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Hello,
I would like to load a controller. I wanted to ask what kind of executables i need to run before i can load a controller. Because someone needs to provide the load_controller service. I know that Gazebo does this, but is there a way to do this without using Gazebo?
You should use ControllerManager class which provides this services. Other then that, if you want to use ros_control framework you probably need to implement your RobotHW Class (usually implements also ControllerManager). You can use FakeJoint implementation to fake the hardware. This is often used with MoveIt for off-line testing without simulation, i.e., with very rudimentary "simulation".
Let me know if you need additional information.
Thank you very much for your help, but I still have some troubles. I thought maybe there is an executable that I can just include in my roslaunch file. So far what I do in my roslaunch file is:
load the robot description and corrresponding semantic description start the robot state publisher load the arm_controller.yml (for ur5) start my can_driver node which connect to the real hardware and start the spawner to load and start the arm_controller
But the problem is that the spawner cannot spawn my arm_controller because the service does not exist. So what am I missing?
Thanks in advance.
Asked: 2021-03-12 04:53:40 -0500
Seen: 342 times
Last updated: Mar 12 '21
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