# A abnormal about multi-libgazebo_ros_control.so in robot!!

In my car.xacro, it include a gimbal.xacro and a manipulator.xacro in gimbal.xacro i have:

 <gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/dji_gimbal</robotNamespace> </plugin> </gazebo> 

at the same time, in manipulator.xacro, there also has:

 <gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/arm</robotNamespace> </plugin> </gazebo> 

There are no problems so far, I can move manipulator in rviz by using MotionPlanning. but, when I use a python program to control the manipulator, there something wrong: I can see that the manipulator do a repetitive exercise between initial state and specify location.

and then, I delete the ros_control.so in gimbal.xacro and restart the program, here, the manipulator can move to specified position and keep still.

so ｗhat's the problem, why can I use the program normally after I delete one gazebo_ros_control.so in gimbal.xacro?

thank you!

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