z1 simulation error: Unable to identify any set of controllers that can actuate the specified joints

[P1terQ]

I want to control z1 in gazebo. The problem is:
After running roslaunch z1_bringup sim_arm.launch UnitreeGripperYN:=true rviz:=true, i set a goal in rviz and click the button Plan & Execute. The motion planning visualization in rviz moved, but neither the model in rviz and in gazebo moved. And 3 errors pop up in the terminal:

[ INFO] [1693795225.026676714, 26.833200000]: Returned 0 controllers in list
[ERROR] [1693795225.026732585, 26.833200000]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ]
[ERROR] [1693795225.026757917, 26.833400000]: Known controllers and their joints:

[ERROR] [1693795225.026798021, 26.833400000]: Apparently trajectory initialization failed
[ INFO] [1693795225.036296250, 26.841800000]: ABORTED: CONTROL_FAILED
[WARN] [1693795225.540168, 27.283400]: Controller Spawner couldn't find the expected controller_manager ROS interface

It seems that no controller was loaded.

I follow the instruction in setup.md and everything works fine.

[P1terQ]

[ryu8887]

I am experiencing the same issue. Have you resolved it?

[Hotsburp]

I also get another error which may have caused this.

The error:
terminate called after throwing an instance of 'std::invalid_argument'
what(): The index of the parent joint is not valid.

My guess is the invalid parent joint causes the other 6 joints to not be called downstream?

Do let me know if you all have other insights!

[Hotsburp]

Ok i solved the issue, the issue is that the Pinocchio library uses the versions 3.0.0 or 3.1.0. This update causes a lot of issues in the links especially the urdf. The solution is to downgrade and install the Pinocchio 2.6.19 version (since the z1_controller folder was last updated in 1 August 2023 and Pinocchio 2.6.19 came out in 19 June 2023 while Pinocchio 2.6.20 came out in 9 August 2023) from the Pinocchio official github and the MoveIt in simulation and onboard real Z1 robot should work well.

Hope this helps anyone who faces the same issue! :)

I highly suggest that the owner of the repo update the README file to indicate the Pinocchio library versions required so that people do not waste time being stuck on this issue.

[JiangHao117]

I am experiencing the same issue. Have you resolved it?

[Hotsburp]

Have you tried downloading the correct Pinocchio library version as mentioned above?

[JiangHao117]

yes, i tried it twice,but it can not work.

[JiangHao117]

Ok i solved the issue by your method!!! Using the pinocchio 2.6.19, i can set a goal in rviz and click the button Plan & Execute. The motion planning visualization in rviz moved, and at the sametime the model in gazebo moved. thanks a lot!thank you Hotsburp!!!!

[Hotsburp]

No problem, glad it worked!