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So after a bit of experimentation, I realized that the issue was with the URDF file where the control plugin had been put up. The robotNamespace had been set to myworkcell which was not similar to the namespace specified in the .yaml files. By commenting out the robotNamespace parameter as shown below, the topics joint_state_controller and the arm_controller were loaded successfully.

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<!-- <robotNamespace>/myworkcell</robotNamespace> -->
  </plugin>
</gazebo>

I came to know about this issue after using the following command after launching the Gazebo file. This allowed me to see that the controller_manager was being created under the myworkcell namespace which wasn't how it was supposed to be.

rosservice list | grep controller_manager

This answer will also be helpful if this answer does not work out.