error came and cannot move. "ERROR] [1686986971.614252618, 11.137000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1686986971.614429229, 11.137000000]: Known controllers and their joints: [ERROR] [1686986971.614653581, 11.137000000]: Apparently trajectory initialization failed " for arm: "[ WARN] [1686986955.714512603, 8.303000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 5.014324 seconds " I tried to do this for some time. please help. Thanks. — Reply to this email directly, view it on GitHub<#1>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P3OULLRSMESPHHETXTXLVOPBANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

Thanks for reply.

the controllers are all loaded, "[INFO] [1687029245.973286, 0.334000]: Controller Spawner: Loaded controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687029245.990829, 0.338000]: Started controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687029248.804234, 1.433000]: Controller Spawner: Loaded controllers: [INFO] [1687029248.819273, 1.434000]: Started controllers: "

but there is an error: "Exception while loading controller manager 'ur5e_robotiq': According to the loaded plugin descriptions the class ur5e_robotiq with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager moveit_ros_control_interface::MoveItControllerManager moveit_ros_control_interface::MoveItMultiControllerManager moveit_simple_controller_manager/MoveItSimpleControllerManager"

Donot know if it is related.

ZZWang21 avatar Jun 18 '23 03:06 ZZWang21

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

ZZWang21 avatar Jun 18 '23 09:06 ZZWang21

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in <moveit_created_package>/config/ros_controllers.yaml For example...

controller_list:

  • name: arm_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints:
    • joint_1
    • joint_2

Also if the controller is different you can remap it to

<remap if="$(arg sim)" from="/follow_joint_trajectory" to="/<your_controller>/follow_joint_trajectory"/>

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 18 '23 13:06 issaiass

Thanks. I just followed your tutorial. Do you have the joint_position_controller/followjointtrajectory?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Rangel Isaías Alvarado Walles @.> Sent: Sunday, June 18, 2023 2:04:33 PM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Zezhong Wang @.>; Author @.> Subject: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in <moveit_created_package>/config/ros_controllers.yaml For example...

controller_list:

  • name: arm_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints:
  • joint_1
  • joint_2

Also if the controller is different you can remap it to

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596136352, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANHFTIOYLXBUT4ZNUG6MTQLXL34GDANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you authored the thread.Message ID: @.***>

ZZWang21 avatar Jun 18 '23 16:06 ZZWang21

it is installed on moveit i think with ros-<ros_version>-moveit-config or in ros-<ros_version>-ros_controllers

use the synaptic package manager to find all the installers

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 11:26 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Thanks. I just followed your tutorial. Do you have the joint_position_controller/followjointtrajectory?

Sent from Outlook for Androidhttps://aka.ms/AAb9ysg

From: Rangel Isaías Alvarado Walles @.> Sent: Sunday, June 18, 2023 2:04:33 PM To: issaiass/ur5_robotiq_85_picknplace @.> Cc: Zezhong Wang @.>; Author @.> Subject: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Probably the problem is in the controllers.yaml, and from where the controllers is called, probably in <moveit_created_package>/config/ros_controllers.yaml For example...

controller_list:

  • name: arm_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints:
  • joint_1
  • joint_2

Also if the controller is different you can remap it to

Look at the launch file references of where are the packages and also see in the info when launch what is happening, this will give you a clue.

Saludos,

RA

De: Zezhong Wang @.> Enviado: domingo, 18 de junio de 2023 4:17 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

sorry, I tried to solve the moveit_controller_manager problem. now it shows:"Action client not connected: joint_position_controller/follow_joint_trajectory "

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596051986, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P7UUTVML7SCCRJBVFTXL3BSJANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596136352, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANHFTIOYLXBUT4ZNUG6MTQLXL34GDANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you authored the thread.Message ID: @.***>

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1596197359, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P5R2GU2FLV7HWYMJYTXL4T4DANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 18 '23 17:06 issaiass

I am still working on this, added "gazebo_ros_control" plugin in urdf and the error "Action client not connected: joint_position_controller/follow_joint_trajectory" was gone. but another error came: "Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687175085.219962578, 6.985000000]: Known controllers and their joints: "

but when i rosservice call /controller_manager/list_controllers "controller:

name: "arm_controller"
state: "running"
type: "position_controllers/JointTrajectoryController"
claimed_resources: 
  - 
    hardware_interface: "hardware_interface::PositionJointInterface"
    resources: 
      - elbow_joint
      - shoulder_lift_joint
      - shoulder_pan_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

  • name: "gripper_controller" state: "running" type: "position_controllers/JointTrajectoryController" claimed_resources:

    hardware_interface: "hardware_interface::PositionJointInterface"
resources: 
  - simple_gripper_gripper_finger1_joint

  • name: "joint_state_controller" state: "running" type: "joint_state_controller/JointStateController" claimed_resources:

    hardware_interface: "hardware_interface::JointStateInterface"
resources: []

"

What is wrong? Thanks.

ZZWang21 avatar Jun 19 '23 11:06 ZZWang21

It doesn't seems to be the proper controllers i think.

Your launch file must find the ros controllers before doing the task. I know the issue is on the launch and the controllers.

Use rqt joint trajerctory controllers to validate the actions

http://wiki.ros.org/rqt_joint_trajectory_controller

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 6:48 a. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

I am still working on this, added "gazebo_ros_control" plugin in urdf and the error "Action client not connected: joint_position_controller/follow_joint_trajectory" was gone. but another error came: "Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687175085.219962578, 6.985000000]: Known controllers and their joints: "

but when i rosservice call /controller_manager/list_controllers "controller:

name: "arm_controller" state: "running" type: "position_controllers/JointTrajectoryController" claimed_resources:

hardware_interface: "hardware_interface::PositionJointInterface"
resources:
  - elbow_joint
  - shoulder_lift_joint
  - shoulder_pan_joint
  - wrist_1_joint
  - wrist_2_joint
  - wrist_3_joint

name: "gripper_controller" state: "running" type: "position_controllers/JointTrajectoryController" claimed_resources:

hardware_interface: "hardware_interface::PositionJointInterface" resources:

  • simple_gripper_gripper_finger1_joint

name: "joint_state_controller" state: "running" type: "joint_state_controller/JointStateController" claimed_resources:

hardware_interface: "hardware_interface::JointStateInterface" resources: []

"

What is wrong? Thanks.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1597041142, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4PZVARHNBMMLGAJIWC3XMA4CVANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 19 '23 12:06 issaiass

I used the rqt joint trajectory controllers, but the robot is not moving, not in RVIz, not in Gazebo.

I tried to load joint_position_controller as well, but it is the same.

you mentioned, the controllers are not proper controller, what should be the proper controllers? I followed your video: https://youtu.be/TcUmlq6eStg. I think the controllers are the same as the video.

Thank you.

ZZWang21 avatar Jun 20 '23 03:06 ZZWang21

after launch simulation.launch: " [ INFO] [1687232638.601544211, 0.212000000]: Loaded gazebo_ros_control. [INFO] [1687232638.628677, 0.212000]: Loading controller: gripper_controller [ INFO] [1687232638.644219273, 0.212000000]: ft_sensor plugin reporting wrench values to the frame [wrist_3_link] [ INFO] [1687232638.644564165, 0.212000000]: imu plugin missing <gaussianNoise>, defaults to 0.0 [INFO] [1687232638.773978, 0.225000]: Loading controller: joint_state_controller [INFO] [1687232638.822311, 0.241000]: Controller Spawner: Loaded controllers: arm_controller, gripper_controller, joint_state_controller [INFO] [1687232638.835162, 0.242000]: Started controllers: arm_controller, gripper_controller, joint_state_controller "

after i press "Execute" on RVIZ: "[ERROR] [1687232794.993147903, 47.439000000]: Unable to identify any set of controllers that can actuate the specified joints: [ simple_gripper_gripper_finger1_joint ] [ERROR] [1687232794.993376245, 47.439000000]: Known controllers and their joints: "

ZZWang21 avatar Jun 20 '23 03:06 ZZWang21

I could attend you in the weekend if you want.

Right now i have not much time to replicate the problem. Tell me if you are available, contact me via my whatsapp on the links.

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 10:34 p. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

I used the rqt joint trajectory controllers, but the robot is not moving, not in RVIz, not in Gazebo.

I tried to load joint_position_controller as well, but it is the same.

you mentioned, the controllers are not proper controller, what should be the proper controllers? I followed your video: https://youtu.be/TcUmlq6eStg. I think the controllers are the same as the video.

Thank you.

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1598059945, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4P4Q4A5M233TARN2FLLXMEK3JANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 20 '23 03:06 issaiass

Thank you very much! Yes, will contact you. But I did not see the link?

ZZWang21 avatar Jun 20 '23 03:06 ZZWang21

on github landing page

Saludos,

RA

De: Zezhong Wang @.> Enviado: lunes, 19 de junio de 2023 10:59 p. m. Para: issaiass/ur5_robotiq_85_picknplace @.> Cc: Rangel Isaías Alvarado Walles @.>; Mention @.> Asunto: Re: [issaiass/ur5_robotiq_85_picknplace] Controller loaded but cannot move (Issue #1)

Thank you very much! Yes, will contact you. But I did not see the link?

— Reply to this email directly, view it on GitHubhttps://github.com/issaiass/ur5_robotiq_85_picknplace/issues/1#issuecomment-1598072997, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AA7M4PZCU5FTI3BDMJNWADDXMENZ5ANCNFSM6AAAAAAZKCKI7Y. You are receiving this because you were mentioned.Message ID: @.***>

issaiass avatar Jun 20 '23 04:06 issaiass