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The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.

The following file is called controllers.yaml:

controller_list:
  - name: arm
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - plat_joint
      - shoulder_joint
      - forearm_joint
      - wrist_joint

Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:

Publish all joint states -----------------------------------

joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 # Position Controllers ---------------------------------------

Control all joints

arm: type: effort_controllers/JointTrajectoryController joints: - plat_joint - shoulder_joint - forearm_joint - wrist_joint

state_publish_rate: 100

gains: plat_joint: {p: 100, i: 0.0, d: 0} shoulder_joint: {p: 100, i: 0.0, d: 0} forearm_joint: {p: 100, i: 0.0, d: 0} wrist_joint: {p: 100, i: 0.0, d: 0}

The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.

The following file is called controllers.yaml:

controller_list:
  - name: arm
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - plat_joint
      - shoulder_joint
      - forearm_joint
      - wrist_joint

Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:

# Publish all joint states -----------------------------------

----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 100 # Position Controllers ---------------------------------------

--------------------------------------- # Control all joints

joints arm: type: effort_controllers/JointTrajectoryController joints: - plat_joint - shoulder_joint - forearm_joint - wrist_joint

wrist_joint state_publish_rate: 100

100 gains: plat_joint: {p: 100, i: 0.0, d: 0} shoulder_joint: {p: 100, i: 0.0, d: 0} forearm_joint: {p: 100, i: 0.0, d: 0} wrist_joint: {p: 100, i: 0.0, d: 0}

0}

My git

The issue was that I was not using the controller files correctly. Of the the three files that were posted above, I used the last two.

The following file is called controllers.yaml:

controller_list:
  - name: arm
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
      - plat_joint
      - shoulder_joint
      - forearm_joint
      - wrist_joint

Is utilized when the .launch file is run while the controllers1.yaml file is run by ros_controllers.launch:

# Publish all joint states -----------------------------------
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 100
    # Position Controllers ---------------------------------------
# Control all joints
arm:
  type: effort_controllers/JointTrajectoryController
  joints:
    - plat_joint
    - shoulder_joint
    - forearm_joint
    - wrist_joint

  state_publish_rate: 100

  gains:
    plat_joint: {p: 100, i: 0.0, d: 0}
    shoulder_joint: {p: 100, i: 0.0, d: 0}
    forearm_joint: {p: 100, i: 0.0, d: 0}
    wrist_joint: {p: 100, i: 0.0, d: 0}

The names of the controllers above ('arm' and 'joint_state_controller') must be referenced in the file that launches this yaml file (ros_controllers.launch).

My git