Question

Hello, I've been trying to use hectorquadrotorcontroller but I'm not sure what I'm missing, my setup is the following:

I'm using hectorquadrotorteleop to capture controls from a joypad and trying to send those /cmd_vel messages to quadrotor but when I launch hectorquadrotorcontroller it asks me for controllermanager/loadcontroller. Not sure what I'm supposed to implement here, can someone give me some tips?

My goal is to get those /cmd_vel messages 'transformed' into a motor pwm signal.

I'm running an Ubuntu 14.04.02, so ROS-Indigo. Sorry if there are any information missing, this is my first question, just say the word I will fix it.

Edit1:I keep reading about how to use this package for simulation, mostly oriented at Gazebo, am I missing something? I would think that it generates voltage signals to the motor that can be used in a real quadrotor.

Asked by Spyri on 2015-11-18 17:30:20 UTC

Answer 1

I had the same problem. Two things to watch ou are 1. the namespace (note the ns=...), and 2. remapping the topic (note the <remap ....).

<!-- load the controllers -->
        <node 
            name="ros_controller_manager" 
            pkg="controller_manager" 
            type="spawner" 
            ns="$(arg robot_name)$(arg model)"
            respawn="false"
            output="screen" 
            args="$(arg controllers_to_start)"
        >
            <remap 
               from='robot_description'
               to="/$(arg robot_name)$(arg model)/description"
            />
        </node>

Asked by lsrosa on 2023-03-30 06:15:22 UTC

hector_quadrotor_controller couldn't find controller_manager

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