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a abnormal about multi-libgazebo_ros_control.so in robot!

asked 2020-06-11 03:15:15 -0500

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In my car.xacro, it include a gimbal.xacro and a manipulator.xacro in gimbal.xacro i have:

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotnamespace>/dji_gimbal</robotnamespace> </plugin> </gazebo>

at the same time, in manipulator.xacro, there also has:

 <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/arm</robotNamespace>
        </plugin>

In my car.xacro, it include a gimbal.xacro and a manipulator.xacro in gimbal.xacro i have:

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotnamespace>/dji_gimbal</robotnamespace> </plugin> </gazebo>

at the same time, in manipulator.xacro, there also has:

 <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/arm</robotNamespace>
        </plugin>
   </gazebo>

There are no problems so far, I can move manipulator in rviz by using MotionPlanning. but, when I use a python program to control the manipulator, there something wrong: I can see that the manipulator do a repetitive exercise between initial state and specify location.

and then, I delete the ros_control.so in gimbal.xacro and restart the program, here, the manipulator can move to specified position and keep still.

so what's the problem, why can I use the program normally after I delete one gazebo_ros_control.so in gimbal.xacro?

thank you!

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answered 2020-06-12 07:21:57 -0500

SCH gravatar image

who can help me~ it is too hard

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Asked: 2020-06-11 03:15:15 -0500

Seen: 11 times

Last updated: Jun 11 '20