JointVelocityController does not work in Gazebo 1.9.0
I am using Ubuntu 12.04 LTS, ROS Hydro beta, and Gazebo 1.9.0 (the one that is installed with Hydro). When I use a JointVelocityController, I get the following error:
[ INFO] [1376543194.963746055, 0.937000000]: Loaded gazebo_ros_control. gzserver: /opt/ros/hydro/include/hardware_interface/joint_state_interface.h:71: double hardware_interface::JointStateHandle::getVelocity() const: Assertion `vel_' failed. Aborted (core dumped)
Instances of JointPositionController work correctly. This is the same problem that is described in http://answers.gazebosim.org/question/4086/fail-to-start/?answer=4121#post-id-4121. I've uploaded a test case to GitHub:
git clone https://github.com/wunderkammer-laboratory/ackermann_vehicle.git
To reproduce the error:
roslaunch ackermann_vehicle_gazebo ackermann_vehicle.launch
Am I using the JointVelocityController incorrectly, or is this problem caused by a bug in 1.9.0?
Asked by Jim Rothrock on 2013-08-15 00:32:15 UTC
Comments
After a binary Hydro update received on 8/21/13, the code referred to above now exhibits the behavior described in http://answers.gazebosim.org/question/4102/my-robot-blows-up-when-i-launch-the-controllers. No core dump, but many robot components are moved to the origin.
Asked by Jim Rothrock on 2013-08-21 19:46:10 UTC