# How can I specify parameter '~moveit_controller_manager'?

I followed this tutorial: Basic ROS MoveIt! and Gazebo Integration

but when I launch moveit launch file from tutorial, I have error which says that I did not specify parameter '~moveit_controller_manager', but I did it in abb_irb120_3_58_moveit_controller_manager.launch.xml.

this is complete text of the error:

Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.

I did not create abb_irb120_3_58_moveit_controller_manager.launch.xml on my own, I just copied content from tutorial in launch.xml file.

this is content of abb_irb120_3_58_moveit_controller_manager.launch.xml:

<launch>
<group ns="/abb_120_moveit_ns">

<!-- load controller_list -->
<rosparam file="$(find abb_120_moveit)/config/ros_controllers.yaml"/> <!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>

</group>
</launch>


Does anyone knows what I have to do to specify parameter '~moveit_controller_manager'? I really do not have any idea anymore.

• What is the name of the node that is consuming that parameter? – adamconkey Jul 27 at 14:41