ros gazebo plugin not processing command topic:
Update:
I am using the gazebo plugin from http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo which gives the ability to send position commands via the command line. It is this code (libgazeboroscontrol.so) that I think should be processing the commands form rqt-plot.
rostopic pub /rrbot/joint1_position_controller/command std_msgs/Float64 "data: 1.5"
I can print the node/topic graph and it shows Gazebo as subscribing to this topic. But when I issue it via the terminal, rostopic never returns and the model does not move. Also if I try issuing this command via rqt-gui
publish plugin. I can see the command being published but not processed. How I can debug this further to locate the problem.
The screen shot shows that Gazebo is waiting on /rrbot/joint1_position_controller/command [unknown type]
however it is not possible to pass valid float values via rqt-plot
this way. The data extension is needed but Gazebo considers this a separate topic.
note: the node is gazebo and it is using libgazeboroscontrol.so I have no user plugins in this environment.
viki:~$ rosnode info gazebo
--------------------------------------------------------------------------------
Node [/gazebo]
Publications:
* /rrbot/camera1/camera_info [sensor_msgs/CameraInfo]
* /rrbot/laser/scan [sensor_msgs/LaserScan]
* /rrbot/joint1_position_controller/pid/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /rrbot/joint1_position_controller/state [control_msgs/JointControllerState]
* /rrbot/joint2_position_controller/state [control_msgs/JointControllerState]
* /rrbot/joint2_position_controller/pid/parameter_updates [dynamic_reconfigure/Config]
* /rrbot/joint2_position_controller/pid/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /rrbot/joint1_position_controller/pid/parameter_updates [dynamic_reconfigure/Config]
* /gazebo/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /rosout [rosgraph_msgs/Log]
* /rrbot/camera1/image_raw [sensor_msgs/Image]
* /rrbot/camera1/parameter_updates [dynamic_reconfigure/Config]
* /gazebo/link_states [gazebo_msgs/LinkStates]
* /gazebo/model_states [gazebo_msgs/ModelStates]
* /clock [rosgraph_msgs/Clock]
* /rrbot/camera1/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /gazebo/parameter_updates [dynamic_reconfigure/Config]
Subscriptions:
* /gazebo/set_model_state [unknown type]
* /gazebo/set_link_state [unknown type]
* /clock [rosgraph_msgs/Clock]
* /rrbot/joint1_position_controller/command [unknown type]
* /rrbot/joint2_position_controller/command [unknown type]
Asked by rnunziata on 2013-08-11 18:50:37 UTC
Answers
I think you have a Gazebo plugin that is attached to you model. The plugin should run ros::init
, create a node and a set of subscribers.
We won't be able to help you much further without seeing your plugin code.
Asked by nkoenig on 2013-08-15 18:14:17 UTC
Comments
I am using standard http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo#Manually_send_example_commands
Asked by rnunziata on 2013-08-15 19:20:02 UTC
question belongs in ros forum http://answers.ros.org/question/73339/having-a-problem-with-libgazebo_ros_controlso/
Asked by rnunziata on 2013-08-16 18:46:22 UTC
Comments
Do you get any error message from the consoles?
Asked by Arn-O on 2013-08-12 11:25:09 UTC
unfortunately none...I am running hydro with gazebo 1.9....not sure how to investigate further replication is no problem.
Asked by rnunziata on 2013-08-12 22:08:54 UTC
I can not seem to add a comment on your ans so I will answer here. i am using http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo
Asked by rnunziata on 2013-08-15 19:22:51 UTC