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Gazebo + ros_control

asked 2015-02-02 14:54:51 -0500

gpldecha gravatar image

I have been trying to get the LWR KUKA robot to be controlled in Gazebo through ROS (simulation only at this stage). I have been following this tutorial gazebo_ros_control which achieves the wanted effect with the rrbot. The controller in the tutorial is an effort_controllers/JointPositionController.

I have reproduced the same steps of the tutorial on my own KUKA model, but the results differ and I am unable to have to robot maintain a specific joint configuration (I have also tried to change the pid gains, but with no success).

I have uploaded my KUKA package on git.

I can move the robot with little difficulty in Rviz with Moveit but I have been running into difficulties with Gazebo control for some time. I am not sure if I have to write my own control plugin for gazebo or what I should do. The documentation on the web is at some times quite overwhelming.

Any help to get a position control working on my Gazebo + ROS KUKA model would be very welcome.

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I have found another post in which the problem seems to be similar to mine: Controllers are unable to fight gravity in Gazebo simulation

gpldecha gravatar image gpldecha  ( 2015-02-03 01:48:10 -0500 )edit

@gpldecha: I don't think so: the UR5 in that question was using EffortControllers, while you are using JointPositionControllers. Low limits on EffortControllers can result in the issue the OP was seeing in the question you linked. Sorry, misread your question.

gvdhoorn gravatar image gvdhoorn  ( 2015-02-03 01:54:29 -0500 )edit

@gvdhoorn yes looks like the "effort_controllers/JointEffortController" instead of effort_controllers/JointPositionController. Thanks for the link to the repository I will check it out.

gpldecha gravatar image gpldecha  ( 2015-02-03 02:37:46 -0500 )edit

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answered 2015-02-03 01:56:36 -0500

gvdhoorn gravatar image

Not a real answer, but you might be interested in the CentroEPiaggio/kuka-lwr repository.

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I will be using the package from CentroEPiaggio/kuka-lwr it seems to be much more complete and tested with the real KUKA robot.

gpldecha gravatar image gpldecha  ( 2015-02-03 02:58:15 -0500 )edit

If your question is answered, please mark it as such for future reference.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2015-02-03 11:08:14 -0500 )edit

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Asked: 2015-02-02 14:54:51 -0500

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Last updated: Feb 03 '15