CODEWITHSUNDEEP
c++rosmoveit
nmpm
nmpm

Reputation: 11

ROS/ MoveIt! ERROR: Unable to identify any set of controllers that can actuate the specified joints

I've been trying to follow this tutorial to integrate quadcopters into MoveIt!

I need help trying to execute paths. I think I've done everything right till where I do the launch. When I launch, the RVIZ pops up and the quadcopter appears. Then I press 'plan' on the rviz and I can see a shadow moving from where my quadcopter is to where I want it to be (my goal). The problem is when I press 'execute', to actually go to the goal, I have the following errors:

[ERROR]: Unable to identify any set of controllers that can actuate the specified joints: [ virtual_joint ]

[ERROR]: Known controllers and their joints:
In which appears none, or it doesn't have any known controllers

And then I get the following info:

[INFO]: ABORTED: Solution found but controller failed during execution

I've tried searching online for this error, but I don't seem to find a solution. Can someone help me? Thanks in advance.

Upvotes: 1

Views: 4509

Answers (3)

Ee Jhun
Ee Jhun

Reputation: 1

You have to apply the modified files from Alessio's package over the original moveit simple controller manager package at https://github.com/ros-planning/moveit/tree/master/moveit_plugins. (i.e. clone the original repo for the simple controller manager first from the link then overwrite or add in the extra files present in Alessio's package). Then after this compile.

Upvotes: 0

Qasim
Qasim

Reputation: 1

Make sure that you are launching the gazebo.launch file created by moveit setup_assistant

Upvotes: -1

Rufus
Rufus

Reputation: 5566

Make sure you have the ros-controllers package installed

sudo apt install ros-melodic-ros-controllers

Upvotes: 2

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