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Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 出错

程序员文章站 2024-01-03 22:52:46
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有些小伙伴在运行

roslaunch marm_gazebo arm_bringup_moveit.launch

的时候,可能会出现如下错误

[ERROR] [1556172904.265708018, 73.989000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ]
[ERROR] [1556172904.265747504, 73.989000000]: Known controllers and their joints:

[ERROR] [1556172904.265815969, 73.989000000]: Apparently trajectory initialization failed

rviz中的机械臂控制可以动,而Gazebo的机械臂无法运动,

当时花了一个晚上时间查阅,也没查到什么?第二天一检查发现

主要是由于

arm_moveit_controller_manager.launch

文件中,下面这句话被注释掉了,大家取消掉就好了,路径见下图

<rosparam file="$(find marm_moveit_config)/config/controllers_gazebo.yaml"/>

Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 出错

最终显示效果如下:

Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 出错

希望能给大家节省点时间~不要像我一样

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