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Cannot control the joints using gazebo_ros_control plugin

Hi, I am modeling a walking robot in URDF with all the joints controlled by gazebo_ros_control plugin. It was made based on rrbot. Everything seems fine when run it in gazebo, and controller topics can be found. While when I want to use rostopic pub /halobject/Rl1_position_controller/command std_msg/Float64 10, the model has no response to it. Besides, when use rostopic echo /halobject/Rl1_position_controller/state to read the joint data, it also shows no response to my command. During the simulation, there is no error information about it, and my pid parameter is set to be 100,0.01,10. Joint state controller publish rate to be 20. The topics when running is as follows:

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/halobject/Ll1_position_controller/command
/halobject/Ll1_position_controller/pid/parameter_descriptions
/halobject/Ll1_position_controller/pid/parameter_updates
/halobject/Ll1_position_controller/state
/halobject/Ll2_position_controller/command
/halobject/Ll2_position_controller/pid/parameter_descriptions
/halobject/Ll2_position_controller/pid/parameter_updates
/halobject/Ll2_position_controller/state
/halobject/Lla1_position_controller/command
/halobject/Lla1_position_controller/pid/parameter_descriptions
/halobject/Lla1_position_controller/pid/parameter_updates
/halobject/Lla1_position_controller/state
/halobject/Ml_position_controller/command
/halobject/Ml_position_controller/pid/parameter_descriptions
/halobject/Ml_position_controller/pid/parameter_updates
/halobject/Ml_position_controller/state
/halobject/Rl1_position_controller/command
/halobject/Rl1_position_controller/pid/parameter_descriptions
/halobject/Rl1_position_controller/pid/parameter_updates
/halobject/Rl1_position_controller/state
/halobject/Rl2_position_controller/command
/halobject/Rl2_position_controller/pid/parameter_descriptions
/halobject/Rl2_position_controller/pid/parameter_updates
/halobject/Rl2_position_controller/state
/halobject/Rla1_position_controller/command
/halobject/Rla1_position_controller/pid/parameter_descriptions
/halobject/Rla1_position_controller/pid/parameter_updates
/halobject/Rla1_position_controller/state
/halobject/joint_states
/rosout
/rosout_agg
/tf
/tf_static

If anyone else met similar problem before? My file is here https://www.dropbox.com/sh/ew8tkluu6jw1p2e/AABILHj-hwEAzYaDBIaiGfSCa?dl=0 first source the devel/setup.bash then roslaunch halobject_gazebo halobject_world.launch it should start working.

Thank you!