moveit Action client not connected: xxx_controller/follow_joint_trajectory

用moveit配置好后需要修改simple_moveit_controllers.yaml这个文件，把控制器的名称换成自己定义好的，例如我这里定义好了控制器robot_joint_controller

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50  

robot_joint_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - j_1
    - j_2
    - j_3
    - j_4
    - j_5
    - j_6
    - j_7

之后我会在launch文件中加载这个控制器

  <node name="ros_control_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="joint_state_controller robot_joint_controller" />

但是自动生成moveit配置文件里面的simple_moveit_controllers.yaml里面的控制器是这样的

controller_list:
  - name: right_arm_controller  # 不是我定义的 robot_joint_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: True
    joints:
      - j_1
      - j_2
      - j_3
      - j_4
      - j_5
      - j_6
      - j_7

所以要把这里面的right_arm_controller改成我定义的robot_joint_controller，这样就可以了

controller_list:
  - name: robot_joint_controller	# fixed
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: True
    joints:
      - j_1
      - j_2
      - j_3
      - j_4
      - j_5
      - j_6
      - j_7

😁