Hi I am using Noetic. I am getting this error for controller with Gazebo simultion -Failed to load joint1_position_controller. I have already installed all required packages. I still have this error. Your suggetions will be helpful.

asked 2020-11-04 08:15:11 -0500

Harshal gravatar image

<launch>

<group ns="/mrm">

    <!-- Robot model -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mrm_description)/urdf/mrm.xacro'" />
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="1"/>

    <!-- Spawn the robot model -->
    <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
          args="-urdf -param robot_description -model mrm -x $(arg x) -y $(arg y) -z $(arg z)" />

    <!-- Load controllers -->
    <rosparam command="load" file="$(find mrm_description)/config/joints.yaml" />

    <!-- Controllers -->
    <node name="controller_spawner" pkg="controller_manager" type="spawner"
        respawn="false" output="screen" ns="/mrm"
        args="--namespace=/mrm
        joint_state_controller
        joint1_position_controller
        joint2_position_controller
        joint3_position_controller
        joint4_position_controller
        joint5_position_controller
        joint6_position_controller

        --timeout 60">
    </node>

    <!-- rqt 
    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
    <node name="rqt_publisher" pkg="rqt_publisher" type="rqt_publisher" />
    -->
</group>

</launch>

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Comments

@Harshal You may want to use the robot_state_publisher to generate the proper TF_tree needed for the controllers to be properly running. Moreover your do not need to pass the argument: --namespace=/mrm you should set up the working namespace of the ros_control plugin within the plugin parameters in the robot_description.

Weasfas gravatar image Weasfas  ( 2020-11-06 04:26:02 -0500 )edit