Can't execute path (ros2_control died)

[facontidavide]

Description

When launching the tutorial moveit2_tutorials demo.launch.py, I am unable to Execute a plan as describe here:

http://moveit2_tutorials.picknik.ai/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#executing-trajectories-adjusting-speed

I initially thought that it is related to the fact that the initial position of Panda is in collision (and that may play a role), but apparently there is a deeper problem with ros_control:

[ros2 run controller_manager spawner.py panda_arm_controller-7] [INFO] [1631810383.803703288] [spawner_panda_arm_controller]: Waiting for /controller_manager services
[ros2 run controller_manager spawner.py panda_hand_controller-8] [INFO] [1631810383.805819130] [spawner_panda_hand_controller]: Waiting for /controller_manager services
[ros2_control_node-5] [ERROR] [1631810383.820145184] [controller_manager]: The 'type' param not defined for 'joint_state_broadcaster'.
[ERROR] [ros2 run controller_manager spawner.py joint_state_broadcaster-9]: process has died [pid 12322, exit code 1, cmd 'ros2 run controller_manager spawner.py joint_state_broadcaster'].

Environment

• ROS Distro: Foxy
• OS Version: e.g. Ubuntu 20.04
• Binary

Steps to reproduce

Run

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true

Expected behaviour

I understand that this should be the initial configuration of the robot:

Backtrace or Console output

Full console output:
https://gist.github.com/facontidavide/4cb81f59be870da054494eb73e23ed7d

[facontidavide]

I found the problem: it is an outdated version of the package moveit_resources_panda_moveit_config.

The latest version in the repository (ros2 branch) works fine: https://github.com/ros-planning/moveit_resources/tree/ros2/panda_moveit_config

Therefore the solution is to simply release a new version of that package for Foxy 😄

[facontidavide]

A quick workaround would be to add the repository https://github.com/ros-planning/moveit_resources to file moveit2_tutorials.repos

[JafarAbdi]

Fixed by #115