No joints are being published in /joint_states topic
Hello,
I have a problem (in my opinion) with jointstatecontroller. My configuration file is as follows:
elektron_control.yaml:
elektron:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
request of the following service:
rosservice call /gazebo/getmodelproperties "model_name: 'elektron'"
returns:
parent_model_name: ''
canonical_body_name: ''
body_names: ['base_link', 'base_link_left_front_wheel_link', 'base_link_left_rear_wheel_link', 'base_link_left_wheel_link', 'base_link_right_front_wheel_link', 'base_link_right_rear_wheel_link', 'base_link_right_wheel_link']
geom_names: ['base_link_collision', 'base_link_collision_base_link_1', 'base_link_left_front_wheel_link_collision', 'base_link_left_rear_wheel_link_collision', 'base_link_left_wheel_link_collision', 'base_link_right_front_wheel_link_collision', 'base_link_right_rear_wheel_link_collision', 'base_link_right_wheel_link_collision']
joint_names: ['base_link_left_front_wheel_joint', 'base_link_left_rear_wheel_joint', 'base_link_left_wheel_joint', 'base_link_right_front_wheel_joint', 'base_link_right_rear_wheel_joint', 'base_link_right_wheel_joint']
child_model_names: []
is_static: False
success: True
status_message: GetModelProperties: got properties
request of a single joint properties:
rosservice call /gazebo/getjointproperties "jointname: 'baselinkleftwheel_joint'"
returns:
type: 0
damping: []
position: [1.781694179303628e-05]
rate: [2.6227222368309366e-08]
success: True
status_message: GetJointProperties: got properties
echo of the /elektron/joint_states returns:
---
header:
seq: 845
stamp:
secs: 45
nsecs: 269000000
frame_id: ''
name: []
position: []
velocity: []
effort: []
---
header:
seq: 846
stamp:
secs: 45
nsecs: 289000000
frame_id: ''
name: []
position: []
velocity: []
effort: []
---
It seams like the jointstatecontroller somehow cannot publish known properties of known joints. Did anyone meet similar issue? I use ROS Jade release and compiled from source gazeborospkg package.
Asked by Wojciech on 2016-04-07 13:06:58 UTC
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