I'm trying to simulate an ABB4600 robot in gazebo using the joint_position_controllers. I can successfully spawn the robot into an empty world and load the controllers. However, when I try to command one of the joints to a desired angle, the robot does not move in the gazebo simulation. I checked rviz as well and the robot likewise does not move in rviz. I've attached the xacro file for the robot and the launch/config files I'm using for the controller. I'd greatly appreciate any help!
Xacro File:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="abb_irb4600_60_205" params="prefix">
<!-- Import Gazebo elements, including Gazebo colors -->
<!-- <xacro:include filename="$(find abb_irb4600_support)/urdf/irb4600_60_205.gazebo" /> -->
<!-- link list -->
<link name="${prefix}base_link">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/base_link.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/base_link.stl"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
</link>
<link name="${prefix}link_1">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_1.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_1.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}link_2">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_2.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_2.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}link_3">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_3.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_3.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}link_4">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_4.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_4.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}link_5">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_5.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_5.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}link_6">
<inertial>
<mass value="1.634" />
<origin xyz="0.027 0 -0.067" rpy="0 -0 0" />
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008" />
</inertial>
<collision name="collision">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/collision/link_6.stl"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh filename="package://abb_irb4600_support/meshes/irb4600_60_205/visual/link_6.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="${prefix}tool0"/>
<!-- end of link list -->
<!-- <link name="${prefix}sander">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb2600_support/meshes/tools/orbital_sander_bin.stl" />
</geometry>
<material name="">
<color rgba="0.5 0.5 0.5 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://abb_irb2600_support/meshes/tools/orbital_sander_bin.stl" />
</geometry>
</collision>
</link> -->
<!-- joint list -->
<!-- "${prefix}joint_1"> -->
<joint type="revolute" name="joint_1">
<origin xyz="0 0 0.495" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<limit effort="0" lower="-3.141" upper="3.141" velocity="3.054"/>
</joint>
<joint type="revolute" name="joint_2">
<origin xyz="0.175 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<limit effort="0" lower="-1.570" upper="2.617" velocity="3.054"/>
</joint>
<joint type="revolute" name="joint_3">
<origin xyz="0 0 0.9" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<limit effort="0" lower="-3.141" upper="1.308" velocity="3.054"/>
</joint>
<joint type="revolute" name="joint_4">
<origin xyz="0 0 0.175" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<limit effort="0" lower="-6.981" upper="6.981" velocity="4.363"/>
</joint>
<joint type="revolute" name="joint_5">
<origin xyz="0.960 0 0 " rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<limit effort="0" lower="-2.181" upper="2.094" velocity="4.363"/>
</joint>
<joint type="revolute" name="joint_6">
<origin xyz="0.135 0 0 " rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<limit effort="0" lower="-6.981" upper="6.981" velocity="6.283"/>
</joint>
<joint type="fixed" name="$joint_6-tool0">
<parent link="${prefix}link_6"/>
<child link="${prefix}tool0"/>
<origin xyz="0 0 0" rpy="0 1.57079632679 0"/>
</joint>
<!-- end of joint list -->
<!-- <joint name="${prefix}tool0-sander" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}tool0" />
<child link="${prefix}sander" />
</joint> -->
<!-- ROS base_link to ABB World Coordinates transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
<link name="world"/>
<!-- <joint name="base_link-world" type="fixed">
<origin rpy="-0.296706 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="${prefix}base_link"/>
</joint> -->
<joint name="base_link-world" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="${prefix}base_link"/>
</joint>
<transmission name="transmission1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="transmission2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="transmission3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="transmission4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="transmission5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="transmission6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint_6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/abb</robotNamespace>
</plugin>
</gazebo>
</xacro:macro>
</robot>
YAML File:
abb:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint_1_position_controller:
type: effort_controllers/JointPositionController
joint: joint_1
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_2_position_controller:
type: effort_controllers/JointPositionController
joint: joint_2
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_3_position_controller:
type: effort_controllers/JointPositionController
joint: joint_3
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_4_position_controller:
type: effort_controllers/JointPositionController
joint: joint_4
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_5_position_controller:
type: effort_controllers/JointPositionController
joint: joint_5
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_6_position_controller:
type: effort_controllers/JointPositionController
joint: joint_6
pid: {p: 100.0, i: 0.01, d: 10.0}
Launch File:
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find abb_control)/config/abb_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/abb" args="joint_1_position_controller joint_2_position_controller joint_3_position_controller joint_4_position_controller joint_5_position_controller joint_6_position_controller joint_state_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/abb/joint_states" />
</node>
</launch>
