Hi.

I cannot load the differential controllers for my robot. I am having the following message error ( I will use an image because the output of the terminal is too big):

summarizing it: "Could not load controller “mobilebasecontroller because…” and: (1)Failed to load mobilebase controller (2) Failed to load jibo2/rightwheelvelocitycontroller (3) Failed to load jibo2/leftwheelvelocity_controller

I imagine the error 2 and 3 happens because of the first .yaml (diff-drive type) was not correctly loaded. I tried to load the yaml file without put the name space, out of the group=“jibo2” area…but no success.

I have already seen this video https://www.youtube.com/watch?v=9OWxX7PA4SU trying to answer this similar question issue https://answers.ros.org/question/289561/help-to-run-diff_drive_controller/ but unfortunately for me it did not work.

So My LAUNCH file is below:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <arg name="urdf_robot_file" default="$(find solution_jibo_description)/urdf/jibo2.urdf"/>

    <arg name="x" default="-2"/>
    <arg name="y" default="0.0"/>
    <arg name="z" default="0.0"/>
    <arg name="roll" default="0.1"/>
    <arg name="pitch" default="0"/>
    <arg name="yaw" default="0"/>

     <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"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find solution_jibo_gazebo)/worlds/my_world.world"/>

    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
    <!-- more default -->
    </include>

    <group ns="jibo2">
        <!-- Spawn Part -->

        <arg name="robot_name" default="jibo2" />

    <node name="jibo2_diff_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
        output="screen" ns="/jibo2" args="mobile_base_controller"/> 

        <rosparam file="$(find solution_jibo_description)/config/jibo2_controllers.yaml" command="load" ns="/jibo2"/>
<!--
    <rosparam file="$(find solution_jibo_description)/config/jibo2_diff_drive.yaml" command="load" ns="/jibo2"/> -->

         <param name="/jibo2/robot_description" command="cat $(arg urdf_robot_file)" />


    <rosparam file="$(find solution_jibo_description)/config/jibo2_drive_controllers.yaml" command="load" ns="/jibo2"/>

        <!-- send fake joint values -->
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="use_gui" value="TRUE"/>
        </node>


        <node name="urdf_spawner_jibo2" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg robot_name) -param /jibo2/robot_description"/>

        <node name="robot_state_publisher_jibo2" pkg="robot_state_publisher" type="robot_state_publisher"
        respawn="false" output="screen">
            <param name="publish_frequency" type="double" value="5.0" />
        </node>

        <node name="jibo2_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
        output="screen" args="--namespace=/jibo2
                              /jibo2/joint_state_controller
                              /jibo2/base_waist_joint_position_controller
                              /jibo2/waist_body_joint_position_controller
                              /jibo2/body_head_joint_position_controller
                  /jibo2/left_wheel_velocity_controller
                              /jibo2/right_wheel_velocity_controller">
        </node>
    </group>
</launch>

MY Config - yaml files are below:

jibo2diffdrive.yaml:

mobile_base_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'wheel_left_joint'
  right_wheel : 'wheel_right_joint'
  publish_rate: 50.0               # default: 50
  pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 0.235
  wheel_radius : 0.04

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.22

  # Base frame_id
  base_frame_id: base_footprint #default: base_link

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.0  # m/s
      min_velocity           : -0.5 # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.8  # m/s^2
      min_acceleration       : -0.4 # m/s^2
      has_jerk_limits        : true
      max_jerk               : 5.0  # m/s^3
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 1.7  # rad/s
      has_acceleration_limits: true
      max_acceleration       : 1.5  # rad/s^2
      has_jerk_limits        : true
      max_jerk               : 2.5  # rad/s^3

And the jibo2_controllers.yaml:

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

# Position Controllers ---------------------------------------
base_waist_joint_position_controller:
  type: effort_controllers/JointPositionController
  joint:  base_waist_joint
  pid: {p: 60.0, i: 10.0, d: 10.0}
waist_body_joint_position_controller:
  type: effort_controllers/JointPositionController
  joint: waist_body_joint
  pid: {p: 60, i: 15.0, d: 1.0}
body_head_joint_position_controller:
  type: effort_controllers/JointPositionController
  joint: body_head_joint
  pid: {p: 10, i: 1, d: 0.0}

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

left_wheel_joint_velocity_controller:
  type: velocity_controllers/JointVelocityController
  joint: wheel_left_joint  
  pid: {p: 00.1, i: 0.00001, d: 0.0001}

right_wheel_joint_velocity_controller:
  type: velocity_controllers/JointVelocityController
  joint: wheel_right_joint 
  pid: {p: 100.0, i: 0.1, d: 10.0}

Someone had a similar issue?