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@HHHCMH, Ok I missread the post, I now see what you are doing.

In the first launch instructions you are just launching the robot_description and the controllers; It does not work since, actually, you are not generating any controller_interface in which the controllers can be loaded. However, In the second set of launchers you are launching Gazebo, that with the Transmission tag is generating the simulated controller_interface, and when you launch the controllers those are loaded properly in it.