revolute joint not moving

asked 2018-06-02 22:13:29 -0500

hari1234 gravatar image

updated 2018-06-02 22:14:14 -0500

when i'm sending the commands: rostopic pub -1 /blackBird/weapon_position_controller/command std_msgs/Float64 "data: 45" , the joint moves in un expected behaviour or don't moves at all. the joint is;

  <joint name="weapon_body_joint" type="revolute">
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-0.785398" upper="0.785398" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0 0.716474 -0.12317"/>
    <parent link="base_link"/>
    <child link="weapon_link"/>
</joint>

the configuration file is:

blackBird:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  blade_position_controller:
    type: effort_controllers/JointPositionController
    joint: blade_body_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  weapon_position_controller:
    type: effort_controllers/JointPositionController
    joint: weapon_body_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

and the launch file is;

<launch>

  <rosparam file="$(find blackBird_control)/config/blackBird_control.yaml" command="load"/>

  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"

    output="screen" ns="/blackBird" args="joint_state_controller
                      blade_position_controller
                      weapon_position_controller"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/blackBird/joint_states" />
  </node>

</launch>

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Comments

Try increasing your PID gains. If your weapon_link is heavy it might need more force to be moved.

Raskkii gravatar imageRaskkii ( 2018-06-04 01:59:25 -0500 )edit