Problem with ROS control and Gazebo.

asked 2019-11-04 14:01:26 -0600

MichaelDUEE
15 ●6 ●11 ●13

updated 2019-11-06 15:59:02 -0600

Hello,

I have a problem with controlling a URDF that I exported from SolidWorks. (Ubuntu 16.04 , Kinetic, Gazebo 7.x) I followed this tutorial and I wanted to implemented on my robot. All the controllers are starting correctly so as the Gazebo simulation also the Node publish the data correctly I have checked it with echo-ing the topic and with different values for the data. Is there a chance not working because the PID values ?

All the transmissions look like this :

<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint_1">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

The controller is like this (for all joints) :

joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: Joint_1
    pid: {p: 100.0, i: 0.01, d: 10.0}

And I have this node:

rospy.init_node('ArmMovement')
pub1=rospy.Publisher("/rrbot/joint1_position_controller/command",Float64,queue_size=10 )
rate = rospy.Rate(50)
ArmCor1= Float64()
ArmCor1.data=0
pub1.publish(ArmCor1)
rate.sleep()

Edit#1 : Part of URDF for the Joint_1:

 <joint name="Joint_1" type="revolute">
<origin
  xyz="0 0 -0.008"
  rpy="1.5708 0 0" />
<parent link="base_link" />
<child link="Link_1" />
<axis
  xyz="0 1 0" />
<limit
  lower="0"
  upper="3.14"
  effort="0"
  velocity="0" />
 </joint>

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Comments

What is the behavior that you are seeing? IS it vibrating?

pmuthu2s ( 2019-11-04 14:48:07 -0600 )edit

@pmuthu2s It has a little vibration but I believe it occurs because the gripper of the arm is touching the ground. There is no movement further than that.

MichaelDUEE ( 2019-11-04 16:28:30 -0600 )edit

Are there any warnings or errors when running your simulation? Is Gazebo loading your controllers correctly, is it publishing on the topic "/rrbot/joint1_position_controller/state" and subscribing to "/rrbot/joint1_position_controller/command" as expected?

Jasmin ( 2019-11-06 13:07:35 -0600 )edit

No I dont have any warning or errors. The controllers are starting correclty and the message is successfully transimitted. @Jasmin

MichaelDUEE ( 2019-11-06 14:36:44 -0600 )edit

Could you post your urdf or at least the joint definition part?

Jasmin ( 2019-11-06 15:43:50 -0600 )edit

@Jasmin. Of course, I have edited the question!

MichaelDUEE ( 2019-11-06 15:56:21 -0600 )edit

That helps! The joint will never move with a velocity="0". You need to set non zero effort and velocity values, try something like:

<limit
  lower="0"
  upper="3.14"
  effort="2"
  velocity="2.0" />

Jasmin ( 2019-11-07 01:42:37 -0600 )edit

@Jasmin Thank you a lot for your help, it actually works!!

MichaelDUEE ( 2019-11-12 13:59:02 -0600 )edit

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2 Answers

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answered 2019-11-12 15:40:18 -0600

MichaelDUEE
15 ●6 ●11 ●13

Thank you guys for your help, it actually work after your comments. This was my Joint_1 :

 <joint name="Joint_1" type="revolute">
 <origin
 xyz="0 0 -0.008"
 rpy="1.5708 0 0" />
<parent link="base_link" />
<child link="Link_1" />
<axis
xyz="0 1 0" />
<limit
 lower="0"
 upper="3.14"
 effort="0"
 velocity="0" />
</joint>

I changed the limit section to this :

<limit
lower="0"
upper="3.14"
effort="2"
velocity="2.0" />

I have other problems like a very annoying shiver (that comes from effort value I think) but It is not for this topic.

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answered 2019-11-05 01:47:10 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2019-11-05 01:53:05 -0600

Seeing this:

rospy.init_node('ArmMovement')
pub1=rospy.Publisher("/rrbot/joint1_position_controller/command",Float64,,queue_size=10 )
rate = rospy.Rate(50)
ArmCor1= Float64()
ArmCor1.data=0
pub1.publish(ArmCor1)
rate.sleep()

It's likely that there simply isn't any chance for the Subscriber (on Gazebo's / ros_control's side) to actually receive the message. rate.sleep() is single-shot. There is no periodicity here, so after 1/50 seconds (ie: 20 milliseconds), your program terminates and the Publisher is destroyed with it.

In those 20 milliseconds, the Subscriber needs to:

become aware of your Publisher
register interest with the ROS master
request a subscription
set up the actual network connection
negotiate with the Publisher to see whether it can actually exchange messages
complete negotiation, and only then
can it receive the message

Just to see whether this is indeed the problem, at a rospy.sleep(5) after the pub1=rospy.Publisher(..) line.

If things start working, you'll want to either make your script periodic, or use a state-based approach (ie: check there are subscribers) with rospy.Publisher.get_num_connections().

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Comments

@gvdhoorn I made a while loop and still got the same results. I used echo to see if the message was published and the message was published.

MichaelDUEE ( 2019-11-05 02:26:41 -0600 )edit

Then I would suggest to not use a loop, but check with get_num_connections() you actually have subscribers. This would both make things state-based, as well as verify that you're publishing to the correct topic.

gvdhoorn ( 2019-11-07 01:40:23 -0600 )edit

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