Multi robot position_controller problem

asked 2016-02-03 11:24:17 -0600

F.Brosseau gravatar image

updated 2016-02-04 10:53:48 -0600

Hello everybody,

I am trying to spawn several robot which use ros_control. I have a problem with my position controllers :

[INFO] [WallTime: 1454516624.223580] [1.800000] Loading controller: left_arm_position_controller [ERROR] [WallTime: 1454516625.272021] [2.753000] Failed to load left_arm_position_controller

But I have two velocity controllers (defined in the same files) which are working fine.

I have a launch file that include my robot launch file : main.launch

    <include file="$(env SIMU_PACKAGE_PATH)/launch/gazebo_env.launch"/>
    <group ns="myRobot">
         <include file="$(env SIMU_PACKAGE_PATH)/launch/myRobot.launch">
             <arg name="robot_name" value="myRobot"/>

The gazebo_env.launch is in charge of the gazebo environment.

In the robot launch, I don't use any namespace in the node (they are already launch in a group). There is the spawn node and controllers node in the robot launch file :

<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" output="screen" respawn="false" args="-param robot_description  -urdf -model $(arg robot_name) -Y 3.14" />
<!--Load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="

<!--Publish joint information-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">

<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

Is there a bug with the position controllers ?

Thanks in advance

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