moveit_simple_controller_manager cannot find controller. #1394
Description
Your environment
- ROS Distro: Humble
- OS Version: Ubuntu 22.04
- Built type: Source Build
- Branch: Humble
Description
Hi, I am trying to understand and work with MoveIt for custom robots. I have created files for a simple model and currently trying to implement the low-level controller. I have created a hardware-interface for ros2_controller - JointTrajectoryController. While running the demo, when I try to execute the plan I am getting errors.
The .yaml files are given below:
moveit_controller.yaml
trajectory_execution:
allowed_execution_duration_scaling: 1.2
allowed_goal_duration_margin: 0.5
allowed_start_tolerance: 0.01
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- rotate_joint_controller
rotate_joint_controller:
actions_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- base_to_rotate_joint
ros_controllers.yaml
controller_manager:
ros__parameters:
update_rate: 100 # Hz
rotate_joint_controller:
type: "joint_trajectory_controller/JointTrajectoryController"
rotate_joint_controller:
ros__parameters:
joints:
- base_to_rotate_joint
command_interfaces:
- position
state_interfaces:
- position
I launch move_group node using the following launch file.
Launch file
import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
moveit_config = (
MoveItConfigsBuilder("one_joint")
.robot_description(file_path="config/one_joint.urdf.xacro")
.trajectory_execution(file_path="config/moveit_controllers.yaml")
.to_moveit_configs()
)
run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[moveit_config.to_dict()],
)
# rviz_config_file = (
# get_package_share_directory("moveit2_tutorials") + "/launch/move_group.rviz"
# )
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
#arguments=["-d", rviz_config_file],
parameters=[
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
moveit_config.planning_pipelines,
moveit_config.joint_limits,
],
)
static_tf = Node(
package="tf2_ros",
executable="static_transform_publisher",
name="static_transform_publisher",
output="log",
arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"],
)
# Publish TF
robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="both",
parameters=[moveit_config.robot_description],
)
ros2_controllers_path = os.path.join(
get_package_share_directory("one_joint_moveit_config"),
"config",
"ros_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[moveit_config.robot_description, ros2_controllers_path],
output="screen",
)
load_controllers = []
for controller in [
"rotate_joint_controller",
]:
load_controllers += [
ExecuteProcess(
cmd=["ros2 run controller_manager spawner {}".format(controller)],
shell=True,
output="screen",
)
]
print(load_controllers);
return LaunchDescription(
[
rviz_node,
static_tf,
robot_state_publisher,
run_move_group_node,
ros2_control_node
]
+ load_controllers
)
When executing the plan I get the following error
[move_group-4] [INFO] [1656331116.837111428] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-4] [INFO] [1656331116.837433043] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-4] [INFO] [1656331116.837514826] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1656331116.837546324] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1656331116.837585365] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [INFO] [1656331116.837602615] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-4] [ERROR] [1656331116.837633624] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ base_to_rotate_joint ]
[move_group-4] [ERROR] [1656331116.837655554] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-4]
The rotate_joint_controller is up and running. I checked the parameter using ros2 param and received the following ouput.
┌─[cryos][ROG][~]
└─➞ ros2 param get /moveit_simple_controller_manager moveit_simple_controller_manager.controller_names
String values are: ['rotate_joint_controller']
┌─[cryos][ROG][~]
└─➞ ros2 param get /moveit_simple_controller_manager moveit_simple_controller_manager.rotate_joint_controller.joints
String values are: ['base_to_rotate_joint']
Expected behaviour
The trajectory is executed
Actual behaviour
MoveIt simple controller manager cannot find the controllers for the joint
Any insight on this issue in appreciated.
Thank you.