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libgazebo_ros_control in ROS Indigo is throwing exception for joint_position_controllers, bug Dec 2017?

asked 2017-12-29 09:20:01 -0600

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I have been successfully running ros_control on several variations of joint_position_control, including the rrbot tutorial, and also from https://github.com/wsnewman/learning_ros/tree/master/Part_5/example_controllers, which is a 1 DOF prismatic robot.

But very recently, Dec 2017, I have had a few problems. I was trying to see if it was an isolated problem with my code... but it also happens in rrbot. I have looked at all posts (see link text) on this but none of the suggestions have worked. Here are the details....

In rrbot, I get the following when tring to load the joint position controller: Gazebo spits out:

Exception thrown while initializing controller joint1_position_controller. Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.

controller_manager-spawner:

Failed to lo[link text](https://github.com/wsnewman/learning_ros/blob/master/Part_5/example_controllers/prismatic_1dof_robot_w_jnt_pos_ctl.launch)ad joint1_position_controller

For the 1 DOF prismatic robot, I get:

Exception thrown while initializing controller joint1_position_controller.
Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1514560629.529188123, 88.849000000]: Initializing controller 'joint1_position_controller' failed

I believe all files are setup correctly (they used to work for quite some time): xacro, launch, config.

Did something change in a most recent update to ros_control? I know in the past, people where missing the hardwareInterface definition inside the transmission block for the joint (see below). I am not... the effort_controllers::JointPositionController that I use, has the EffortJointInterface hardware interface as expected.

<joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>

Attached, is a screenshot of my terminal output: C:\fakepath\Screenshot from 2017-12-30 10:31:56.png

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answered 2018-01-01 21:59:01 -0600

juan gravatar image

I found the problem: the installation of the tiago simulator in the same workspace as my other robots modified the definitions of the controllers and was affecting the rest of the system.

Tiago instructions do state to create a new workspace, which I had ignored...

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Asked: 2017-12-29 09:20:01 -0600

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Last updated: Jan 01