pr2_mechanism_controllers/LaserScannerTrajController doesn't work?

asked 2020-07-29 02:24:37 -0600

moooeeeep gravatar image

updated 2020-07-29 02:26:06 -0600

I'm trying to get my laser scanner to do a continuous sweeping motion in a gazebo simulation. I've set everything up as described here:

  • urdf links with a revolute joint,
  • the gazebo transmission with a joint effort interface.

On the controller side, I considered to use the pr2_mechanism_controllers/LaserScannerTrajController, because I thought a higher-level API for this task would potentially save me some work, requiring less action client code. However, on the wiki page it seems the package is unmaintained and in this related answer it says it might be deprecated.

Nonetheless I installed the ros-melodic-pr2-mechanism-controllers package, but now the controller manager node can't find the controllers, as indicated by the error message:

[ERROR] [1596007221.157054607, 0.272000000]: Could not load controller 'laser_tilt_controller' because controller type 'pr2_mechanism_controllers/LaserScannerTrajController' does not exist.
[ERROR] [1596007221.157118618, 0.272000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types

Is this package actually broken, or do I have some fundamental misunderstanding?

I assume my next steps forward would be to go back to the tutorial and implement this using effort_controllers/JointPositionController, right?

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