Hello everybody,

I am trying to spawn several robot which use ros_control. I have a problem with my position controllers :

[INFO] [WallTime: 1454516624.223580] [1.800000] Loading controller: leftarmpositioncontroller [ERROR] [1454516624.266122670, 1.839000000]: Could not find parameter robotdescription on parameter server [ERROR] [1454516624.266369289, 1.839000000]: Failed to parse urdf file [ERROR] [1454516624.266397313, 1.839000000]: Failed to initialize the controller [ERROR] [1454516624.266420609, 1.839000000]: Initializing controller 'leftarmpositioncontroller' failed [ERROR] [WallTime: 1454516625.272021] [2.753000] Failed to load leftarmpositioncontroller

But I have two velocity controllers (defined in the same files) which are working fine.

I have a launch file that include my robot launch file : main.launch

<launch>
    <include file="$(env SIMU_PACKAGE_PATH)/launch/gazebo_env.launch"/>
    <group ns="myRobot">
         <include file="$(env SIMU_PACKAGE_PATH)/launch/myRobot.launch">
             <arg name="robot_name" value="myRobot"/>
          </include>
     </group>
  </launch>

The gazebo_env.launch is in charge of the gazebo environment.

In the robot launch, I don't use any namespace in the node (they are already launch in a group). There is the spawn node and controllers node in the robot launch file :

<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" output="screen" respawn="false" args="-param robot_description  -urdf -model $(arg robot_name) -Y 3.14" />
<!--Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="
                                right_arm_position_controller
                                left_arm_position_controller
                                fourche_position_controller
                                joint_state_controller
                                left_wheel_velocity_controller
                                right_wheel_velocity_controller"/>

<!--Publish joint information-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
</node>

<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
</node>

Is there a bug with the position controllers ?

Thanks in advance