Revision history [back]

Hey,

because I was scratching my head on the same error, here my solution if you use Gazebo and MoveIt:

First you have to load and spawn the controller in your start_robot_in_gazebo.launch when starting gazebo. For example:

<rosparam file="$(find GAZEBO_PKG)/config/gazebo_controllers.yaml" command="load"/>
<node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>

With the gazebo_controllers.yaml something like:

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - joint_1
    - joint_2
    - ...

Now first launch gazebo:

$ roslaunch GAZEBO_PKG start_robot_in_gazebo.launch

When using MoveIt with

(two consoles)
$ roslaunch MOVIT_CONFIG_PKG moveit_planning_execution.launch sim:=true
$ roslaunch MOVIT_CONFIG_PKG moveit_rviz.launch config:=true

With the moveit_planning_execution.launch looking like this:

<launch>
    <arg name="sim" default="false" />
    <arg name="debug" default="false" />

    <!-- Remap follow_joint_trajectory -->     
    <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
ddfg
    <!-- Launch moveit -->
    <include file="$(find MOVIT_CONFIG_PKG)/launch/move_group.launch">
        <arg name="debug" default="$(arg debug)"/>
    </include>
</launch>

Important: you have to check your auto-generated MOVIT_CONFIG_PKG/config/ros_controllers.yaml-File to have the same controller_list-name (here: arm_controller) as in your gazebo_controllers.yaml:

controller_list:
  - name: arm_controller  
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - joint_1
      - joint_2
      - ...

Hope I could help someone

Robert