Franka example controller does not move the robot #408
Description
System Information:
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Distributor ID: Ubuntu
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Description: Ubuntu 20.04.6 LTS
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Release: 20.04
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Codename: focal
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Kernel:
- Linux FrankaPC 5.9.1-rt20 1 SMP PREEMPT_RT
Software Versions:
- libfranka: 0.8.0-1 amd64, built using CMake
- franka_ros: HEAD detached at 0.8.0 (installed from source). Tried with 0.9.0 as well.
- Franka Panda Firmware: 4.0.4 85d7ded8f9
- Installed Features:
- Franka Control Interface (FCI)
- Research Apps
- Mode: Blue Light on Franka
- IP: 172.16.0.2
Problem:
When launching one of the example controllers (roslaunch franka_example_controllers elbow_example_controller.launch robot_ip:=172.16.0.2 load_gripper:=true robot:=panda), the controllers do not load, and the visualization in RViz shows all links at the origin, with no joint_states being published.
Nodes started:
/franka_control/franka_gripper/robot_state_publisher/rosout/rviz
Topics published:
/franka_control/error_recovery/cancel/franka_control/error_recovery/feedback/franka_control/error_recovery/goal/franka_control/error_recovery/result/franka_control/error_recovery/status/franka_gripper/grasp/cancel/franka_gripper/grasp/feedback/franka_gripper/grasp/goal/franka_gripper/grasp/result/franka_gripper/grasp/status/franka_gripper/gripper_action/cancel/franka_gripper/gripper_action/feedback/franka_gripper/gripper_action/goal/franka_gripper/gripper_action/result/franka_gripper/gripper_action/status/franka_gripper/homing/cancel/franka_gripper/homing/feedback/franka_gripper/homing/goal/franka_gripper/homing/result/franka_gripper/homing/status/franka_gripper/joint_states/franka_gripper/move/cancel/franka_gripper/move/feedback/franka_gripper/move/goal/franka_gripper/move/result/franka_gripper/move/status/franka_gripper/stop/cancel/franka_gripper/stop/feedback/franka_gripper/stop/goal/franka_gripper/stop/result/franka_gripper/stop/status/initialpose/joint_states/move_base_simple/goal/rosout/rosout_agg/tf/tf_static
Logs & Behavior:
/franka_gripper/joint_statesis logging real-time joint data of the gripper./joint_statesis empty:- Type:
sensor_msgs/JointState - Publishers: None
- Subscribers:
/robot_state_publisher(http://FrankaPC:38477/)
- Type:
Where (I think) the Failure Occurs:
At the following part of the launch file:
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="true" output="screen" args="franka_state_controller"/>The ranka_state_controller is not initialized and not running.
When trying to manually run the controller using the following command:
rosrun controller_manager spawner franka_state_controllerThe input of the terminal freezes and I cannot stop the process from the terminal.
Any tips very much appreciated!