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Ros topics not listed for steered_wheel_base_controller plugin

asked 2014-12-05 01:05:07 -0500

Sphenop gravatar image

updated 2014-12-05 01:45:56 -0500

gvdhoorn gravatar image

Hi,

I am using the steered_wheel_base_controller plugin for my application. When I am loading it in a node, everything compiles and the node launches without any errors. But on listing the topic, the topics relevant to the plugin are not listed. Am I missing something?

The following is the odom_publisher.cpp file:

int main(int argc, char** argv)
{

  ros::init (argc, argv, "odom_publisher");
  ros::AsyncSpinner spinner(1);
  spinner.start();

  pluginlib::ClassLoader<controller_interface::ControllerBase> odom_publisher("steered_wheel_base_controller","controller_interface::ControllerBase");
  try
  {

   boost::shared_ptr<controller_interface::ControllerBase> odom = odom_publisher.createInstance("steered_wheel_base_controller/SteeredWheelBaseController");
  }
  catch(pluginlib::PluginlibException& ex)
  {
    ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
  }
  return 0;
}
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answered 2014-12-05 01:37:31 -0500

gvdhoorn gravatar image

updated 2014-12-05 01:44:55 -0500

Seeing as steered_wheel_base_controller is a ros_control plugin, I don't think you're supposed to load it like you do -- eg: directly using pluginlib.

You might want to take a look at the ros_control/Tutorials and the presentation of Adolfo at ROSCon14 last September on ros_control.

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Asked: 2014-12-05 01:05:07 -0500

Seen: 104 times

Last updated: Dec 05 '14