robot's Issues
ERROR: cannot launch node of type [controller_manager/spawner]: controller_manager
Solved by:
sudo apt-get install ros-kinetic-controller-manager
Could not load controller 'FrontLeft_controller' because the type was not specified.
Encountered when launch demo_gazebo.launch, the full error is shown below:
[INFO] [1595636818.586091, 0.508000]: Loading controller: FrontRight_controller
[ERROR] [1595636818.590221741, 0.512000000]: Could not load controller 'FrontRight_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/FrontRight_controller')?
[ERROR] [1595636819.591429, 1.510000]: Failed to load FrontRight_controller
[WARN] Controller Spawner couldn't find the expected controller_manager ROS interface.
Solved by:
sudo apt-get install ros-kinetic-gazebo-ros-control
[ INFO] [1594950224.565525909, 542.825000000]: ABORTED: No motion plan found. No execution attempted.
The following result is showed after executing the leg joints with cartesion coordinates on the execution code.
[ INFO] [1594950224.565525909, 542.825000000]: ABORTED: No motion plan found. No execution attempted.
And on the Gazebo terminal it shows:
[ INFO] [1594949725.713965457, 72.961000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1594949730.716687957, 77.697000000]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1594949730.716766302, 77.697000000]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1594949730.716816437, 77.697000000]: No solution found after 5.002959 seconds
[ INFO] [1594949730.721208981, 77.701000000]: Unable to solve the planning problem
[ INFO] [1594949730.721767843, 77.702000000]: Received event 'stop'
The code used for executing the leg joints are as follows:
...
coords = np.arange(-0.001, 0.001, 100)
for offset in coords:
curr_pose = move_group.get_current_pose().pose
pose_goal = geometry_msgs.msg.Pose()
pose_goal.position.x = curr_pose.position.x + offset
pose_goal.position.y = curr_pose.position.y
pose_goal.position.z = curr_pose.position.z + offset
pose_goal.orientation.x = curr_pose.orientation.x
pose_goal.orientation.y = curr_pose.orientation.y
pose_goal.orientation.z = curr_pose.orientation.z
pose_goal.orientation.w = curr_pose.orientation.w
move_group.set_pose_target(pose_goal)
move_group.go(pose_goal, wait=True)
move_group.stop()
...
ROS: Could not load controller 'joint_state_controller' because controller type 'joint_state_control
Solved by:
sudo apt-get install ros-indigo-position-controllers
Warning: indigo is for another version, is use ubuntu-16 use sudo apt-get install ros-kinetic-position-controllers
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