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

asked 2020-06-12 07:12:17 -0500

SCH gravatar image

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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