Controller Spawner couldn't find the expected controller_manager

Course Support TF ROS 101
1

Hi,

I’m doing the micro project. I want to start from the pi_robot_v2.urdf, I have created the launch files for the controllers, spawn the Gazebo model, but it shows the following error:

[WARN] [1637960432.007185, 0.000000]: Controller Spawner couldn’t find the expected controller_manager ROS interface.

In addition, it does not show the Gazebo model.

Please could you help me?

2

Hi, this could be for some error in the launch file. Could you share here the code or at least the commands to reproduce your issue?

3

Hello!
Any solution of this problem mentioned above? sharing my launch file

gazebo_spawn.launch
gazebo_spawn.launch1600×900 165 KB

Also i am having the problem that if model spawn in gazebo environment , how i will move its joints???

4

Hi @misbahsuhail123 ,

To spawn the model in Gazebo, you first need to ensure that all XACRO files corresponding to your custom humanoid robot are located in box_human_description/robot. Alternatively, you can use the files provided in the solution here.
When using your launch file, I suggest using box_human_description/launch/box_human_spawn_xacro.launch (given in the project description) since XACRO files are used for robot description in this context. Therefore, you should include box_human_spawn_xacro.launch instead of box_human_spawn.launch :

<include file="$(find box_human_description)/launch/box_human_spawn_xacro.launch">

The correct launch /box_human_spawn_xacro.launch should appear as follows:

<launch>
	
	<arg name="x" default="0.0" />
    <arg name="y" default="0.0" />
    <arg name="z" default="0.0" />
    <arg name="roll" default="0"/>
    <arg name="pitch" default="0"/>
    <arg name="yaw" default="0.0" />

	<arg name="model" default="$(find box_human_description)/robot/box_human.xacro"/>  
	<arg name="robot_name" default="boxhuman1"/>

	<group ns="$(arg robot_name)">
        
        <param name="robot_description" command="cat $(arg model)" />
		<!-- 
		Converts the XACRO robot information to UDRF and use it as a robot_description parameter
		-->
		<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) x_pos:=$(arg x) y_pos:=$(arg y) z_pos:=$(arg z) yaw_pos:=$(arg yaw) robot_name:=$(arg robot_name)" />
        
		<node name="robot_state_publisher_box_human" pkg="robot_state_publisher" type="robot_state_publisher"
			respawn="false" output="screen">
			<param name="publish_frequency" type="double" value="5.0" />
		</node>

		<node name="urdf_spawner"
				pkg="gazebo_ros"
				type="spawn_model"
				respawn="false"
				output="screen"
				args="-urdf -model $(arg robot_name) -param robot_description"/>
    </group>
</launch>

With this configuration, the humanoid robot should spawn correctly.

Finally, to move the joints, you should:

  • Write the YAML file for controllers

  • Spawn controlers

  • Move joints by publishing in commands topics using rqt_gui