Gazebo model isn't responding to ros2controller
Hi everyone,
So, I was doing the small test to gain my knowledge because I realized maybe my lack of understanding on ros2 cause a lot of issues with ros2 control and gazebo on customize model.
So, as I load launch using ros2 controller in a customized robot. (It has one joint on the top)
Everything seems normal after load the launch
[spawn_entity.py-2] [INFO] [1630041445.931482566] [spawn_entity]: Spawn Entity started
[spawn_entity.py-2] [INFO] [1630041445.932112684] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-2] [INFO] [1630041445.934222930] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-2] [INFO] [1630041445.946031667] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-2] [INFO] [1630041445.946685609] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-2] [INFO] [1630041445.951590881] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-2] [INFO] [1630041446.085613662] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [my_robot]
[gzserver-3] [INFO] [1630041446.123721033] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-3] [INFO] [1630041446.128421631] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-3] [INFO] [1630041446.128925481] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-3] [INFO] [1630041446.129052829] [gazebo_ros2_control]: Loading parameter file /home/bwuk/my_robot/fresh_description/install/fresh_description/share/fresh_description/config/rrbot_control.yaml
[gzserver-3]
[INFO] [spawn_entity.py-2]: process has finished cleanly [pid 124481]
[INFO] [ros2-6]: process started with pid [124632]
[gzserver-3] [INFO] [1630041446.138162311] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-3] [INFO] [1630041446.144365200] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
[gzserver-3] [INFO] [1630041446.184548924] [gazebo_ros2_control]: Loading joint: head_attach
[gzserver-3] [INFO] [1630041446.184619698] [gazebo_ros2_control]: Command:
[gzserver-3] [INFO] [1630041446.184682829] [gazebo_ros2_control]: effort
[gzserver-3] [INFO] [1630041446.185037012] [gazebo_ros2_control]: State:
[gzserver-3] [INFO] [1630041446.185067249] [gazebo_ros2_control]: position
[gzserver-3] [INFO] [1630041446.185375032] [gazebo_ros2_control]: velocity
[gzserver-3] [INFO] [1630041446.185521924] [gazebo_ros2_control]: effort
[gzserver-3] [INFO] [1630041446.187280675] [gazebo_ros2_control]: Loading controller_manager
[gzserver-3] [ERROR] [1630041446.230742315] [gazebo_ros2_control]: controller manager doesn't have an update_rate parameter
So, I ran the code (exactly as this link, but in my own namespace)
ros2 launch fresh_description example_velocity
The model in gazebo isn't moving. What did I miss?
The model looks like this (This model has one joint only)
I know it is a rather oldish question, but I ran into a similar one, recently. I was in fact missing a line similar to this one in my
controllers.yamlfile. Basically, that seems to be what the output tries to tell you.Ah, no wonder! Thank you so much for your time to comment this! I gave up on controller_manager and started with joint_controller in ignition fortress + Foxy! I should come back and get controller_manager to gain my experience. I will use what you commented and see if it got me through the issue.
I have the same missing parameter reported. However I certainly do have update_rate: 100 inside my yaml file.