Moveit Planning Execution DX100 MH6 Robot

[Sinaí Aranda]

Hi,

I create a moveit package for MH6-10 motoman robot, I follow these tutorials:

• controller_configuration
  
• Create_a_MoveIt_Pkg_for_an_Industrial_Robot

I run moveit_planning_execution.launch with replace paths of controllers.yaml and robot_interface_streaming_dx100.launch

After, I call service enable_robot. While in terminal previous 'Failed to find topic_list parameter', 'Action client not connected: R1 (robot group)/joint_trajectory_action' and load it.

Robot simulation in Rviz and real robot are in the same position. Real robot can moving with move_to_joint.py of package motoman_driver and the simulation robot the follow to same position. But, planning from Rviz to execute in real robot appears 'Failed' and in terminal 'Unable to identify any set of controllers that can actuate the specifield joints: [ ... ]  Known controllers and their joints:'

How can I resolve this problem? THANKS!