[ROS Q&A] 178 - Add joint_trajectory_controller to your robot
Why Robotics Stack Exchange recommends it
Robotics Stack Exchange answerers point people to it when MoveIt or ros_control cannot find a controller to execute trajectories on a simulated arm.
Recommended by 2 people across 2 different months, 2019 to 2020.
What it is
A 15-minute ROS Q&A episode from The Construct showing how to add a joint_trajectory_controller to a simulated robot. It walks through the controller configuration and launch setup, with the code supplied in a linked ROSject.
What people said
Recommends Pawel_www · 2019-04 · Robotics Stack Exchange · on “MoveIt - unable to identify any set of controllers”
Hi Everyone! Actually i `m working with MoveIt! To start, I have watched this tutorial: [LINK] i did the same, i can see my robot in rviz (Kuka kr150 3100 prime), i can rotate and etc. But when i press "Execute", nothing happend - i only see error: [ERROR] [1555085718.387324665]: Unable to identify any set of controllers that can actuate the specified joints: [ base_link__link_01 link_01__link_02 link_02__link_03 link_03__link_04 link_04__link_05 link_05__link_06 ] [ERROR] [1555085718.387367066]: Known controllers and their joints: [ERROR] [1555085718.387435223]: Apparently trajectory initialization failed I try to check everything but nothing happend. Here are my files: controller.yaml cont
Recommends gvdhoorn-rse · 2020-05 · Robotics Stack Exchange · on “How to emulate a MoveJ, or MoveL movement using ROS?”
I could use roscontrol and simply send the joint target, but I believe it isn't going to result in the same motion/trajectory as a MoveJ command would. I believe its only some type of PID controller that increases the output based on the distance to target, which is not what I want. ros_control contains many controllers, you seem to describe (one variant of) the position_controller s? For trajectory based control, even if the trajectory contains only two points (ie: departure and destination), you could use the joint_trajectory_controller [LINK] . It tried using the planner from MoveIt, but it results in a crazy trajectory that's typically caused by misconfiguration (ie: too few constraints)
Cites Pradheep Krishna · 2019-08 · Robotics Stack Exchange · on “Generating UR5 Robot Package with Moveit Setup Assistant”
Hello, I guess you first need to add the joint_trajectory_controller configuration as described in this tutorial [LINK] . Also, don't forget to get the controllers running! Add them in your launch files. This should solve your problem I guess. Originally posted by pmuthu2s [LINK] with karma: 224 on 2019-08-05 This answer was ACCEPTED on the original site Post score: 1 Original comments Comment by Meric [LINK] on 2019-08-06 : Hello yes I found the solution as descriped in this tutorial. I created a package for gazebo launch similar to the tutorial, I made the neccasery launch files for Joint trajectory Controller and finished the tutorial. Now I can control robot with Rviz. However I cannot c