Unable to identify any set of controllers that can actuate the specified joints:[ j1 j2 j3 j4 j5 j6

[move_group-2] [INFO] [....] [moveit.plugins.moveit_simple_controller_manager]: Returned 0 controllers in list
[move_group-2] [ERROR] [....] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ j1 j2 j3 j4 j5 j6 ]
[move_group-2] [ERROR] [....] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-2] [ERROR] [....] [moveit_ros.plan_execution]: Apparently trajectory initialization failed

在moveit_controllers.yaml文件中添加由：

# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:

controller_names:

- arm_controller

arm_controller:

type: FollowJointTrajectory

joints:

- j1

- j2

- j3

- j4

- j5

- j6  在最下面添加：

# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:

controller_names:

- arm_controller

arm_controller:

type: FollowJointTrajectory

joints:

- j1

- j2

- j3

- j4

- j5

- j6

action_ns: follow_joint_trajectory

default: true