ROS: Could not load controller 'joint_state_controller' because controller type 'joint_state_control

最新推荐文章于 2025-04-27 08:10:41 发布

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最新推荐文章于 2025-04-27 08:10:41 发布

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分类专栏： ROS

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本文解决在使用Gazebo进行机器人URDF模型仿真时，因未安装相应ROS控制软件包导致的错误。通过安装joint_state_controller、effort_controllers和position_controllers等软件包，确保仿真正常运行。

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使用gazebo工具对机器人的urdf模型进行仿真时，执行命令：roslaunch seven_dof_arm_gazebo seven_dof_arm_gazebo_control.launch，出现如下错误：

主要原因是没有安装相应的ros控制软件包。

ERROR] [1571208919.660838700, 0.574000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1571208919.660891569, 0.574000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1571208920.662791, 1.280000]: Failed to load joint_state_controller

解决方法：

$> sudo apt-get update
$> sudo apt-get install ros-kinetic-joint-state-controller
$> rospack profile

参考：https://github.com/qboticslabs/mastering_ros/issues/10

[ERROR] [1571210918.068977205, 0.181000000]: Could not load controller 'joint1_position_controller' because controller type 'position_controllers/JointPositionController' does not exist.
[ERROR] [1571210918.069693846, 0.181000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types

解决方法：sudo apt-get install ros-indigo-position-controllers

https://github.com/qboticslabs/mastering_ros/issues/7

最好在安装ros的时候一起安装控制器插件，通过如下命令：

$ sudo apt-get install ros-kinetic-joint-state-controller : This will install joint_state_controller package

$ sudo apt-get install ros-kinetic-effort-controllers : This will install Effort controller

$ sudo apt-get install ros-kinetic-position-controllers : This will install position controllers

sudo apt-get install ros-kinetic-joint-trajectory-controller

参考：https://github.com/qboticslabs/mastering_ros/issues/7