Can't see my topics, what is wrong?

asked 2018-09-17 03:59:27 -0600

aikhs gravatar image

I am making my gazebo world and have created 3 packages in my catkin src file: 1. genius_gazebo 2. genius_control 3. genius_ description

Description holds my URDF information and I have included this config file in genius_control/config:

genius:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  


  # Effort Controllers ---------------------------------------
  leftWheel_effort_controller:
    type: effort_controllers/JointEffortController
    joint: left_wheel_hinge
    pid: {p: 100.0, i: 0.1, d: 10.0}
  rightWheel_effort_controller:
    type: effort_controllers/JointEffortController
    joint: right_wheel_hinge
    pid: {p: 100.0, i: 0.1, d: 10.0}

And this launch file in genius_control/launch

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find genius_control)/config/genius_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/genius" args="joint_state_controller
                      rightWheel_effort_controller
                      leftWheel_effort_controller"/>


  <!-- 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">
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find genius_description)/urdf/genius.xacro'" />
    <remap from="/joint_states" to="/genius/joint_states" />
  </node>

</launch>

And finally I have included this launch file in my main launch file in genius_gazebo/launch:

<launch>

    <!-- urdf xml robot description loaded on the parameter server, converting the xacro into a porter urdf file -->
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find genius_description)/urdf/genius.xacro' " />


    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find genius_gazebo)/worlds/genius.world"/>
        <arg name="gui" value="true"/>
    </include>

    <!-- push robot_description to factory and spwan genius in gazebo -->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model genius -param robot_description"/>

    <!-- launch the controllers -->
    <include file="$(find genius_control)/launch/genius_control.launch" />
</launch>

When I launch gazebo, I expect to see my 2 topics, which I have described in genius_control/config file: 1. leftWheel_effort_controller 2. rightWheel_effot_controller

But I only see this list:

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/genius/joint_states
/rosout
/rosout_agg
/tf
/tf_static
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Comments

Have you checked the output of rosparam list ? (once you have launched everything)

Delb gravatar imageDelb ( 2018-09-17 06:18:40 -0600 )edit