How to open controller manager for a different robot_description?

asked 2015-09-12 19:03:52 -0500

webvenky gravatar image

I am simulating a multi-robot system. I have a different name for the robot descriptions for different robots. When I tried to start the controller manager.

    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="camera_position_controller joint_state_controller">
        <remap from="robot_description" to="robot1_description" />

It gives the error:

[INFO] [WallTime: 1442100763.719533] [0.533000] Loading controller: camera_position_controller
[ERROR] [1442100763.811078289, 0.621000000]: Could not find parameter robot_description on parameter server
[ERROR] [1442100763.811171897, 0.621000000]: Failed to parse urdf file
[ERROR] [1442100763.811233707, 0.621000000]: Failed to initialize the controller
[ERROR] [1442100763.811282445, 0.621000000]: Initializing controller 'camera_position_controller' failed

The .yaml file for controller params.

  # Publish all joint states -----------------------------------
    type: joint_state_controller/JointStateController
    publish_rate: 10  

  # Position Controllers ---------------------------------------
    type: effort_controllers/JointPositionController
    joint: camera_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

Kindly help.

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did you ever figure out how to fix this? I'm stuck on the same problem. my joint_state_controller is getting loaded, but not the other position controllers.

robot_commander gravatar image robot_commander  ( 2017-04-04 10:12:47 -0500 )edit

I suggest using multimaster_fkie for multirobot systems. ROS master is originally designed for just one robot. You have to run multiple masters on different ports to simulate multirobot systems.

webvenky gravatar image webvenky  ( 2017-07-18 21:34:31 -0500 )edit