Hello world,
I am running into the issue of not being able to load my controllers and I am getting this error:
[ERROR] [1562494434.299706787, 0.160000000]: Could not load controller 'gimbal_r_joint_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/firefly/vi_sensor/gimbal_r_joint_position_controller')?
[ERROR] [1562494435.300931, 1.160000]: Failed to load gimbal_r_joint_position_controller
[INFO] [1562494435.301550, 1.160000]: Loading controller: gimbal_p_joint_position_controller
[ERROR] [1562494435.304706403, 1.170000000]: Could not load controller 'gimbal_p_joint_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/firefly/vi_sensor/gimbal_p_joint_position_controller')?
[ERROR] [1562494436.305523, 2.170000]: Failed to load gimbal_p_joint_position_controller
[INFO] [1562494436.306111, 2.170000]: Loading controller: gimbal_y_joint_position_controller
[ERROR] [1562494436.308813421, 2.170000000]: Could not load controller 'gimbal_y_joint_position_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/firefly/vi_sensor/gimbal_y_joint_position_controller')?
[ERROR] [1562494437.310188, 3.170000]: Failed to load gimbal_y_joint_position_controller
[INFO] [1562494437.310789, 3.170000]: Loading controller: joint_state_controller
[ERROR] [1562494437.313623297, 3.170000000]: Could not load controller 'joint_state_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/firefly/vi_sensor/joint_state_controller')?
[ERROR] [1562494438.314230, 4.080000]: Failed to load joint_state_controller
I get this error for each of the controllers that I am trying to load. I am able to see that they type is loaded to the param server under the correct namespace when I run "rosparam list":
> j*******@j********:~/rotors_ws$ rosparam list /vi_sensor
> /vi_sensor/gimbal_p_joint_position_controller/joint
> /vi_sensor/gimbal_p_joint_position_controller/pid/d
> /vi_sensor/gimbal_p_joint_position_controller/pid/i
> /vi_sensor/gimbal_p_joint_position_controller/pid/p
> /vi_sensor/gimbal_p_joint_position_controller/type
> /vi_sensor/gimbal_r_joint_position_controller/joint
> /vi_sensor/gimbal_r_joint_position_controller/pid/d
> /vi_sensor/gimbal_r_joint_position_controller/pid/i
> /vi_sensor/gimbal_r_joint_position_controller/pid/p
> /vi_sensor/gimbal_r_joint_position_controller/type
> /vi_sensor/gimbal_y_joint_position_controller/joint
> /vi_sensor/gimbal_y_joint_position_controller/pid/d
> /vi_sensor/gimbal_y_joint_position_controller/pid/i
> /vi_sensor/gimbal_y_joint_position_controller/pid/p
> /vi_sensor/gimbal_y_joint_position_controller/type
> /vi_sensor/joint_state_controller/publish_rate
> /vi_sensor/joint_state_controller/type
Here is my .yaml file.
vi_sensor:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
gimbal_r_joint_position_controller:
type: effort_controllers/JointPositionController
joint: gimbal_r_joint
pid: {p: 100.0, i: 1.0, d: 25.0}
gimbal_p_joint_position_controller:
type: effort_controllers/JointPositionController
joint: gimbal_p_joint
pid: {p: 100.0, i: 1.0, d: 13.0}
gimbal_y_joint_position_controller:
type: effort_controllers/JointPositionController
joint: gimbal_y_joint
pid: {p: 100.0, i: 1.0, d: 13.0}
The file is loaded by the following line:
<rosparam file="$(find rotors_gazebo)/config/gimbal_control.yaml" command="load" ns="/firefly/vi_sensor"/>
I have tried many many things to help make this gimbal work, but this is what is stopping me from moving forward. I am able to make the gimbal work when it is not attached to a drone, so I know that it works correctly; however, when it is attached to the drone I run into this error. I am guessing it is a namespace issue, but I am not sure what it is.
Any help is appreciated. Thank you!!
Originally posted by crazy_computer on ROS Answers with karma: 36 on 2019-07-06
Post score: 1
Original comments
Comment by jayess on 2019-07-06:
Can you please edit your question using the preformatted text (101010) button (which is for code/terminal output/etc.) instead using the quotation (") button, which is for quoting. It'll make your question easier to read.
Comment by crazy_computer on 2019-07-07:
Just made those edits, thank you!