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rosrun controller_manager controller_manager list

asked 2014-04-21 06:26:37 -0600

b3l33 gravatar image

I am attempting to spawn controllers but interactions with controller_manager seem to hang.

1) when I attempt to launch my controllers I see the following after a timeout:

[INFO] [WallTime: 1398097365.560001] Controller Spawner: Waiting for service controller_manager/load_controller [WARN] [WallTime: 1398097395.567543] Controller Spawner couldn't find the expected controller_manager ROS interface. [gripper/controller_spawner-1] process has finished cleanly log file: /home/user/.ros/log/57c14baa-c96f-11e3-b22a-c81f6621927d/gripper-controller_spawner-1*.log

2) Subsequently, if I attempt to merely list controllers/types the call hangs until I kill the process:

rosrun controller_manager controller_manager list

Anyone have any tips on what I am doing wrong? I have confirmed that ros_control and ros_controllers are installed.

Thanks in advance.

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Do you have a control process running? Can you see the controller_manager service with `rosservice list` ?

ahendrix gravatar imageahendrix ( 2014-04-21 06:50:18 -0600 )edit

No, it does not appear in the list of services....

b3l33 gravatar imageb3l33 ( 2014-04-21 07:14:53 -0600 )edit

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answered 2014-04-21 09:12:23 -0600

b3l33 gravatar image

updated 2014-04-21 09:13:32 -0600

I found my mistake. I had a type-o in my URDF. I was using an incorrect tag in the gazebo plugin namespace element. Namely, I had

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robot_namespace>/gripper</robot_namespace> </plugin> </gazebo>

When I should have had

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/gripper</robotNamespace> </plugin> </gazebo>

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answered 2014-04-21 07:28:50 -0600

ahendrix gravatar image

It sounds like you don't have a control loop running.

The controller_manager paradigm has two components, the control loop itself, which reads data and sends commands to the actuators, and which has loadable controllers through a service, and the controller_manager, which calls that service to load and unload controllers.

In your case, it sounds like your control loop isn't running. It's hard to say more without knowing what kind of robot you're trying to control and which nodes are already running.

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Asked: 2014-04-21 06:26:37 -0600

Seen: 3,294 times

Last updated: Apr 21 '14