detailed steps to run a compliant controller on the hardware

[jindanh]

Hi, I’m trying to use the joint_space_compliant_controller with my Kinova Gen3 arm.

I ran the hardware interface with roslaunch kortex_hardware gen3_hardware.launch, but I could not open the rqt_controller_manager.

Terminal outputs:

PluginHandlerDirect._restore_settings() plugin "rqt_controller_manager/ControllerManager#0" raised an exception:
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/__init__.py", line 120, in get_service_headers
    s.connect((dest_addr, dest_port))
ConnectionRefusedError: [Errno 111] Connection refused

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 121, in _restore_settings
    self._plugin.restore_settings(plugin_settings_plugin, instance_settings_plugin)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_controller_manager/controller_manager.py", line 149, in restore_settings
    self._update_cm_list()
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_controller_manager/controller_manager.py", line 166, in _update_cm_list
    update_combo(self._widget.cm_combo, self._list_cm())
  File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager_msgs/utils.py", line 202, in __call__
    self._cm_list = get_controller_managers(self._ns, self._cm_list)
  File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager_msgs/utils.py", line 98, in get_controller_managers
    ns_list += [ns for ns in ns_list_curr
  File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager_msgs/utils.py", line 99, in <listcomp>
    if ns not in ns_list and is_controller_manager(ns)]
  File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager_msgs/utils.py", line 120, in is_controller_manager
    if not _srv_exists(cm_ns + srv_name, cm_services[srv_name]):
  File "/opt/ros/noetic/lib/python3/dist-packages/controller_manager_msgs/utils.py", line 173, in _srv_exists
    return srv_type == rosservice.get_service_type(srv_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/__init__.py", line 147, in get_service_type
    return get_service_headers(service_name, service_uri).get('type', None)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosservice/__init__.py", line 126, in get_service_headers
    raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service_name, service_uri))

Could you give a bit more detail on how to start a compliant controller with the hardware? Thanks!