How to open controller manager for a different robot_description?
I am simulating a multi-robot system. I have a different name for the robot descriptions for different robots. When I tried to start the controller manager.
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="camera_position_controller joint_state_controller">
<remap from="robot_description" to="robot1_description" />
</node>
It gives the error:
[INFO] [WallTime: 1442100763.719533] [0.533000] Loading controller: camera_position_controller
[ERROR] [1442100763.811078289, 0.621000000]: Could not find parameter robot_description on parameter server
[ERROR] [1442100763.811171897, 0.621000000]: Failed to parse urdf file
[ERROR] [1442100763.811233707, 0.621000000]: Failed to initialize the controller
[ERROR] [1442100763.811282445, 0.621000000]: Initializing controller 'camera_position_controller' failed
The .yaml file for controller params.
robot1:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 10
# Position Controllers ---------------------------------------
camera_position_controller:
type: effort_controllers/JointPositionController
joint: camera_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
Kindly help.
Asked by webvenky on 2015-09-12 19:03:52 UTC
Comments
did you ever figure out how to fix this? I'm stuck on the same problem. my joint_state_controller is getting loaded, but not the other position controllers.
Asked by robot_commander on 2017-04-04 10:12:47 UTC
I suggest using multimaster_fkie for multirobot systems. ROS master is originally designed for just one robot. You have to run multiple masters on different ports to simulate multirobot systems.
Asked by webvenky on 2017-07-18 21:34:31 UTC