ROS-I + MoveIt! + Gazebo

[Luis Rubio]

Hello everyone,

I am beginner in ROS and MoveIt so, first at all, I want to thank all ROS developers that they are collaborating doing new documentation for the new people who want to learn. Thanks!!

Now I'm trying to control a kuka LWR with MoveIt in Gazebo. I am using Hydro version, and I have been following the ROS-Industrial tutorials mainly. My problem is that I can't to use properly MoveIt with gazebo, and the robot isn't moving. I have created a launch file similar to moveit_planning_execution.launch template provided by ROS-I tutorials, and I have added the gazebo, and the controls.

I have attached my launch file, my joint_position_control.yaml, my moveit controller.yaml and the completed output.

The output show this error:
------------------------------------------------------------

[ INFO] [1401705178.084949884, 3.521000000]: Starting scene monitor
[ INFO] [1401705178.085811799, 3.522000000]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1401705178.086274283, 3.523000000]: Failed to call service /get_planning_scene at /tmp/buildd/ros-hydro-moveit-ros-planning-0.5.16-0precise-20140525-0029/planning_scene_monitor/src/planning_scene_monitor.cpp:431
[ INFO] [1401705178.415112529, 3.851000000]: Constructing new MoveGroup connection for group 'manipulator'
[ INFO] [1401705179.570167706, 5.000000000]: MoveitSimpleControllerManager: Waiting for kukalwr/manipulator_controller/joint_trajectory_action to come up
[ INFO] [1401705184.596266509, 10.000000000]: MoveitSimpleControllerManager: Waiting for kukalwr/manipulator_controller/joint_trajectory_action to come up
[ERROR] [1401705189.625468756, 15.002000000]: MoveitSimpleControllerManager: Action client not connected: kukalwr/manipulator_controller/joint_trajectory_action
[ INFO] [1401705189.675193643, 15.051000000]: Returned 0 controllers in list
[ INFO] [1401705189.701750283, 15.078000000]: Trajectory execution is managing controllers
------------------------------------------------------------

And when I try to execute a trajectory:
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[ INFO] [1401707025.603108569, 1840.983000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ WARN] [1401707025.603503154, 1840.984000000]: Execution of motions should always start at the robot's current state. Ignoring the state supplied as start state in the motion planning request
[ INFO] [1401707025.603646224, 1840.984000000]: Planning attempt 1 of at most 1
[ INFO] [1401707025.635530213, 1841.016000000]: No planner specified. Using default.
[ INFO] [1401707025.639359584, 1841.020000000]: RRTConnect: Starting with 1 states
[ INFO] [1401707025.651260475, 1841.032000000]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1401707025.651287698, 1841.032000000]: Solution found in 0.012081 seconds
[ INFO] [1401707025.652430323, 1841.033000000]: Path simplification took 0.001072 seconds
[ INFO] [1401707025.654532713, 1841.034000000]: Returned 0 controllers in list
[ERROR] [1401707025.654571316, 1841.034000000]: Unable to identify any set of controllers that can actuate the specified joints: [ lwr_arm_0_joint lwr_arm_1_joint lwr_arm_2_joint lwr_arm_3_joint lwr_arm_4_joint lwr_arm_5_joint lwr_arm_6_joint ]
[ERROR] [1401707025.654630986, 1841.034000000]: Apparently trajectory initialization failed
[ INFO] [1401707025.682830172, 1841.064000000]: ABORTED: Solution found but controller failed during execution
------------------------------------------------------------

I was reading about similar problems and Sachin Chitta replied that the problem is in the namespaces, but I am not sure how to configure them properly.

Best regards,
Luis

[Luis Rubio]

Hello,

I have already found the solution. It is here: https://groups.google.com/forum/#!topic/moveit-users/zNRG50tHuuY

Best regards,
Luis