Problem while executing trajectory for more than one group.

[Karthikeyan Yuvraj]

Modified: moveit_planning_sim_execution.launch(sorry,I pasted the wrong one before)

Hello everyone,

I have been using this tutorial http://ros.org/wiki/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot .  Initially I used just one arm for my humanoid robot and it worked well. Now I am planning to add legs and an other arm but it gives the following error,when I try to execute a planned trajectory:

[ INFO] [1368318679.193348235]: Waiting for left_arm/joint_trajectory_action to come up

[ INFO] [1368318684.193518284]: Waiting for left_arm/joint_trajectory_action to come up

[ERROR] [1368318689.193775591]: Action client not connected: left_arm/joint_trajectory_action

[ERROR] [1368318689.206472786]: No controller handle for controller 'left_arm'. Aborting.

Also here is my controllers.yaml file:

controller_manager_ns: pr2_controller_manager

controller_list:

  - name: left_arm

    ns: joint_trajectory_action

    default: true

    joints:

      - LSP

      - LSR

      - LSY

      - LWP

      - LWY

      - LEP

  - name: right_arm

    ns: joint_trajectory_action

    default: true

    joints:

      - RSP

      - RSR

      - RSY

      - RWP

      - RWY

      - REP

     

Also here is my joint_names.yaml

controller_joint_names: ['LSP','LSR','LSY','LWP','LWY','LEP','RSP','RSR','RSY','RWP','RWY','REP']

Also here is my moveit_planning_excution_sim.launch

<launch>

 # The planning and execution components of MoveIt! configured to run

 # using a simulated ROS-Industrial node

 #-------------------------------------

 # These actions are normally handled in the "real" robot's bringup launch file

 #

 # load the URDF

 <param name="robot_description" textfile="/home/karthik/groovy_workspace/hubo-ach-tab/hubo-models/huboplus_kart.urdf" />

 # run the robot simulator and action interface nodes

<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />

 

 <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

 #-------------------------------------

 

<rosparam command="load" file="$(find cart_hubo_moveit)/config/joint_names.yaml"/>

 <include file="$(find cart_hubo_moveit)/launch/move_group.launch">

  <arg name="publish_monitored_planning_scene" value="true" />

 </include>

 <include file="$(find cart_hubo_moveit)/launch/moveit_rviz.launch"/>

</launch>

I am clearly wrong about adding the second group,any advice?. 

regards,

Karthik