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Thanks for your quick answering. I want to ask where I can define I am using position_controllers/JointTrajectoryController. I am not quite sure whether I used effort_controller. I just start to use ros+gazebo. I only know I can set controller and its parameters in the config file. e.g. controller.yaml. Now what I am using is: r_arm_controller: type: "robot_mechanism_controllers/JointTrajectoryActionController" joints: - right_arm_0_joint - right_arm_1_joint - right_arm_2_joint - right_arm_3_joint - right_arm_4_joint - right_arm_5_joint - right_arm_6_joint gains: right_arm_0_joint: {p: 21000, d: 0, i: 10} right_arm_1_joint: {p: 50000, d: 0, i: 10} right_arm_2_joint: {p: 50000, d: 0, i: 10} right_arm_3_joint: {p: 50000, d: 0, i: 10} right_arm_4_joint: {p: 50000, d: 0, i: 10} right_arm_5_joint: {p: 50000, d: 0, i: 10} right_arm_6_joint: {p: 50000, d: 0, i: 10} joint_trajectory_action_node: joints: - right_arm_0_joint - right_arm_1_joint - right_arm_2_joint - right_arm_3_joint - right_arm_4_joint - right_arm_5_joint - right_arm_6_joint constraints: goal_time: 0.6 right_arm_0_joint: goal: 0.01 right_arm_1_joint: goal: 0.01 right_arm_2_joint: goal: 0.01 right_arm_3_joint: goal: 0.01 right_arm_4_joint: goal: 0.01 right_arm_5_joint: goal: 0.01 right_arm_6_joint: goal: 0.01

I check my gazebo version which I get from the groovy ros-reporitory which is 1.5.0.

Best, Qiang