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,
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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I’m still having the same problem. I’ve reviewed my launch and yaml files - they seem to be the same as yours (I emailed them yesterday - had a note in another topic). Any suggestions?
Thanks,
/K
Just to close the loop - I was able to solve this.
See note at this post: Quiz help - failed to load joint_position_controller
/K
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