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Hi prcgnn. These two libraries are not complementary. ROS Control is a generic framework to implement controllers in ROS applications, for example, the diff_drive_controller. gazebo_ros_control is a Gazebo Plugin that "talks" with the ROS Control stack (through a Hardware Interface), allowing you to control a robot in Gazebo using a ROS Controller.

I suggest you read the documentation from ROS Control, and also how it works with Gazebo (link).

But that being said. As you did not post the entire robot's URDF, I imagine that you did not add the transmission associated to the joints you need to move (link).

Could you edit your question and include your terminals? Probably they have some useful information too.

Also, the way you define the yaml file, instead of "cmd_vel", your rostopic will probably be "mobile_base_controller/cmd_vel". It works fine, but if you want to use the teleop or rviz's joystick, you need to set them to use the new name.

Check this tutorial about diff_drive_controller, it may help you.

I hope this information is helpful, and you can solve your issue.