UR Robotiq机器人平台搭建出现The list of joints for controller gripper is not specified as an array

原因

• moveit助手导出来的配置文件ros_controllers.yaml中robotiq的配置只有一个关节**【gripper_finger1_joint】** 前缺少一个 -

controller_list:
  - name: gripper
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - gripper_finger1_joint

最后一句话的区别，默认导出没有横向，导致不识别问一个关机组，后面控制执行也会出问题

controller_list:
  - name: gripper
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
     gripper_finger1_joint

完整的配置

# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
  joint_model_group: arm
  joint_model_group_pose: home0
# Settings for ros_control_boilerplate control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
    - gripper_finger1_joint
  sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50


controller_list:
  - name: gripper
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - gripper_finger1_joint
  - name: arm_controller
    action_ns: follow_joint_trajectory
    default: True
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint