Hey guys,

I am trying to move my robot arm with XBOX controller and for that first I am launching the demo.launch file followed by move_group.launch file and then the joystick_control.launch file.

In both the move_group.launch file and the joystick_control.launch files, I am getting an error. In the demo.launch I am getting warnings as follows:

    [ WARN] [1525355941.049859437]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
    [ WARN] [1525355962.844137594]: Shutdown request received.
    [ WARN] [1525355962.844183740]: Reason given for shutdown: [new node registered with same name]
    [move_group-4] process has finished cleanly
    log file: /home/kashyap/.ros/log/1c6972f4-4eda-11e8-bdd3-e82a44e7a573/move_group-4*.log
    [ WARN] [1525355984.696784203]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
    [ WARN] [1525355984.696889365]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
    [ WARN] [1525355984.696956868]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
    [ WARN] [1525355984.697012117]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
    [ WARN] [1525355984.697097885]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
    [ WARN] [1525355984.697155851]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list
    [ WARN] [1525355984.697205708]: goalConnectCallback: Trying to add [/move_group] to goalSubscribers, but it is already in the goalSubscribers list
    [ WARN] [1525355984.697254351]: cancelConnectCallback: Trying to add [/move_group] to cancelSubscribers, but it is already in the cancelSubscribers list

The error in move_group.launch is as follows:

    [ WARN] [1525355972.391054987]: Waiting for arm_controller/follow_joint_trajectory to come up
    [ WARN] [1525355972.391054987]: Waiting for arm_controller/follow_joint_trajectory to come up
    [ERROR] [1525355984.391501483]: Action client not connected: arm_controller/follow_joint_trajectory

and the error in the joystick_control.launch file is in the following link below

    roslaunch joystick_control.launch 
    ... logging to /home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/roslaunch-kashyap-Lenovo-ideapad-320-15IKB-21878.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.
    started roslaunch server http://kashyap-Lenovo-ideapad-320-15IKB:34895/
    SUMMARY
    ========
    PARAMETERS
    * /joy/autorepeat_rate: 40
    * /joy/coalesce_interval: 0.025
    * /joy/deadzone: 0.2
    * /joy/dev: /dev/input/js0
    * /rosdistro: kinetic
    * /rosversion: 1.12.13

    NODES
    /
     joy (joy/joy_node)
    moveit_joy (moveit_ros_visualization/moveit_joy.py)
    ROS_MASTER_URI=http://localhost:11311

    process[joy-1]: started with pid [21895]
    process[moveit_joy-2]: started with pid [21896]
    [ERROR] [1524996050.168624845]: Couldn't open joystick /dev/input/js0. Will retry every second.
    [ INFO] [1524996050.967877063]: Loading robot model 'igus'...
    [ INFO] [1524996050.967919483]: No root/virtual joint specified in SRDF. Assuming fixed joint
    [ INFO] [1524996051.220354327]: Loading robot model 'igus'...
    [ INFO] [1524996051.220388920]: No root/virtual joint specified in SRDF. Assuming fixed joint
    [FATAL] [1524996051.417448]: Check if you started movegroups. Exiting.
    Traceback (most recent call last):
     File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/scripts/moveit_joy.py", line 42, in <module>
    app = MoveitJoy()
    File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py", line 381, in __init__
     self.updatePlanningGroup(0)
    File "/home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/src/moveit_ros_visualization/moveitjoy_module.py", line 405, in updatePlanningGroup
    raise rospy.ROSInitException(msg)
    rospy.exceptions.ROSInitException: Check if you started movegroups. Exiting.
    [moveit_joy-2] process has died [pid 21896, exit code 1, cmd /home/kashyap/catkin_ws/src/moveit/moveit_ros/visualization/scripts/moveit_joy.py __name:=moveit_joy __log:=/home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/moveit_joy-2.log].
    log file: /home/kashyap/.ros/log/0e62e4cc-4b94-11e8-91a2-e82a44e7a573/moveit_joy-2*.log





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