Gazebo doesn't read joints_state (controllers are launched)

asked 2021-07-29 10:59:42 -0500

will__ gravatar image

updated 2021-08-02 08:40:08 -0500

Hello everyone,

I have created my own easy robot with Solidworks (2020) to play a bit with the simulation and Ros. I've exported it in urdf through the plugin sw_urdf_exporter. It created a package which I can open on gazebo, of course the robot falls and is not controlled. To control it, I use moveIt, from the moveIt assistant. This new package had some known issues like "execution_type" or "controller list" and I corrected them. I created a launch file to be sure to launch all nodes correctly.

Now when I launch my package with the launch file test.launch, moveIt sees the joint state sent by gazebo (it appears on Rviz) but when I set a joint position goal on moveIt (through rviz), nothing appends on gazebo (the controllers are spawned ).

Even more strange, the movement is realized by moveIt and it tells me that it reached the goal : "Completed trajectory execution with status SUCCEEDED"

I really don't know why gazebo doesn't read the controller's topics and how to fix it. All my work is on this github:

Does someone have an idea of what happened and/or how fix it ?

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