Greetings, I have followed all the tutorial, however I am still getting two error. Please ask me if you need any file from my side.
Error 1
Group ‘gripper’ is not a chain
Kinematics solver of type ‘kdl_kinematics_plugin/KDLKinematicsPlugin’ could not be initialized for group ‘gripper’
Kinematics solver could not be instantiated for joint group gripper.
Error 2
Traceback (most recent call last):
File “basic_concepts.py”, line 21, in
group.set_joint_value_target(group_variable_values)
File “/opt/ros/noetic/lib/python3/dist-packages/moveit_commander/move_group.py”, line 228, in set_joint_value_target
raise MoveItCommanderException(“Error setting joint target. Is the target within bounds?”)
moveit_commander.exception.MoveItCommanderException: Error setting joint target. Is the target within bounds?
I would also like to share my launch file
and
ros_controllers.yaml
Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
joint_model_group: arm
joint_model_group_pose: home
Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
loop_hz: 300
cycle_time_error_threshold: 0.01
Settings for ros_control hardware interface
hardware_interface:
joints:
- l_wheel_joint
- r_wheel_joint
- torso_lift_joint
- bellows_joint
- head_pan_joint
- head_tilt_joint
- shoulder_pan_joint
- shoulder_lift_joint
- upperarm_roll_joint
- elbow_flex_joint
- forearm_roll_joint
- wrist_flex_joint
- wrist_roll_joint
- l_gripper_finger_joint
- r_gripper_finger_joint
sim_control_mode: 1 # 0: position, 1: velocity
Publish all joint states
Creates the /joint_states topic necessary in ROS
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
controller_list:
- name: arm_controller
action_ns: follow_joint_trajectory
default: True
type: FollowJointTrajectory
joints:- shoulder_pan_joint
- shoulder_lift_joint
- upperarm_roll_joint
- elbow_flex_joint
- forearm_roll_joint
- wrist_flex_joint
- wrist_roll_joint
- name: gripper_controller
action_ns: gripper_action
default: True
type: GripperCommand
joints:- l_gripper_finger_joint
- r_gripper_finger_joint