Cannot get the effort display on Rviz to work.

asked 2020-05-28 05:40:34 -0600

Paco98 gravatar image

updated 2020-05-28 13:23:29 -0600

I'm trying to display the efforts like here http://wiki.ros.org/rviz/DisplayTypes.... To do this I publish the effort information in my /joint_states topic. On Rviz I have a robot visualization that is working perfectly. When I open the Rviz effort display and set it up, it says that the status is ok. It found the robot_description and that the display is receiving messages published to /joint_states:

What I see in Rviz

Yet under "Joints" I don't see any of the robot joints like on the website screenshot,

what I should see according to ros.org

and there are no efforts being displayed on my model (no circles with arrows). Has anyone gotten the effort display to work? I found a post from 2013 with the same problem: https://answers.ros.org/question/9922...

the joints on my URDF look like this:

<joint name="FLpitch_HJ" type="continuous">
    <parent link="FLpitch_T"/>
    <child link="flpitch_hj_endpoint"/>
    <axis xyz="1.0 0.0 0.0"/>
    <origin xyz="-3.58 0.19999999935024748 -0.0905"/>
</joint>

I tried adding:

<limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />

on every joint but It did not change things. Is this tag necessary for the Rviz display to work?

If I can provide any more information please let me know. I'm running ROS Melodic distro on a virtual machine with Ubuntu 18.04.

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Comments

Please attach your screenshots to the post directly, instead of linking to a 3rd party host. I've given you sufficient karma.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-28 06:12:57 -0600 )edit

Something to check: does your .urdf has the effort attribute set on the limits of the joints?

gvdhoorn gravatar image gvdhoorn  ( 2020-05-28 06:16:30 -0600 )edit

@gvdhoorn my .urdf does not have an effort attribute set on the limits of the joints. I tried adding: <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7"/> (where the values are random) for each joint, but saw no difference. Is this needed for it to work?

Paco98 gravatar image Paco98  ( 2020-05-28 09:51:01 -0600 )edit

Please attach your images directly to the question.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-28 12:06:08 -0600 )edit

@gvdhoorn done.

Paco98 gravatar image Paco98  ( 2020-05-28 13:24:05 -0600 )edit