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how can I control the motors or joints in the gazebo

asked 2014-10-01 09:25:45 -0500

Robot gravatar image

I have one urdf file. where I have decleared all the links joints actuatorts etc.. I have import the model in gazebo simulator. Now I want to control the motors or joint. I have tried with pr2_controller_manager pr2_interface.. but nothing is working..

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answered 2014-10-01 10:08:16 -0500

Wolf gravatar image

You might want to be a little more specific about what is not working....

In any case: If you have a urdf with joints in the most general case you need the robot_state_publisher to be up and running http://wiki.ros.org/robot_state_publi... and a node that publishes your joint_states, see http://wiki.ros.org/joint_state_publi...

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thanks for the reply. actually my urdf is a vehical model. which have four links for four wheel. and each is connected to actuator (motor) in the urdf model. I want to run those motors. which method will be simplest. Should I do this with pr2_controller_manager or pr2_controller_interface.

Robot gravatar image Robot  ( 2014-10-01 10:54:17 -0500 )edit

You might have a look at ros-control; http://wiki.ros.org/ros_control . However, I have no experience using ros_control. Clearly, your will still need to create or find a ros driver for your low level motor controllers...

Wolf gravatar image Wolf  ( 2014-10-02 01:05:47 -0500 )edit

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Asked: 2014-10-01 09:25:45 -0500

Seen: 1,094 times

Last updated: Oct 01 '14