MoveItSimpleControllerManager: Action client not connected

[Tengfei Shan]

Hi all. I roslaunch the moveit_planning_execution.launch, but got some errors like this

    [ERROR] [1510493735.221182418]: MoveItSimpleControllerManager: Action client not connected: jakaUr/jaka_joint_controller/follow_joint_trajectory

 

Here are the related files

moveit_planning_execution.lsunch:

    <launch>

    <arg name="sim" default="true" />

      <arg name="robot_ip" unless="$(arg sim)" />

    

      <include file="$(find jaka_ur_moveit_config2)/launch/planning_context.launch" >

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

      </include>

 

     <group if="$(arg sim)">

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

      </group>

    

      <group unless="$(arg sim)">

        <include file="$(find [robot_interface_pkg])/launch/robot_interface.launch" >

          <arg name="robot_ip" value="$(arg robot_ip)"/>

        </include>

      </group>

 

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

    

      <include file="$(find jaka_ur_moveit_config2)/launch/move_group.launch">

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

      </include>

    

      <include file="$(find jaka_ur_moveit_config2)/launch/moveit_rviz.launch">

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

      </include>

      <include file="$(find jaka_ur_moveit_config2)/launch/default_warehouse_db.launch" />

    

    

    </launch>

the planning_context.launch

    <launch>

      <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->

      <arg name="load_robot_description" default="false"/>

      <!-- The name of the parameter under which the URDF is loaded -->

      <arg name="robot_description" default="robot_description"/>

    

      <!-- Load universal robot description format (URDF) -->

      <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find jaka_ur_description_pkg)/urdf/jaka.urdf.xacro'"/>

    

      <!-- The semantic description that corresponds to the URDF -->

      <param name="$(arg robot_description)_semantic" textfile="$(find jaka_ur_moveit_config2)/config/jakaUr.srdf" />

      <!-- Load updated joint limits (override information from URDF) -->

      <group ns="$(arg robot_description)_planning">

        <rosparam command="load" file="$(find jaka_ur_moveit_config2)/config/joint_limits.yaml"/>

      </group>

    

      <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->

      <group ns="$(arg robot_description)_kinematics">

        <rosparam command="load" file="$(find jaka_ur_moveit_config2)/config/kinematics.yaml"/>

      </group>

    

    </launch>

the robot_interface_simulator.launch

      <!-- industrial_robot_simulator: accepts robot commands and reports status -->

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

    

      <!-- joint_trajectory_action: provides actionlib interface for high-level robot control -->

      <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action"/>

    

    </launch>

Here is the output of `rostopic list `

    ![/attached_collision_object

    /collision_object

    /execute_trajectory/cancel

    /execute_trajectory/feedback

    /execute_trajectory/goal](/upfiles/1510498793189035.jpeg)

    /execute_trajectory/result

    /execute_trajectory/status

    /feedback_states

    /joint_path_command

    /joint_states

    /joint_trajectory_action/cancel

    /joint_trajectory_action/feedback

    /joint_trajectory_action/goal

    /joint_trajectory_action/result

    /joint_trajectory_action/status

    /move_group/cancel

    /move_group/display_contacts

    /move_group/display_planned_path

    /move_group/feedback

    /move_group/goal

    /move_group/monitored_planning_scene

    /move_group/ompl/parameter_descriptions

    /move_group/ompl/parameter_updates

    /move_group/plan_execution/parameter_descriptions

    /move_group/plan_execution/parameter_updates

    /move_group/planning_scene_monitor/parameter_descriptions

    /move_group/planning_scene_monitor/parameter_updates

    

        /move_group/result

    /move_group/sense_for_plan/parameter_descriptions

    /move_group/sense_for_plan/parameter_updates

    /move_group/status

    /move_group/trajectory_execution/parameter_descriptions

    /move_group/trajectory_execution/parameter_updates

    /pickup/cancel

    /pickup/feedback

    

        /pickup/goal

    /pickup/result

    /pickup/status

    /place/cancel

    /place/feedback

    /place/goal

    /place/result

    /place/status

    /planning_scene

    /planning_scene_world

    /recognized_object_array

    /robot_status

    /rosout

    /rosout_agg

    /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback

    /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update

    /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full

    /rviz_shantengfei_pc_5217_6285278760314515870/motionplanning_planning_scene_monitor/parameter_descriptions

    /rviz_shantengfei_pc_5217_6285278760314515870/motionplanning_planning_scene_monitor/parameter_updates

    /tf

    /tf_static

    /trajectory_execution_event

the picture is the output of `rosrun rqt_graph rqt_graph`.I searched the similar quesition [here](https://answers.ros.org/question/208936/error-while-running-move_grouplaunch-moveitsimplecontrollermanager-action-client-not-connected-arm_controllerfollow_joint_trajectory/) [here](https://answers.ros.org/question/215689/moveit-action-client-not-connected/)  but I cannot solve my problem.Could anyone give me some suggestions? Thank you!


update:

I tried to solve it  but I have some new problem. The origin controllers.yaml is 

    controller_manager_ns: controller_manager

    controller_list:

      - name: "jakaUr/jaka_joint_controller"

        action_ns: followJointTrajectory

        type: FollowJointTrajectory

        default: true

        joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

and the node name is joint_trajectory_action which means the neither namespace nor node name is incorrect.When I changed them like this:

    controller_manager_ns: controller_manager

    controller_list:

      - name: "jakaUr/jaka_joint_controller"

    #  - name: ""

    #    action_ns: follow_joint_action

        action_ns: joint_trajectory_action

        type: FollowJointTrajectory

        default: true

        joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

and give the node namespace 

     <node pkg="industrial_robot_client" type="joint_trajectory_action" ns="/jakaUr/jaka_joint_controller"

      name="joint_trajectory_action" />

Then I can roslaunch the moveit_planning_execution.launch successfully.But when I tried to plan and execute in moveit there is a new error:

    [ERROR] [1510672503.652414351]: Joint trajectory action rejected: waiting for (initial) feedback from controller

    [ WARN] [1510672503.652650798]: Controller jakaUr/jaka_joint_controller failed with error code INVALID_GOAL

    [ WARN] [1510672503.652747577]: Controller handle jakaUr/jaka_joint_controller reports status FAILED

I guess  the problem is sbout something like wrong namespace .I have spent a couple of days on this problem and still cannot solve it. Could someone can give me some suggestions? thanks!