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steered wheel controller wheel joints not working

asked 2015-03-04 00:16:45 -0500

SVS gravatar image

I am trying to use steered wheel base controller for my four wheeled mobile base. I was trying to implement steering joints as position controlled and axle joints as velocity controlled.

My problem is, while publishing cmd_vel , axle joints are not working. Velocity command from ros control is always outputs as zero. But steering joints which uses position control is working when I published yaw velocity.

Is it problem with velocity control I implemented or it is a problem with steered base controller ?

What all things I need to taken care while setting control frequency of controller manager?

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answered 2015-03-06 01:17:38 -0500

SVS gravatar image

Got solution. The mistake is I registered position and velocity hardware interfaces for each joints.

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So, it means we should not use position and velocity hardware interfaces,? Did you use this in Gazebo? How did you define the transmissions in URDF for this controller?

Mos gravatar imageMos ( 2015-08-28 23:50:12 -0500 )edit

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Asked: 2015-03-04 00:16:45 -0500

Seen: 162 times

Last updated: Mar 06 '15