Cannot find controller.yaml in branch calibration_devel

[miguelriemoliveira]

Cannot find controller.yaml to set scaled_pos_traj_controller/follow_joint_trajectory

My issue is very similar to #55.

I launch

roslaunch ur_gazebo ur10e_bringup.launch

And then:

roslaunch ur10e_moveit_config ur10e_moveit_planning_execution.launch sim:=true

and I get in the terminal of the ur10e_moveit_planning_execution the following:

[WARN] [1623365383.002014252, 110.328000000]: Waiting for scaled_pos_joint_traj_controller/follow_joint_trajectory to come up
[ERROR] [1623365389.012152958, 116.328000000]: Action client not connected: scaled_pos_joint_traj_controller/follow_joint_trajectory

From what I read in #55, that issue was solved for multiple people with the suggestion in #55 (comment)

The solution was to change the content of file controllers.yaml.

The problem is: i do not have this file!

I followed the installation guidelines in the readme, where it says at some point we must install the
fmauch/universal_robot.git in particular branch calibration_devel, i.e.:

git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot

From what I found, I think that this particular branch calibration_devel does not have this file controllers.yaml. The closest thing I find is the ros_controllers.yaml, but I don't think this is it.

I looked around and there is a branch calibration that does have this file, but then it also has the ur_msgs which collide with the the one that must be installed because of the noetic distro (ros-industrial/ur_msgs#13).

Should I use a different branch from https://github.com/fmauch/universal_robot? If so which one?

Thanks in advance.

Versions

• ROS Noetic:

[fmauch]

When using gazebo, this driver is not in the loop anymore!

Therefore, the workaround proposed in #55 (comment) doesn't help, there. Also, with the current version of calibration_devel this should not be necessary anymore.

If you look at the lauch file, notice that it has a sim flag: https://github.com/fmauch/universal_robot/blob/calibration_devel/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch

If launched with sim:=true it will remap the trajectory action namespace to /arm_controller/follow_joint_trajectory which is the one specified in the gazebo configuration which is obviously wrong as I just realize.

However, as this is not related to the driver, but only https://github.com/fmauch/universal_robot/blob/calibration_devel I'll close this issue here. Feel free to open a new issue on https://github.com/fmauch/universal_robot/blob/calibration_devel

[miguelriemoliveira]

Hi @fmauch ,

thank you for the reply. I tried again today and was able to make it work. In my configuration the file

https://github.com/fmauch/universal_robot/blob/calibration_devel/ur10e_moveit_config/launch/ur10e_moveit_planning_execution.launch

does not work as it is (I am setting the sim flag to true).

Not sure why but in my gazebo the name of the action is not /arm_controller/follow_joint_trajectory, but rather /pos_joint_traj_controller/follow_joint_trajectory, so I had to change the launch file like this:

 <!-- Remap follow_joint_trajectory -->
  <!--  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>-->
  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>

This works fine. Thanks again for the help.

Miguel

[fmauch]

The file you linked has been changed earlier today. As I said in #402 (comment) the arm_controller was wrong, which I fixed in fmauch/universal_robot@5de2e5d

[miguelriemoliveira]

Hi @fmauch,

Sorry, I did not understand that you had already commited the correct remapping.

Thanks once again.