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1 | initial version |
Try with :
<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="youbot__wheel_joint_bl">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
and for the yaml
file, you need to specify : type: velocity_controllers/JointVelocityController
wheel_bl_velocity_controller:
type: velocity_controllers/JointVelocityController
joint: youbot__wheel_joint_bl
pid: {p: 100.0, i: 0.01, d: 10.0
make sure you're using gazebo_ros_control
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
</plugin>
</gazebo>
and you spawn the controller
and load yaml
file in the launch
file.