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在ROS仿真模型搭建的时候,运行
roslaunch probot_gazebo probot_bringup_moveit.launch
的时候,可能会出现如下错误:
[ERROR] [1556172904.265708018, 73.989000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ]
[ERROR] [1556172904.265747504, 73.989000000]: Known controllers and their joints:
[ERROR] [1556172904.265815969, 73.989000000]: Apparently trajectory initialization failed
rviz中的机械臂控制可以动,而Gazebo的机械臂无法运动,主要是由于probot_anno_moveit_controller_manager.launch
文件中的controllers_gazebo.yaml
配置不当,参考的probot_anno_moveit_controller_manager.launch.xml
配置如下:
<launch>
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- gazebo Controller -->
<rosparam file="$(find probot_anno_moveit_config)/config/controllers_gazebo.yaml"/>
</launch>
参考上面的配置修改本地文件,然后就成功啦。
参考博文
Unable to identify any set of controllers that can actuate the specified joints: joint1 joint2 出错
本文标签: setcontrollersunableidentifyactuate
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