No joints are being published in /joint_states topic

asked 2016-04-07 13:06:58 -0500

Wojciech gravatar image

updated 2016-04-08 03:21:45 -0500

Hello,

I have a problem (in my opinion) with joint_state_controller. My configuration file is as follows:

elektron_control.yaml:

elektron:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

request of the following service:

rosservice call /gazebo/get_model_properties "model_name: 'elektron'"

returns:

parent_model_name: ''
canonical_body_name: ''
body_names: ['base_link', 'base_link_left_front_wheel_link', 'base_link_left_rear_wheel_link', 'base_link_left_wheel_link', 'base_link_right_front_wheel_link', 'base_link_right_rear_wheel_link', 'base_link_right_wheel_link']
geom_names: ['base_link_collision', 'base_link_collision_base_link_1', 'base_link_left_front_wheel_link_collision', 'base_link_left_rear_wheel_link_collision', 'base_link_left_wheel_link_collision', 'base_link_right_front_wheel_link_collision', 'base_link_right_rear_wheel_link_collision', 'base_link_right_wheel_link_collision']
joint_names: ['base_link_left_front_wheel_joint', 'base_link_left_rear_wheel_joint', 'base_link_left_wheel_joint', 'base_link_right_front_wheel_joint', 'base_link_right_rear_wheel_joint', 'base_link_right_wheel_joint']
child_model_names: []
is_static: False
success: True
status_message: GetModelProperties: got properties

request of a single joint properties:

rosservice call /gazebo/get_joint_properties "joint_name: 'base_link_left_wheel_joint'"

returns:

type: 0
damping: []
position: [1.781694179303628e-05]
rate: [2.6227222368309366e-08]
success: True
status_message: GetJointProperties: got properties

echo of the /elektron/joint_states returns:

---
header: 
  seq: 845
  stamp: 
    secs: 45
    nsecs: 269000000
  frame_id: ''
name: []
position: []
velocity: []
effort: []
---
header: 
  seq: 846
  stamp: 
    secs: 45
    nsecs: 289000000
  frame_id: ''
name: []
position: []
velocity: []
effort: []
---

It seams like the joint_state_controller somehow cannot publish known properties of known joints. Did anyone meet similar issue? I use ROS Jade release and compiled from source gazebo_ros_pkg package.

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