ROS-Could not load controller '/iiwa/TorqueController' because controller type

Question

登录gazebo 出现这个问题，

ROS-Could not load controller '/iiwa/TorqueController' because controller type 'effort_controllers/JointGroupEffortController' does not exist.

试了这个方法
Gazebo: Could not load controller, JointTrajectoryController does not exist (Mastering ROS chapter 10) - ROS Answers: Open Source Q&A Forum Hi! I am new in ROS, and I was reading a book "Mastering ROS". But I am having an issue with loading controllers in Gazebo, from chapter 10. Working with perception using MoveIt! and Gazebo. Even though I just copied code from the repo. (Actually, the same issue appeared on chapter 3 or 4). Logs are following: [ERROR] [1486485132.488395779, 0.283000000]: Could not load controller 'seven_dof_arm_joint_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist. [ERROR] [1486485132.488718126, 0.283000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [INFO] [1486485132.533815, 0.295000]: Started controllers: joint_state_controller [ERROR] [1486485133.491534, 0.560000]: Failed to load seven_dof_arm_joint_controller [INFO] [1486485133.494729, 0.560000]: Loading controller: gripper_controller [ERROR] [1486485133.520919999, 0.566000000]: Could not load controller 'gripper_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist. [ERROR] [1486485133.521358891, 0.566000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [ERROR] [1486485134.523407, 1.095000]: Failed to load gripper_controller I think, it is because I'm using Ubuntu 16.04 and Kinetic, whereas in the book the system was 14.04 and Indigo. How can I resolve this issue? Any ideas? EDIT1: I changed some urdf files because I had same issue as here UPD: I've resolved it by installing all available controllers: sudo apt-get install ros*controller* I know, it is not the right way, but somehow I couldn't find anywhere that I can install joint controller itself sudo apt-get ros-kinetic-joint-trajectory-controller. Maybe it was too obvious. I found it in the new packages list when I ran the command above. The following NEW packages will be installed: ros-kinetic-bhand-controller ros-kinetic-diff-drive-controller ros-kinetic-dynamixel-controllers ros-kinetic-dynamixel-driver ros-kinetic-dynamixel-msgs ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-controllers ros-kinetic-dynamixel-workbench-msgs ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-force-torque-sensor-controller ros-kinetic-gripper-action-controller ros-kinetic-imu-sensor-controller ros-kinetic-joint-trajectory-controller ros-kinetic-kobuki-controller-tutorial ros-kinetic-md49-base-controller ros-kinetic-md49-messages ros-kinetic-md49-serialport ros-kinetic-nav-pcontroller ros-kinetic-robot-controllers ros-kinetic-robot-controllers-interface ros-kinetic-robot-controllers-msgs ros-kinetic-robotis-controller-msgs ros-kinetic-ros-controllers ros-kinetic-rqt-controller-manager ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-velocity-controllers ros-kinetic-view-controller-msgs ros-kinetic-yocs-diff-drive-pose-controller ros-kinetic-yocs-safety-controller Thanks! https://answers.ros.org/question/254084/gazebo-could-not-load-controller-jointtrajectorycontroller-does-not-exist-mastering-ros-chapter-10/
未解决

Answer 1

应该是 TorqueController 这个类有问题，您看看，
望采纳，谢谢