libgazebo_ros_control in ROS Indigo is throwing exception for joint_position_controllers, bug Dec 2017?
I have been successfully running ros_control on several variations of joint_position_control, including the rrbot tutorial, and also from https://github.com/wsnewman/learning_ros/tree/master/Part_5/example_controllers, which is a 1 DOF prismatic robot.
But very recently, Dec 2017, I have had a few problems. I was trying to see if it was an isolated problem with my code... but it also happens in rrbot. I have looked at all posts (see link text) on this but none of the suggestions have worked. Here are the details....
In rrbot, I get the following when tring to load the joint position controller: Gazebo spits out:
Exception thrown while initializing controller joint1_position_controller. Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.
controller_manager-spawner:
Failed to lo[link text](https://github.com/wsnewman/learning_ros/blob/master/Part_5/example_controllers/prismatic_1dof_robot_w_jnt_pos_ctl.launch)ad joint1_position_controller
For the 1 DOF prismatic robot, I get:
Exception thrown while initializing controller joint1_position_controller.
Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1514560629.529188123, 88.849000000]: Initializing controller 'joint1_position_controller' failed
I believe all files are setup correctly (they used to work for quite some time): xacro, launch, config.
Did something change in a most recent update to ros_control? I know in the past, people where missing the hardwareInterface definition inside the transmission block for the joint (see below). I am not... the effort_controllers::JointPositionController that I use, has the EffortJointInterface hardware interface as expected.
<joint name="joint1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
Attached, is a screenshot of my terminal output: C:\fakepath\Screenshot from 2017-12-30 10:31:56.png
