Cannot work correctly after "roslaunch jaco_on_table jaco_on_table_gazebo_controlled.launch"

[miyukin73]

Hi, thank you very much for the great work !
I wanted to grasp objects with jaco2, and this is very helpful !

However, I can't implement after
roslaunch jaco_on_table jaco_on_table_gazebo_controlled.launch

Jaco2 doesn't maintain the home position and collapses like do "roslaunch jaco_on_table jaco_on_table_gazebo.launch" as bellow.

Also, I tried to do "rosrun jaco_gazebo test_set_joint_state_publisher_vel 0 1", but I got the following error:

I'm using Ubuntu18.04.6 LTS, ROS Melodic and Gazebo v9.

How can I resolve the problem?

Thank you!

[JenniferBuehler]

That means the controller is not loaded. Can you send me the entire console output please?

[miyukin73]

Hi, @JenniferBuehler
Thank you for the reply.

The output as follows

The output includes the WARN comment
"[WARN] [1652250873.499562, 0.000000]: The 'use_gui' parameter was specified, which is deprecated. We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that. This backwards compatibility option will be removed in Noetic.".

However, I already did
"sudo apt install ros-melodic-joint-state-publisher-gui".
In fact, when did "sudo apt install ros-melodic-joint-state-publisher-gui", output as follows

How do I do?
Best regards.

[JenniferBuehler]

The GUI warning can be ignored. The controller is not loaded and I also can't see any output related to it.

As for the first error (couldn't find executable) it hints at that your catkin workspace is not sourced. Do a source <your ws>/devel/setup.sh and try again. Though that is not the reason the controller is not loaded.

I will have to have a closer look at this because it's a bit ago I worked on this code and I don't recall which lauch files are there to track errors down. At the moment I am not at my computer for a couple of weeks. I will let you know once I've had time to look. Meanwhile you can check out all lauch files that are there, and all tutorials for Jaco. Maybe you find what's not hooked up correctly. Sorry I can't be of quicker assistance at the moment.