gazebo(os x 10.9): No valid hardware interface element found in joint

asked 2014-07-20 13:13:49 -0600

lockandfire
76 ●2 ●6 ●8

Dear All,

I am using gazebo and ros-hydro on mac os x 10.9.4. Other than gazebo1.9.x, I installed gazebo2.2 from homebrew. Therefore I built indigo-devel branch gazebo_ros_pkgs, ros_control and ros_controllers. Gazebo itself works. But when I did a test using rrbot,

roslaunch rrbot_gazebo rrbot_world.launch

I got errors as:

[ INFO] [1405878912.120519000, 0.271000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1405878912.225807000, 0.271000000]: No valid hardware interface element found in joint 'joint1'.
[ERROR] [1405878912.225888000, 0.271000000]: Failed to load joints for transmission 'tran1'.
[ERROR] [1405878912.225932000, 0.271000000]: No valid hardware interface element found in joint 'joint2'.
[ERROR] [1405878912.225956000, 0.271000000]: Failed to load joints for transmission 'tran2'.

Then gazebo and robot were shown. I am wondering why gazebo/ros can not find HardwareInterface/EffortJointInterface.

Thank you.

answered 2014-07-20 13:50:22 -0600

lockandfire
76 ●2 ●6 ●8

updated 2014-07-20 13:59:35 -0600

Ok... I found out the reason is that in this version of ros_control/transmission_interface/transimission_parser.cpp , the parser will check if there are <hardwareinterface> tags in both <joint> section and <actuator> section. But in rrbot and other gazebo example, only <actuator> has <hardwareinterface> tag. Therefore this error occurs.

By adding <hardwareinterface> tags to <joint> section, this error disappears. For example, in rrbot.xacro, change

<joint name="joint1"/>

as:

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>

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Comments

Same isseu here ... did you report it somewhere?

Arn-O ( 2014-07-26 06:37:20 -0600 )edit

I have posted an issue in the roscontrol bug tracker: https://github.com/ros-controls/roscontrol/issues/177

Arn-O ( 2014-08-02 01:49:49 -0600 )edit

@Arn-O Thank you for reporting

lockandfire ( 2014-08-08 11:49:41 -0600 )edit

Fixed by Kei Okada https://github.com/ros-simulation/gazebo_ros_demos/pull/4

davetcoleman ( 2015-01-10 18:26:01 -0600 )edit

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