Gazebo could not find the Robot description

asked 2019-01-22 08:19:46 -0600

Vishnuprasad176 gravatar image

Hello,

I am trying to spawn the differential drive robot in the gazebo and I'm getting these errors.

[ERROR] [1548165426.418484914, 0.290000000]: Robot descripion couldn't be retrieved from param server.
[ERROR] [1548165426.418530005, 0.290000000]: Failed to initialize the controller
[ERROR] [1548165426.418554743, 0.290000000]: Initializing controller 'omronld_velocity_controller' failed
[ERROR] [1548165427.420084, 1.258000]: Failed to load omronld_velocity_controller

I have interfaced robots wheels transmission with VelocityJointInterface. I have written the gazebo_ros_control plugin for the gazebo, however, I did not include differential_drive_controller plugin instead I use controller manager to control the robot. If I run my robot with a robot_description name for URDF parameter then everything works fine but if change the robot_description with omronld_description I get above errors. Also, I have remapped the robot_description to omronld_description during the node robot_state_publisher. More info: omronld_velocity_controller is of the type "diff_drive_controller/DiffDriveController" Kindly help me with this.

Thank you.

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Comments

If I run my robot with a robot_description name for URDF parameter then everything works fine

Why not leave it at that?

Isha Dijcks gravatar imageIsha Dijcks ( 2019-01-22 11:52:00 -0600 )edit

Because I am spawning multiple robots in the gazebo.

Vishnuprasad176 gravatar imageVishnuprasad176 ( 2019-01-22 23:52:35 -0600 )edit

Have you seen this related question concerning multiple robot simulation? https://answers.ros.org/question/4143...

Isha Dijcks gravatar imageIsha Dijcks ( 2019-01-23 02:36:17 -0600 )edit

There is additional info you should know if I write the diff drive gazebo plugin and not run the control spawner then it will work fine. I want to know if can work my multiple robots in gazebo using control spawner.

Vishnuprasad176 gravatar imageVishnuprasad176 ( 2019-01-28 07:45:04 -0600 )edit

Yes I follow the as give a solution in here https://answers.ros.org/question/4143... the result is the same :(

Vishnuprasad176 gravatar imageVishnuprasad176 ( 2019-01-28 07:46:57 -0600 )edit