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I am trying to simulate a Husky robot with a UR5 Arm attached using this tutorial. I've managed to get the Husky with the UR5 attached in gazebo, but when I plan and execute an instruction to move the arm, it fails. I'm getting this error message:

Unable to identify any set of controllers that can actuate the specified joints: [ ur_arm_elbow_joint ur_arm_shoulder_lift_joint ur_arm_shoulder_pan_joint ur_arm_wrist_1_joint ur_arm_wrist_2_joint ur_arm_wrist_3_joint ] [ERROR] [1692315113.447379041, 1346.540000000]: Known controllers and their joints: [ERROR] [1692315113.447400973, 1346.540000000]: Apparently trajectory initialization failed

I pushed my code to this github repo. Please check it out. I've been stuck on this for a few days and would greatly appreciate some help.

I did notice that running roslaunch abc_husky_moveit_config husky_ur_moveit_planning_execution.launch gave me the following error messages:

Action client not connected: controller_1/follow_joint_trajectory and Action client not connected: controller_2/follow_joint_trajectory.

I noticed using rostopic list | grep controller that the ros topics for each controller appear while it outputs "waiting for controller_1/follow_joint_trajectory to come up" and then disappears after when it prints action client not found.

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The repository you've linked seems to assume that you have the appropriate controllers installed for ros_control to interface with. If you don't have them installed, this error can come up. You can install the basic ros_control controllers using

sudo apt install ros-<ros version>-ros-controllers

where '<ros version>' is your ros version (noetic, galactic, etc).

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  • $\begingroup$ I've already done this. I did notice that running roslaunch abc_husky_moveit_config husky_ur_moveit_planning_execution.launch gave me the following error messages: Action client not connected: controller_1/follow_joint_trajectory, Action client not connected: controller_2/follow_joint_trajectory. I noticed using rostopic list | grep 'controller that the ros topics for each controller appear while it outputs waiting for controller_1/follow_joint_trajectory to come up and then disappears after when it prints action client not connected. $\endgroup$ Commented Aug 20, 2023 at 1:07
  • $\begingroup$ @VivekA Then this is a very different error with information that would have been relevant to your question. The error "waiting for ___" comes up when an action is not available, which is often because of a namespacing issue: look for the action in a different namespace, and if it is there, move it (this could be caused by something as simple as a typo). If it isn't, find what should be providing that action and ensure it's being launched. $\endgroup$ Commented Aug 21, 2023 at 14:22

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