Action client not connected: franka_state_controller/follow_joint_tr

(base) bionic@bionic-DL:~$ rostopic list
/attached_collision_object
/camera/depth_registered/points
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/joint_states
/joint_states_desired
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/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
/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
/position_joint_trajectory_controller/command
/position_joint_trajectory_controller/follow_joint_trajectory/cancel
/position_joint_trajectory_controller/follow_joint_trajectory/feedback
/position_joint_trajectory_controller/follow_joint_trajectory/goal
/position_joint_trajectory_controller/follow_joint_trajectory/result
/position_joint_trajectory_controller/follow_joint_trajectory/status
/position_joint_trajectory_controller/state
/rosout
/rosout_agg
/rviz_bionic_DL_12366_768688103650989075/planningscene_planning_scene_monitor/parameter_descriptions
/rviz_bionic_DL_12366_768688103650989075/planningscene_planning_scene_monitor/parameter_updates
/rviz_visual_tools
/rviz_visual_tools_gui
/tf
/tf_static
/trajectory_execution_event

报错

[ERROR] [1641782312.778392023]: Action client not connected: franka_state_controller/follow_joint_trajectory

待解决：用到了movegroup

仿真可以正常运行，话题如下：

(base) bionic@bionic-DL:~$ rostopic list
/attached_collision_object
/camera/depth_registered/points
/clock
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_position_controller/command
/joint_states
/joint_states_desired
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/filtered_cloud
/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
/panda_arm_controller/command
/panda_arm_controller/follow_joint_trajectory/cancel
/panda_arm_controller/follow_joint_trajectory/feedback
/panda_arm_controller/follow_joint_trajectory/goal
/panda_arm_controller/follow_joint_trajectory/result
/panda_arm_controller/follow_joint_trajectory/status
/panda_arm_controller/gains/panda_joint1/parameter_descriptions
/panda_arm_controller/gains/panda_joint1/parameter_updates
/panda_arm_controller/gains/panda_joint2/parameter_descriptions
/panda_arm_controller/gains/panda_joint2/parameter_updates
/panda_arm_controller/gains/panda_joint3/parameter_descriptions
/panda_arm_controller/gains/panda_joint3/parameter_updates
/panda_arm_controller/gains/panda_joint4/parameter_descriptions
/panda_arm_controller/gains/panda_joint4/parameter_updates
/panda_arm_controller/gains/panda_joint5/parameter_descriptions
/panda_arm_controller/gains/panda_joint5/parameter_updates
/panda_arm_controller/gains/panda_joint6/parameter_descriptions
/panda_arm_controller/gains/panda_joint6/parameter_updates
/panda_arm_controller/gains/panda_joint7/parameter_descriptions
/panda_arm_controller/gains/panda_joint7/parameter_updates
/panda_arm_controller/state
/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
/r200/camera/color/camera_info
/r200/camera/color/image_raw
/r200/camera/color/image_raw/compressed
/r200/camera/color/image_raw/compressed/parameter_descriptions
/r200/camera/color/image_raw/compressed/parameter_updates
/r200/camera/color/image_raw/compressedDepth
/r200/camera/color/image_raw/compressedDepth/parameter_descriptions
/r200/camera/color/image_raw/compressedDepth/parameter_updates
/r200/camera/color/image_raw/theora
/r200/camera/color/image_raw/theora/parameter_descriptions
/r200/camera/color/image_raw/theora/parameter_updates
/r200/camera/depth/camera_info
/r200/camera/depth/image_raw
/r200/camera/depth/image_raw/compressed
/r200/camera/depth/image_raw/compressed/parameter_descriptions
/r200/camera/depth/image_raw/compressed/parameter_updates
/r200/camera/depth/image_raw/compressedDepth
/r200/camera/depth/image_raw/compressedDepth/parameter_descriptions
/r200/camera/depth/image_raw/compressedDepth/parameter_updates
/r200/camera/depth/image_raw/theora
/r200/camera/depth/image_raw/theora/parameter_descriptions
/r200/camera/depth/image_raw/theora/parameter_updates
/r200/camera/depth/image_rect
/r200/camera/depth/image_rect/compressed
/r200/camera/depth/image_rect/compressed/parameter_descriptions
/r200/camera/depth/image_rect/compressed/parameter_updates
/r200/camera/depth/image_rect/compressedDepth
/r200/camera/depth/image_rect/compressedDepth/parameter_descriptions
/r200/camera/depth/image_rect/compressedDepth/parameter_updates
/r200/camera/depth/image_rect/theora
/r200/camera/depth/image_rect/theora/parameter_descriptions
/r200/camera/depth/image_rect/theora/parameter_updates
/r200/camera/depth_registered/points
/r200/camera/ir/camera_info
/r200/camera/ir/image_raw
/r200/camera/ir/image_raw/compressed
/r200/camera/ir/image_raw/compressed/parameter_descriptions
/r200/camera/ir/image_raw/compressed/parameter_updates
/r200/camera/ir/image_raw/compressedDepth
/r200/camera/ir/image_raw/compressedDepth/parameter_descriptions
/r200/camera/ir/image_raw/compressedDepth/parameter_updates
/r200/camera/ir/image_raw/theora
/r200/camera/ir/image_raw/theora/parameter_descriptions
/r200/camera/ir/image_raw/theora/parameter_updates
/r200/camera/ir2/camera_info
/r200/camera/ir2/image_raw
/r200/camera/ir2/image_raw/compressed
/r200/camera/ir2/image_raw/compressed/parameter_descriptions
/r200/camera/ir2/image_raw/compressed/parameter_updates
/r200/camera/ir2/image_raw/compressedDepth
/r200/camera/ir2/image_raw/compressedDepth/parameter_descriptions
/r200/camera/ir2/image_raw/compressedDepth/parameter_updates
/r200/camera/ir2/image_raw/theora
/r200/camera/ir2/image_raw/theora/parameter_descriptions
/r200/camera/ir2/image_raw/theora/parameter_updates
/recognized_object_array
/rosout
/rosout_agg
/rviz/moveit/move_marker/goal_panda_link8
/rviz_bionic_DL_14085_5799505069746189287/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_bionic_DL_14085_5799505069746189287/motionplanning_planning_scene_monitor/parameter_updates
/rviz_bionic_DL_14085_5799505069746189287/planningscene_planning_scene_monitor/parameter_descriptions
/rviz_bionic_DL_14085_5799505069746189287/planningscene_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
/rviz_visual_tools
/rviz_visual_tools_gui
/standalone_nodelet/bond
/tf
/tf_static
/trajectory_execution_event

通过ros接口直接控制运行：

(base) bionic@bionic-DL:~$ rostopic list
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/joint_states
/joint_states_desired
/rosout
/rosout_agg
/tf
/tf_static

解决方案：使得插头对应上插座。具体针对franka_panda机械臂的解决方案有

panda_moveit_config
----config
------panda_controllers.yaml中的
 controller_list:
  - name: panda_arm_controller//修改为position_joint_trajectory_controller配置的name要与franka_control的配置文件对应
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - panda_joint1
      - panda_joint2
      - panda_joint3
      - panda_joint4
      - panda_joint5
      - panda_joint6
      - panda_joint7
修改franka_ros----franka_control----config
 position_joint_trajectory_controller:
  type: position_controllers/JointTrajectoryController  
  joints:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7
  constraints:
    goal_time: 0.5
    panda_joint1:
      goal: 0.05
    panda_joint2:
      goal: 0.05
    panda_joint3:
      goal: 0.05
    panda_joint4:
      goal: 0.05
    panda_joint5:
      goal: 0.05
    panda_joint6:
      goal: 0.05
    panda_joint7:
      goal: 0.05

franka_state_controller:
  type: franka_control/FrankaStateController
  publish_rate: 30  # [Hz]
  joint_names:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7
  arm_id: panda