Unable to implement control on MoveIt: Parameter '~moveit_controller_manager' not specified

Question

I am struggling to implement a joint_trajectory_controller on Moveit.

I have:

1. Set up my controllers.yaml file

controller_list:
       - name: /nymble_arm_controller
         action_ns: joint_trajectory_action
         type: FollowJointTrajectory
         default: true
         joints:
             - base_swivel
             - arm_joint
             - elbow_joint  
             - wrist_pitch
             - wrist_yaw
             - wrist_roll
           

2.Implemented an action server node for joint_trajectory_action interface.

Action server I have implemented is from here

3.Created a moveit_planning_execution launch file as described here

This launch file contains the required controller_manager.launch file described here

4.Created a launch file to start action server and included above launch file.

I have gone through all the similar questions asked before but none has helped me.

Will be grateful for some help.

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Originally posted by rohin on ROS Answers with karma: 99 on 2016-06-16

Post score: 0

Answer 1

The mistake I was making was that the controller.launch file was not named in the following convention:

"robotname"_moveit_controller_manager.launch.xml

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Originally posted by rohin with karma: 99 on 2016-06-16

This answer was ACCEPTED on the original site

Post score: 0