No matching hardware interface found for 'JointStateInterface
my launch file is:
<launch>
<rosparam file="$(find myrobot1_control)/config/valkyrie_control.yaml" command="load" />
<node name="controller_spawner" pkg="controller_manager" type="spawner"
respawn="false" output="screen" ns="/valkyrie"
args="controller_1
controller_2
controller_3" />
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/valkyrie/joint_states" />
</node>
</launch>
my yaml file is:
valkyrie:
controller_1:
type: effort_controllers/JointTrajectoryController
joints:
- torsoYaw
- torsoPitch
- torsoRoll
- leftHipYaw
- leftHipRoll
- leftHipPitch
- leftKneePitch
- leftAnklePitch
- leftAnkleRoll
- rightHipYaw
- rightHipRoll
- rightHipPitch
- rightKneePitch
- rightAnklePitch
- rightAnkleRoll
- leftShoulderPitch
- leftShoulderRoll
- leftShoulderYaw
- leftElbowPitch
- rightShoulderPitch
- rightShoulderRoll
- rightShoulderYaw
- rightElbowPitch
gains:
torsoYaw: {p: 40.0, d: 1.0}
torsoPitch: {p: 40.0, d: 1.0}
torsoRoll: {p: 40.0, d: 1.0}
leftHipYaw: {p: 40.0, d: 1.0}
leftHipRoll: {p: 40.0, d: 1.0}
leftHipPitch: {p: 40.0, d: 1.0}
leftKneePitch: {p: 40.0, d: 1.0}
leftAnklePitch: {p: 40.0, d: 1.0}
leftAnkleRoll: {p: 40.0, d: 1.0}
rightHipYaw: {p: 40.0, d: 1.0}
rightHipRoll: {p: 40.0, d: 1.0}
rightHipPitch: {p: 40.0, d: 1.0}
rightKneePitch: {p: 40.0, d: 1.0}
rightAnklePitch: {p: 40.0, d: 1.0}
rightAnkleRoll: {p: 40.0, d: 1.0}
leftShoulderPitch: {p: 40.0, d: 1.0}
leftShoulderRoll: {p: 40.0, d: 1.0}
leftShoulderYaw: {p: 40.0, d: 1.0}
leftElbowPitch: {p: 40.0, d: 1.0}
rightShoulderPitch: {p: 40.0, d: 1.0}
rightShoulderRoll: {p: 40.0, d: 1.0}
rightShoulderYaw: {p: 40.0, d: 1.0}
rightElbowPitch: {p: 40.0, d: 1.0}
controller_2:
type: position_controllers/JointTrajectoryController
joints:
- leftForearmYaw
- leftWristRoll
gains:
leftForearmYaw: {p: 40.0, d: 1.0}
leftWristRoll: {p: 40.0, d: 1.0}
controller_3:
type: joint_state_controller/JointTrajectoryController
joints:
- leftThumbPitch2
- leftThumbPitch3
gains:
leftThumbPitch2: {p: 40.0, d: 1.0}
leftThumbPitch3: {p: 40.0, d: 1.0}
Asked by dinesh on 2017-07-26 06:40:01 UTC
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