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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)

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Failure to use Moveit package to control KRC4 Controller via RSI interface

ranjitkathiriya opened this issue · comments

commented

Hello there,

As of now, I have also established the connection between ROS and real robots. I can able to jog real robot from rqt_joint_trajectory_controller. I am facing an issue while connecting with MoveIt.

Even if I am running the robot rsi with sim:=true at that time, my robot is not moving in rviz when I press execute button. I can see the planning from start to goal and the same with a real robot. Any idea on this issue?

Can you please! through light on this issue?

Screenshot from 2021-03-30 10-21-30

commented

I forgot to add controller_list in ros_controllers.yaml file.

controller_list:
  - name: ""
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [joint_a1, joint_a2, joint_a3, joint_a4, joint_a5, joint_a6]