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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.