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I can offer some debugging tips.

  1. Are you sure your joints are correctly specified? You can visualize joints in the Gazebo GUI.
  2. Similarly, are the collision and inertia elements correct? You can also visualize these in Gazebo.
  3. Can you move the joints using Gazebo graphical joint controller (pull out panel on the right side of the GUI)?

If everything looks good up to this point, then I would assume something is wrong with the ros control parameters.