couldn't load controllers using pr2_controller_manager

asked 2019-08-10 03:42:22 -0500

Riss69 gravatar image

I am trying to load base_controller and base_odometry using pr2_controller_manager through my launch file but couldn't find any success.

rosrun pr2_controller_manager pr2_controller_manager list

This command is also mentioning nothing.

The traceback I am getting is

Traceback (most recent call last): File "/home/deadmanlogan/i_am_from_source/catkin_ws/src/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 161, in <module> if __name__ == '__main__': main() File "/home/deadmanlogan/i_am_from_source/catkin_ws/src/pr2_mechanism/pr2_controller_manager/scripts/spawner", line 92, in main rospy.wait_for_service('pr2_controller_manager/load_controller') File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service raise ROSInterruptException("rospy shutdown") rospy.exceptions.ROSInterruptException: rospy shutdown

The content of my launch file is

<launch>

<arg name="paused" default="false"/> <arg name="use_sim_time" default="true"/> <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/> <arg name="model" default="$(find pr2_description)/robots/pr2.urdf.xacro"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="paused" value="false"/> <arg name="use_sim_time" value="true"/> <arg name="gui" value="true"/> <arg name="headless" value="false"/> <arg name="recording" value="false"/> <arg name="debug" value="false"/> </include>

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" args="-z 0.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen"/>

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robo_state_publisher"> </node>

<rosparam file="$(find pr2_controller_configuration_gazebo)/config/pr2_base_controller.yaml" command="load" ns="base_controller"/>

<rosparam file="$(find pr2_controller_configuration_gazebo)/config/pr2_odometry.yaml" command="load" ns="base_odometry"/>

<node name="default_controllers_spawner" pkg="pr2_controller_manager" type="spawner" output="screen" args="base_controller base_odometry"/>

</launch>

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