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STRANGE ERROR! Unable to move Revolute Joints in Gazebo

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

97 ●8 ●11 ●17 http://nymble.in/

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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Comments

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

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

Thanks Laurens! Issue sorted out!

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

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

97 ●8 ●11 ●17 http://nymble.in/

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

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Last updated: Sep 05 '16

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