getting my custom transmissions to work in gazebo
I'm having problems getting my model to work in gazebo: when I spawn my model in gazebo, I get a segfault. I'm almost sure it's due to my custom transmissions, because the model is working when the standard pr2 simple_transmission are used.
The backtrace is available here.
My model contains custom transmissions (which are almost copies of the simple_transmission.cpp, as you can see here.
I uploaded the generated model here.
Those transmissions are working on the real robot, but not in Gazebo.
Any ideas?
Comments
It appears the problem is coming from the iteration on the actuator map in ControllerManager::publishMechanismStatistics(): the for (ActuatorMap::const_iterator it = model_.hw_->actuators_.begin(); it != model_.hw_->actuators_.end(); ++i, ++it) returns a segfault on the 3rd element.
Ugo
(
2011-09-15 22:18:51 -0500
)edit
If I comment out the call to publishMechanismStatistics() in the ControllerManager::update() function then the simulation seems to be working fine.
Ugo
(
2011-09-15 22:30:36 -0500
)edit
The root of the problem is that the pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp instantiates a ''''pr2_hardware_interface::Actuator" object (line 470), and not my custom actuator (which inherits from the pr2 Actuator class). Is it not possible to have a custom actuator?
Ugo
(
2011-10-24 23:52:56 -0500
)editadd a comment
