Gazebo and MoveIt! MoveitSimpleControllerManager and sending joint trajectory messages
Hi
I've been working my way through the MoveIt! tutorials and have been having some problems with the Gazebo integration.
I'm simply trying to plan and execute a command in MoveIt! and have it displayed on the Gazebo simulator, in this case using the Fanuc m10ia model.
I have had to use the MoveItSimpleControllerManager instead of the Pr2controller, (also if any one else is using this I believe there is an error with the spelling, as it is listed as Simple_MoveIt_Controller_Manager and not MoveIt_Simple_Controller_Manager
).
Anyway, upon running roslaunch fanuc_m10ia_moveit_config moveit_planning_execution.launch
I get any error saying:
[ INFO] [1375734277.680123500, 1255.832000000]: MoveitSimpleControllerManager: Waiting for moveit_simple_controller/follow_joint_trajectory to come up
[ERROR] [1375734283.338320976, 1260.832000000]: MoveitSimpleControllerManager: Action client not connected: moveit_simple_controller/follow_joint_trajectory
Is there some step I have missed, or some node / service I should have started that I am unaware of?
Any help is appreciated.
Cdr