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STRANGE ERROR! Unable to move Revolute Joints in Gazebo

asked 2016-06-06 21:09:47 -0500

rohin gravatar image

I'm running : 1. ROS Indigo 2. Ubuntu 14.04 Trusty

I'm simulating a 6DOF robotic arm using ros_control and using gazebo_ros_control plugins. I'm using Joint Position Controllers.

I have set up the .yaml file containing the type of controllers. I have also added all the transmission and gazebo_ros_control tags in my URDF file.

Everything launches without any error. When I try to publish messages on /robot_arm/joint1_position_controller/command topic I'm unable to move the revolute joints. Interestingly I have two continuous joints among my 6DOF which move.

Also these movements are abrupt and not in a smooth manner. Whereas I've tried tutorials where the arm follows a smoother motion using Joint Position Controllers.

How should I get my revolute joints to move? Please help!

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Are you perhaps using a Jaco or Mico arm? I had the same issue and just changed them to continuous joints.

Laurens Verhulst gravatar image Laurens Verhulst  ( 2016-06-07 04:26:41 -0500 )edit

Thanks Laurens! Issue sorted out!

rohin gravatar image rohin  ( 2016-06-14 00:17:07 -0500 )edit

hello,I also encounter this problem with revolute joints. Is it was the limit seting problem ?

yin gravatar image yin  ( 2016-09-05 01:51:06 -0500 )edit

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answered 2016-06-14 00:16:17 -0500

rohin gravatar image

Issue Solved.

Making the joints continuous works.

But the real problem was that the effort and velocity limits of the revolute joints in my URDF description were set to zero.

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Asked: 2016-06-06 21:09:47 -0500

Seen: 522 times

Last updated: Sep 05 '16