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Ok... I found out the reason is that in this version of ros_control/transmission_interface/transimission_parser.cpp , the parser will check if there are a <hardwareinterface> tags in both <joint> section and <actuator> section. But in rrbot and other gazebo example, only <actuator> has <hardwareinterface> tag. Therefore this error occurs.

By adding <hardwareinterface> tags to <joint> section, this error disappears. For example, in rrbot.xacro, change

<joint name="joint1"/>

as:

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>

Ok... I found out the reason is that in this version of ros_control/transmission_interface/transimission_parser.cpp , the parser will check if there are a <hardwareinterface> tags in both <joint> section and <actuator> section. But in rrbot and other gazebo example, only <actuator> has <hardwareinterface> tag. Therefore this error occurs.

By adding <hardwareinterface> tags to <joint> section, this error disappears. For example, in rrbot.xacro, change

<joint name="joint1"/>

as:

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>

Ok... I found out the reason is that in this version of ros_control/transmission_interface/transimission_parser.cpp , the parser will check if there are a <hardwareinterface> tags in both <joint> section and <actuator> section. But in rrbot and other gazebo example, only <actuator> has <hardwareinterface> tag. Therefore this error occurs.

By adding <hardwareinterface> tags to <joint> section, this error disappears. For example, in rrbot.xacro, change

<joint name="joint1"/>

as:

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>