About using ros_control in gazebo, I failed to commit the control command on my robot.
I can get cmd_vel news form my velocity controller, but the robot in the simulator just do not respond. I tried both controlling by joystick and keyboard. The whole process of command transmission from the source to the controller worked successfully, and there were no errors reported.
So I find difficult to find out the reason of the result. There must be something I missed. Could any one please give me some instructions? I would be very grateful.
How do you receive the cmd_vel in Gazebo ? Do you use a plugin (http://gazebosim.org/tutorials?tut=ros_gzplugins) ?
Yes. I have used the plugin. I have my packages here(git@github.com:YajingWang1994/ugvc_simulation.git). Could you lease check it and give a little more help? Thanks very much.
I see that the gazebo skid steer driving plugin in ugvc_description/urdf/ugvc_crawler_robot.urdf.xacro is commentted. It is this plugin that will make your joints move and your robot move.
But actually I tried before adding comment on that part but also failed. I commented that part because I have already have a call for libgazebo_ros_control.so in ugvc_gazebo/urdf/description.gazebo.xacro，and for the type of the controller, ther is also parameters defined in control.yaml in ugvc_control/config/control.yaml？ I thought the combination of <transmission> in ugvc_crawler_robot.urdf.xacro and the call for libgazebo_ros_control.so has the same function of the part you mentioned.