Failed to start controller

Hi , I am trying the 1st part of the quiz, the controllers are loaded but failed to start.
Any clue on this problem? Thanks in advance.



Hello @brandon,

First of all, let me apologize for the late response. Were you able to solve this issue?

Best,

Hi @albertoezquerro , the issue has not been solved yet. Could you please advise? Thank you

Hello @brandon,

I’ve been doing some tests here and everything seems to be working OK. Here you can check the files I’ve used:

Launch file:

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find quiz_control)/config/quiz_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
	output="screen" ns="/ur5" args="joint_state_controller 
	                                shoulder_pan_joint_position_controller
					                        shoulder_lift_joint_position_controller
					                        elbow_joint_position_controller
					                        wrist_1_joint_position_controller
					                        wrist_2_joint_position_controller
					                        wrist_3_joint_position_controller
					                        "/>


</launch> 

Config file:

ur5:

  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  shoulder_pan_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_pan_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
    
  shoulder_lift_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_lift_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
    
  elbow_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: elbow_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  
  wrist_1_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_1_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
    
  wrist_2_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_2_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
    
  wrist_3_joint_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_3_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

Best,

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