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Published 20 hours ago • verified publisher icon ros-planning

Improve tutorial on writing custom controller handles

Open 01binary opened this issue 1 year ago • 13 comments

Description

I wrote a Joint Trajectory Controller (implementation) for my robot that I would like to use with MoveIt 1.

The controller is successfully loaded by ROS Controller Manager (it is exported as a plugin with base class controller_interface::Controller<hardware_interface::VelocityJointInterface>), but cannot be used to actuate joints:

Unable to identify any set of controllers that can actuate the specified joints

This error is emitted when clicking Plan & Execute in RViz

Your environment

  • ROS Distro: Noetic
  • OS Version: Ubuntu 20.04
  • Source build of MoveIt
  • Master branch
  • Following directions in https://moveit.ros.org/install/source/

01binary avatar Jan 19 '24 03:01 01binary