Publishing JointStates in ROS with Gazebo

asked 2014-08-11 17:13:13 -0500

David Lu
111 ●10 ●13 ●20

updated 2014-08-13 10:26:06 -0500

I am loading a SDF into Gazebo using the gazebo_ros/spawn_model. I am loading a joint_state_controller through the controller_manager and its even publishing a joint_state message. However, there are no joints listed in the joint_state message despite it containing multiple not-fixed joints.

Any ideas how to make the joint_state message include the proper joints?

Edit:

SDF Snippet:

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

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this is using gazebo\_ros\_control?

davetcoleman ( 2014-08-13 01:29:28 -0500 )edit

Yes, see edit.

David Lu ( 2014-08-13 10:27:03 -0500 )edit

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1

answered 2014-08-14 05:05:58 -0500

evilBiber

881 ●3 ●7 ●18 http://ai.uni-bremen.de/

Hi,

I am not absolute sure about this but I think this plugin requires an URDF to work correctly. the gazebo_ros_control plugin will block until it gets the urdf from the server( method getURDF from gazebo_ros_control_plugin.cpp )

I guess this causes your problems...

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This looks promising, because I have a URDF, but it wasn't under the default robot_description parameter.

David Lu ( 2014-08-14 08:40:55 -0500 )edit

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answered 2014-08-14 02:09:51 -0500

davetcoleman
369 ●10 ●17 ●25

Do you have a .yaml file that you load with the controller manager that includes:

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

?

In my launch file for Baxter I have:

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find baxter_control)/config/gazebo_controllers.yaml" command="load"/>

<!-- load the default controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
      output="screen" ns="/robot" args="joint_state_controller                                                                                            
                                        right_position_trajectory_controller                                                                              
                                        left_position_trajectory_controller                                                                               
                                        " />

I haven't worked with Gazebo / ros_control in a while though, so my memory is hazy.