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Fail to start effort_controllers/JointVelocityController (ros_controllers)

asked 2013-08-05 08:08:02 -0500

Arn-O gravatar image

Hi.

I managed to make the effort_controllers/JointPositionController successfully works, but some of my joints need to be controlled using the velocity.

When using this type, I get the following error message:

gzserver: /home/arnaud/Documents/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/joint_state_interface.h:71: double hardware_interface::JointStateHandle::getVelocity() const: Assertion `vel_' failed.
Aborted (core dumped)

Any idea of how to fix this? It looks like a run-time error.

Thx in advance.

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Can you post a backtrace? And can you detail what steps you are going through to run Gazebo?

nkoenig gravatar imagenkoenig ( 2013-08-08 10:50:15 -0500 )edit

I am running into the same problem in Gazebo 1.9.0. Where should I post example files so you can see what I'm doing?

Jim Rothrock gravatar imageJim Rothrock ( 2013-08-08 18:47:29 -0500 )edit
1

Can you update your original question with the example files?

nkoenig gravatar imagenkoenig ( 2013-09-15 20:17:29 -0500 )edit

Gazebo 1.9.1 manifests the problem differently. See this question to find out how to download my example repo: http://answers.gazebosim.org/question/4165/jointvelocitycontroller-does-not-work-in-gazebo/

Jim Rothrock gravatar imageJim Rothrock ( 2013-09-16 16:31:28 -0500 )edit

Ultimately, the problem is this: a JointVelocityController derivative gain of around 0.01 can result in a very large effort. When that effort value is sent to Gazebo, many of the robot's links are moved to the world origin. I am currently adding a joint limit interface to gazebo_ros_control in order to prevent the problem, though a fix for Gazebo's reaction to large efforts would be welcome.

Jim Rothrock gravatar imageJim Rothrock ( 2013-09-16 16:31:29 -0500 )edit

Please check my answer below for a full description of the pb, including code and configuration files. This question can be closed.

Arn-O gravatar imageArn-O ( 2013-09-17 02:55:36 -0500 )edit

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answered 2013-08-09 02:16:45 -0500

Arn-O gravatar image

Unable to reproduce the issue after a recent update. I am still not able to use a velocity controller, this is discuss in the following question:

http://answers.gazebosim.org/question/4102/my-robot-blows-up-when-i-launch-the-controllers/

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Asked: 2013-08-05 08:08:02 -0500

Seen: 1,167 times

Last updated: Aug 09 '13