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how to use robot_mechanism_controllers/JointVelocityController ?

asked 2014-01-09 00:51:51 -0500

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In brief: how to public message to the topic that one sample robot_mechanism_controllers/JointVelocityController subscribes?

I launched my robot_mechanism_controllers/JointVelocityController with this yaml file:

r_shoulder_pan_joint_controller:   
 type: robot_mechanism_controllers/JointVelocityController  
 joint: r_shoulder_pan_joint  
 pid:   
   p: 10.0  
   i: 0.0  
   d: 0.0  
   i_clamp: 0.0

and I published to the topic "/r_shoulder_pan_joint_controller/command".

In my rxgraph terminal I could see that the publisher is working however the "r_shoulder_pan_joint_controller" is not subscribing. Its connection is like:

Connections:
  * topic: /rosout
   * to: /rosout
   * direction: outbound
   * transport: TCPROS
 * topic: /clock
   * to: /gazebo (<a href="http://localhost:39443/">http://localhost:39443/</a>)
   * direction: inbound
   * transport: TCPROS

In addition after the "gazebo" node received the message (that I published), it publishes it to itself instead of to "r_shoulder_pan_joint_controller" node:

topic: /r_shoulder_pan_joint_controller/command
* to: <a href="http://localhost:55720/">http://localhost:55720/</a>
* direction: inbound
* transport: TCPROS

I suppose "to: http://localhost:55720/" should be "to: /r_shoulder_pan_joint_controller"

Any hint/suggestion/discussion is very much welcome! Thanks!

Yuquan

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answered 2014-01-13 11:51:55 -0500

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Later I realized it's better to skip the ros topic communication if possible and made it run.

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Asked: 2014-01-09 00:51:51 -0500

Seen: 389 times

Last updated: Jan 13 '14