Wheels have no transform to base_link - Real robot

asked 2019-05-29 11:11:18 -0500

joaocabogon gravatar image

Hello,

I'm trying to bring up my robot and everything is set up except from the wheels. Meaning that when I open Rviz everything is in place except from the 4 wheels that do not have a transform to the base_link.

So my robot has a diff-drive base with 4 wheels with a UR5 arm on top. My bring up launch file launches:

  • UR5 driver compatible with ros_control
  • 4-wheel base driver, not compatible with ros_control
  • URDF model which is correctly parsed
  • robot_state_publisher
  • controllers (that I used in simulation and worked): JointStateController, JointTrajectoryController (for the arm) and DiffDriveController (for the wheels)

I am guessing the problem is related to the fact that the base driver I am using is not compatible with ros_control. Is there any other way to solve this besides creating a specific Hardware Interface?

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Comments

DiffDriveController [..] I am guessing the problem is related to the fact that the base driver I am using is not compatible with ros_control.

if your base driver does not use ros_control then the DiffDriveController is not going to work.

You must be getting errors about that.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-29 11:17:19 -0500 )edit

@gvdhoorn True I am getting the following error: Could not find resource 'left_front_wheel' in 'VelocityInterface'

joaocabogon gravatar imagejoaocabogon ( 2019-05-29 12:46:56 -0500 )edit

So you'll have to use something else.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-29 13:09:12 -0500 )edit