机械臂moveit+gazebo 联合仿真报错

[Aquiver]

我按照古月居moveit视频里的操作进行配置，只是机器人描述文件换成了aubo_i5的，在运行时报如下错误：

目前能在gazebo和rviz中显示模型，但是点击execution，gazebo不会跟着运动。
由moveit配置助手生成的文件基本没有改动，只有改动了moveit_rviz.launch(也是因为一个报错，在网上找的解决办法)，还有就是aubo_i5_moveit_controller_manager.launch.xml文件，如下：

<launch>
 <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
 <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
 <!-- load controller_list -->
 <rosparam file="$(find aubo_i5_moveit_config)/config/controllers_gazebo.yaml"/>
</launch>

controllers_gazebo.yaml文件如下：

controller_manager_ns: controller_manager
controller_list:
  - name: aubo_i5_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - shoulder_joint
      - upperArm_joint
      - foreArm_joint
      - wrist1_joint
      - wrist2_joint
      - wrist3_joint

如下是moveit功能包李集成launch文件，moveit_planning_execution.launch

<launch>
 # The planning and execution components of MoveIt! configured to 
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find aubo_i5_moveit_config)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>

 # The visualization component of MoveIt!
 <include file="$(find aubo_i5_moveit_config)/launch/moveit_rviz.launch">
  <arg name="config" value="true" />
 </include>

  <!-- We do not have a robot connected, so publish fake joint states -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/> 
    <rosparam param="/source_list">[/aubo_i5/joint_states]</rosparam>
  </node>

</launch>

move_group.launch文件如下

<launch>

  <!-- GDB Debug Option -->
  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix"
           value="gdb -x $(find aubo_i5_moveit_config)/launch/gdb_settings.gdb --ex run --args" />

  <!-- Verbose Mode Option -->
  <arg name="info" default="$(arg debug)" />
  <arg unless="$(arg info)" name="command_args" value="" />
  <arg     if="$(arg info)" name="command_args" value="--debug" />

  <!-- move_group settings -->
  <arg name="pipeline" default="ompl" />
  <arg name="allow_trajectory_execution" default="true"/>
  <arg name="fake_execution" default="false"/>
  <arg name="fake_execution_type" default="interpolate" />
  <arg name="max_safe_path_cost" default="1"/>
  <arg name="jiggle_fraction" default="0.05" />
  <arg name="publish_monitored_planning_scene" default="true"/>

  <arg name="capabilities" default=""/>
  <arg name="disable_capabilities" default=""/>
  <!-- load these non-default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="capabilities" value="
                a_package/AwsomeMotionPlanningCapability
                another_package/GraspPlanningPipeline
                " />
  -->

  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
  <!--
  <arg name="disable_capabilities" value="
                move_group/MoveGroupKinematicsService
                move_group/ClearOctomapService
                " />
  -->

  <arg name="load_robot_description" default="true" />
  <!-- load URDF, SRDF and joint_limits configuration -->
  <include file="$(find aubo_i5_moveit_config)/launch/planning_context.launch">
    <arg name="load_robot_description" value="$(arg load_robot_description)" />
  </include>

  <!-- Planning Functionality -->
  <include ns="move_group" file="$(find aubo_i5_moveit_config)/launch/planning_pipeline.launch.xml">
    <arg name="pipeline" value="$(arg pipeline)" />
    <arg name="capabilities" value="$(arg capabilities)"/>
    <arg name="disable_capabilities" value="$(arg disable_capabilities)"/>
  </include>

  <!-- Trajectory Execution Functionality -->
  <include ns="move_group" file="$(find aubo_i5_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_manage_controllers" value="true" />
    <arg name="moveit_controller_manager" value="aubo_i5" unless="$(arg fake_execution)"/>
    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
  </include>

  <!-- Sensors Functionality -->
  <include ns="move_group" file="$(find aubo_i5_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
    <arg name="moveit_sensor_manager" value="aubo_i5" />
  </include>

  <!-- Start the actual move_group node/action server -->
  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <!-- Set the display variable, in case OpenGL code is used internally -->
    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />

    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />


    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
  </node>

</launch>

[小鱼]

@Aquiver 看起来是执行器的原因，可以检查一下action相关的服务是否存在，以及名称。

[Aquiver]

@小鱼 我刚接触到这 命令是像查话题列表那样吗
这里是话题列表

我试着在rviz中拖动执行，终端会报这个错

[Aquiver]

@小鱼 解决了 谢谢小鱼

[小鱼]

@Aquiver 咋解决的，好奇

[Aquiver]

@小鱼 是我的controllers_gazebo.yaml文件里面name那一行不对

[1769564038]

@Aquiver 大哥，我也是首先用古月居的anno跑了一遍，能在gazebo里面动起来。现在换成自己DIY的机械臂就报错了。
报错内容：

[ERROR] [1669167751.277877941, 37.752000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 ]
[ERROR] [1669167751.277897873, 37.752000000]: Known controllers and their joints:

[ERROR] [1669167751.277925647, 37.752000000]: Apparently trajectory initialization failed

大哥知道怎么解决么，我名字都对上了。具体的我在社区提问了，大哥，帮忙看看怎么回事嘛，感激不尽。

[2403849638]

@Aquiver 请问name那一行正确的应该是什么

[2636814605]

@1769564038 哥们这个问题解决了吗 我用自己机械臂配置rivz和gazebo联动 报错