Unable to identify any set of controllers that can actuate the specified joints:

布鲁斯杰

版本：ros1
系统：ubuntu18.04
类型：自建4自由度机械臂模型

**错误：不能找到相应的关节，可以打开gazebo, 和Rviz, 也能在Rviz 里面拖动，但是拖动的时候gazebo里面没有相应的动作。
报错：
[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

另外，自己使用古月居的robot_anno配置成功过，现在换成自己DIY的机械臂导成URDF过后经过moveit配置以及修改确动不起来，还请大佬帮忙解决疑惑，感激不尽。

下面放出moveit_config和gazebo的主要配置文件

src/robot_gazebo/config/robot_trajectory_control.yaml
src/robot_gazebo/config/robot_gazebo_joint_states.yaml

3.src/robot_gazebo/launch/robot_trajectory_control.launch

src/robot_gazebo/launch/robot_gazebo_states.launch
src/my_robot_moveit_config/config/controllers_gazebo.yaml
src/my_robot_moveit_config/launch/my_robot_moveit_controller_manager.launch.xml

小鱼

@1769564038
1.第一张图片是启动什么指令报的错
2.你的目的是让自己配置的机械臂点击exevute的时候在rviz中动起来是吗？如果是其实这个通过的是fake_controller进行的
3.提供一下rqt_grapher、rostopic list 、rostopic echo /joint_states 的结果和你的机械臂的urdf文件，你的错误应该是某一个类型对不上造成的，需要进一步检查

另外请尽量复制粘贴代码，我这边好方便引用和检索。

@小鱼在提问前必看！一定要看！必须看一下！中说：

一个好的提问不仅能够帮助自己理清楚问题，还有助于别人快速帮助到你。——提问的智慧

问题一定要描述清楚，终端打印一定复制粘贴（你可以在linux系统上打开浏览器进社区）
基本的Markdown语法一定要学习下，有的小伙伴图片代码一团糟
提问时一定要提供尽可能多的信息(系统版本，ROS版本，前后操作，终端日志)，包括你的目的，比如你其实想装装某个库遇到问题，不要只说这个问题，因为可能有更好的替代方案
先搜索再提问，很多问题其实都有解决方案，确保你自己对自己的问题有一定了解再提问
尽量一句话说完，不要把社区当微信聊天一样用，每一个回复都尽量提供更多的的信息。

布鲁斯杰

@小鱼

roslaunch robot_gazebo robot_bringup_moveit.launch
这是我启动的指令，然后在rviz里面点击execute的时候报的错误如下错误

[ERROR] [1669182292.117079150, 31.722000000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 ]
[ERROR] [1669182292.117153787, 31.722000000]: Known controllers and their joints:

[ERROR] [1669182292.117213348, 31.722000000]: Apparently trajectory initialization failed

我是想在gazebo里面动起来，通过rvize界面发送指令让仿真机械臂动起来。

## rostopic list

(base) huangjie@huangjie-Legion-Y7000P-IAH7:~$ rostopic list
/attached_collision_object
/clock
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/my_robot/joint_states
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/probot_anno/joint_states
/recognized_object_array
/rosout
/rosout_agg
/rviz_huangjie_Legion_Y7000P_IAH7_6963_1349828747475093352/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_huangjie_Legion_Y7000P_IAH7_6963_1349828747475093352/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/tf
/tf_static
/trajectory_execution_event

## rostopic echo /joint_states

(base) huangjie@huangjie-Legion-Y7000P-IAH7:~$ rostopic echo /joint_states
header: 
  seq: 3954
  stamp: 
    secs: 395
    nsecs: 401000000
  frame_id: ''
name: [joint_1, joint_2, joint_3, joint_4]
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []
---
header: 
  seq: 3955
  stamp: 
    secs: 395
    nsecs: 500000000
  frame_id: ''
name: [joint_1, joint_2, joint_3, joint_4]
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []
---
header: 
  seq: 3956
  stamp: 
    secs: 395
    nsecs: 600000000
  frame_id: ''
name: [joint_1, joint_2, joint_3, joint_4]
position: [0.0, 0.0, 0.0, 0.0]
velocity: []
effort: []

小鱼

@1769564038 在 Unable to identify any set of controllers that can actuate the specified joints: 中说：
贴一下你的robot_bringup_moveit.launch内容，另外如果是控制gazebo的机械臂需要gazebo来提供joint_states和actionserver,所以你要提供下rqt_graph,确定下gazebo是否正常再检查moveit这边

rqt_graph别忘记了

@小鱼在 Unable to identify any set of controllers that can actuate the specified joints: 中说：

3.提供一下rqt_grapher

布鲁斯杰

@小鱼
不好意思鱼哥，等久了，我终于把我的grapher调出来了。
rqt_grapher

tf_tree

布鲁斯杰

@小鱼

1. 这是我robot_bringup_moveit.launch 的内容

<launch>

    <!-- 1. Launch Gazebo -->
    <include file="$(find robot_gazebo)/launch/my_robot_gazebo_xacro.launch" />

    <!-- 2. ros_control arm launch -->
    <include file="$(find robot_gazebo)/launch/robot_gazebo_states.launch" />

    <!-- 3. ros_control trajectory -->
    <include file="$(find robot_gazebo)/launch/robot_trajectory_control.launch" />

    <!-- 4. moveit launch -->
    <include file="$(find my_robot_moveit_config)/launch/moveit_planning_execution.launch" />

</launch>

2.这是src/robot_gazebo/launch/robot_gazebo_states.launch

<launch>
    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
    <rosparam file="$(find robot_gazebo)/config/robot_gazebo_joint_states.yaml" command="load"/>

    <node name="joint_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/my_robot" args="joint_state_controller" />

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
        <remap from="/joint_states" to="/my_robot/joint_states" />
    </node>

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
    
    <!-- 运行robot_state_publisher节点，发布tf   -->
    <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->

</launch>

3. src/robot_gazebo/launch/robot_trajectory_control.launch

<launch>

    <rosparam file="$(find robot_gazebo)/config/robot_trajectory_control.yaml" command="load"/>

    <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/my_robot" args="arm_joint_controller"/>

</launch>

4. src/robot_gazebo/config/robot_gazebo_joint_states.yaml

my_robot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

5.src/robot_gazebo/config/robot_trajectory_control.yaml

my_robot:
  arm_joint_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4

    gains:
      joint_1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_2:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_3:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_4:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

布鲁斯杰

@1769564038 在 Unable to identify any set of controllers that can actuate the specified joints: 中说：

@小鱼

1. 这是我robot_bringup_moveit.launch 的内容

<launch>

    <!-- 1. Launch Gazebo -->
    <include file="$(find robot_gazebo)/launch/my_robot_gazebo_xacro.launch" />

    <!-- 2. ros_control arm launch -->
    <include file="$(find robot_gazebo)/launch/robot_gazebo_states.launch" />

    <!-- 3. ros_control trajectory -->
    <include file="$(find robot_gazebo)/launch/robot_trajectory_control.launch" />

    <!-- 4. moveit launch -->
    <include file="$(find my_robot_moveit_config)/launch/moveit_planning_execution.launch" />

</launch>

2.这是src/robot_gazebo/launch/robot_gazebo_states.launch

<launch>
    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
    <rosparam file="$(find robot_gazebo)/config/robot_gazebo_joint_states.yaml" command="load"/>

    <node name="joint_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/my_robot" args="joint_state_controller" />

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
        <remap from="/joint_states" to="/my_robot/joint_states" />
    </node>

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> -->
    
    <!-- 运行robot_state_publisher节点，发布tf   -->
    <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->

</launch>

3. src/robot_gazebo/launch/robot_trajectory_control.launch

<launch>

    <rosparam file="$(find robot_gazebo)/config/robot_trajectory_control.yaml" command="load"/>

    <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/my_robot" args="arm_joint_controller"/>

</launch>

4. src/robot_gazebo/config/robot_gazebo_joint_states.yaml

my_robot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

5.src/robot_gazebo/config/robot_trajectory_control.yaml

my_robot:
  arm_joint_controller:
    type: "position_controllers/JointTrajectoryController"
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4

    gains:
      joint_1:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_2:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_3:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
      joint_4:   {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}

6. src/my_robot_moveit_config/config/controllers_gazebo.yaml

controller_manager_ns: controller_manager
controller_list:
  - name: my_robot/arm_joint_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4

7. src/my_robot_moveit_config/launch/my_robot_moveit_controller_manager.launch.xml

<launch>
  <!-- Define the controller manager plugin to use for trajectory execution -->
  <!-- <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> -->
  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>

  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>

  <!-- loads controller list to the param server -->
  <rosparam file="$(find my_robot_moveit_config)/config/controllers_gazebo.yaml"/>


</launch>

布鲁斯杰

问题已解决，主要问题是gazebo里面没有添加gazebo标签。

小鱼

@1769564038 棒，这种复杂的问题，可以就是一块块的检查，你的gazebo这边的rqt_graph看起来就是不正常的，啥都没提供。

扶苏

@1769564038 您好，请问哪个文件里没有添加gazebo标签，能具体说一下吗

ㅤ

@1769564038 大佬，我也遇到了和你相同的问题，可以具体说一下解决方法吗，感激不尽。