Can't see my topics, what is wrong?
I am making my gazebo world and have created 3 packages in my catkin src file: 1. geniusgazebo 2. geniuscontrol 3. genius_ description
Description holds my URDF information and I have included this config file in genius_control/config:
genius:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Effort Controllers ---------------------------------------
leftWheel_effort_controller:
type: effort_controllers/JointEffortController
joint: left_wheel_hinge
pid: {p: 100.0, i: 0.1, d: 10.0}
rightWheel_effort_controller:
type: effort_controllers/JointEffortController
joint: right_wheel_hinge
pid: {p: 100.0, i: 0.1, d: 10.0}
And this launch file in genius_control/launch
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find genius_control)/config/genius_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/genius" args="joint_state_controller
rightWheel_effort_controller
leftWheel_effort_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find genius_description)/urdf/genius.xacro'" />
<remap from="/joint_states" to="/genius/joint_states" />
</node>
</launch>
And finally I have included this launch file in my main launch file in genius_gazebo/launch:
<launch>
<!-- urdf xml robot description loaded on the parameter server, converting the xacro into a porter urdf file -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find genius_description)/urdf/genius.xacro' " />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find genius_gazebo)/worlds/genius.world"/>
<arg name="gui" value="true"/>
</include>
<!-- push robot_description to factory and spwan genius in gazebo -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model genius -param robot_description"/>
<!-- launch the controllers -->
<include file="$(find genius_control)/launch/genius_control.launch" />
</launch>
When I launch gazebo, I expect to see my 2 topics, which I have described in geniuscontrol/config file: 1. leftWheeleffortcontroller 2. rightWheeleffot_controller
But I only see this list:
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/genius/joint_states
/rosout
/rosout_agg
/tf
/tf_static
Asked by aikhs on 2018-09-17 03:59:27 UTC
Comments
Have you checked the output of
rosparam list
? (once you have launched everything)Asked by Delb on 2018-09-17 06:18:40 UTC