Why spawned model keep falling down?
Hi everyone,
After I launch gazebo.launch, the spawned model keep falling down to the floor, it seems controllers doesn't work. I did rosservice call /notspot_controller/controller_manager/list_controllers and it printed out: controller: [].
From terminal has warning: Controller Spawner couldn't find the expected controller_manager ROS interface., although I installed the needed package: sudo apt-get install ros-melodic-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-position-controllers ros-melodic-velocity-controllers ros-melodic-ros-controllers ros-melodic-gazebo-ros ros-melodic-gazebo-ros-control.
I have an urdf model notspot.urdf in here:
<?xml version="1.0" encoding="utf-8"?>
<!-- Author: lnotspotl -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Maximum torque -->
<xacro:property name="effort_limit" value="1.4" />
<!-- base_link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/body_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.25 0.1285 0.055"/>
</geometry>
</collision>
</link>
<link name="base_inertia">
<inertial>
<origin xyz="-0.00048043 9.0814E-05 0.00023409" rpy="0 0 0" />
<mass value="0.81776" />
<inertia
ixx="0.00058474"
ixy="-1.0045E-06"
ixz="1.0886E-08"
iyy="0.00029699"
iyz="3.2027E-08"
izz="0.00063853" />
</inertial>
</link>
<!-- FR1 -->
<link name="FR1">
<inertial>
<origin xyz="0.011092 -0.0032719 0.00019267" rpy="0 0 0" />
<mass value="0.15379" />
<inertia
ixx="4.474E-05"
ixy="-1.0746E-05"
ixz="-1.7651E-07"
iyy="4.3489E-05"
iyz="-7.8105E-08"
izz="6.8646E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/FR1_obj.obj" />
</geometry>
</visual>
</link>
<!-- FR2 -->
<link name="FR2">
<inertial>
<origin xyz="0.038603 -0.0025578 -0.0001752" rpy="0 0 0" />
<mass value="0.15106" />
<inertia
ixx="2.365E-05"
ixy="-5.3771E-07"
ixz="-1.6144E-06"
iyy="0.00010469"
iyz="8.3059E-08"
izz="0.00011187" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R2_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.04 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.125" radius="0.014"/>
</geometry>
</collision>
</link>
<!-- FR3 -->
<link name="FR3">
<inertial>
<origin xyz="0.029797 -0.00098828 -9.2749E-05" rpy="0 0 0" />
<mass value="0.023372" />
<inertia
ixx="6.565E-07"
ixy="6.8071E-07"
ixz="-1.0503E-07"
iyy="2.7257E-05"
iyz="3.918E-09"
izz="2.7469E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R3_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.06" radius="0.007"/>
</geometry>
</collision>
</link>
<!-- FR4 -->
<link name="FR4">
<inertial>
<origin xyz="0.00 0 0" rpy="0 0 0" />
<mass value="0.0391" />
<inertia
ixx="3.7713E-012"
ixy="0"
ixz="0"
iyy="3.5422E-12"
iyz="0"
izz="5.443E-012" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.0072"/>
</geometry>
</collision>
</link>
<!-- FL1 -->
<link name="FL1">
<inertial>
<origin xyz="-0.011124 -0.0032814 0.00014476" rpy="0 0 0" />
<mass value="0.15334" />
<inertia
ixx="4.4732E-05"
ixy="1.0746E-05"
ixz="1.7651E-07"
iyy="4.3482E-05"
iyz="-7.8105E-08"
izz="6.8645E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/FL1_obj.obj" />
</geometry>
</visual>
</link>
<!-- FL2 -->
<link name="FL2">
<inertial>
<origin xyz="0.038603 -0.0025578 0.0001752" rpy="0 0 0" />
<mass value="0.15106" />
<inertia
ixx="2.365E-05"
ixy="-5.3771E-07"
ixz="1.6144E-06"
iyy="0.00010469"
iyz="-8.306E-08"
izz="0.00011187" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/L2_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.04 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.125" radius="0.014"/>
</geometry>
</collision>
</link>
<!-- FL3 -->
<link name="FL3">
<inertial>
<origin xyz="0.029797 -0.0009883 9.2751E-05" rpy="0 0 0" />
<mass value="0.023372" />
<inertia
ixx="6.565E-07"
ixy="6.8071E-07"
ixz="1.0503E-07"
iyy="2.7257E-05"
iyz="-3.918E-09"
izz="2.7469E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/L3_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.06" radius="0.007"/>
</geometry>
</collision>
</link>
<!-- FL4 -->
<link name="FL4">
<inertial>
<origin xyz="0.00 0 0" rpy="0 0 0" />
<mass value="0.0391" />
<inertia
ixx="3.7713E-012"
ixy="0"
ixz="0"
iyy="3.5422E-12"
iyz="0"
izz="5.443E-012" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.0072"/>
</geometry>
</collision>
</link>
<!-- RR1 -->
<link name="RR1">
<inertial>
<origin xyz="0.011092 -0.0032719 -0.00019266" rpy="0 0 0" />
<mass value="0.15379" />
<inertia
ixx="4.474E-05"
ixy="-1.0746E-05"
ixz="1.7651E-07"
iyy="4.3489E-05"
iyz="7.8105E-08"
izz="6.8646E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/RR1_obj.obj" />
</geometry>
</visual>
</link>
<!-- RR2 -->
<link name="RR2">
<inertial>
<origin xyz="0.038603 -0.0025578 -0.0001752" rpy="0 0 0" />
<mass value="0.15106" />
<inertia
ixx="2.365E-05"
ixy="-5.3771E-07"
ixz="-1.6144E-06"
iyy="0.00010469"
iyz="8.3059E-08"
izz="0.00011187" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R2_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.04 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.125" radius="0.014"/>
</geometry>
</collision>
</link>
<!-- RR3 -->
<link name="RR3">
<inertial>
<origin xyz="0.029797 -0.00098828 -9.2749E-05" rpy="0 0 0" />
<mass value="0.023372" />
<inertia
ixx="6.565E-07"
ixy="6.8071E-07"
ixz="-1.0503E-07"
iyy="2.7257E-05"
iyz="3.918E-09"
izz="2.7469E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/R3_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.06" radius="0.007"/>
</geometry>
</collision>
</link>
<!-- RR4 -->
<link name="RR4">
<inertial>
<origin xyz="0.00 0 0" rpy="0 0 0" />
<mass value="0.0391" />
<inertia
ixx="3.7713E-012"
ixy="0"
ixz="0"
iyy="3.5422E-12"
iyz="0"
izz="5.443E-012" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.0072"/>
</geometry>
</collision>
</link>
<!-- RL1 -->
<link name="RL1">
<inertial>
<origin xyz="-0.011092 -0.0032719 -0.00019266" rpy="0 0 0" />
<mass value="0.15379" />
<inertia
ixx="4.474E-05"
ixy="1.0746E-05"
ixz="-1.7651E-07"
iyy="4.3489E-05"
iyz="7.8105E-08"
izz="6.8646E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/RL1_obj.obj" />
</geometry>
</visual>
</link>
<!-- RL2 -->
<link name="RL2">
<inertial>
<origin xyz="0.038603 -0.0025578 0.0001752" rpy="0 0 0" />
<mass value="0.15106" />
<inertia
ixx="2.365E-05"
ixy="-5.3771E-07"
ixz="1.6144E-06"
iyy="0.00010469"
iyz="-8.306E-08"
izz="0.00011187" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/L2_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.04 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.125" radius="0.014"/>
</geometry>
</collision>
</link>
<!-- RL3 -->
<link name="RL3">
<inertial>
<origin xyz="0.029797 -0.0009883 9.2751E-05" rpy="0 0 0" />
<mass value="0.023372" />
<inertia
ixx="6.565E-07"
ixy="6.8071E-07"
ixz="1.0503E-07"
iyy="2.7257E-05"
iyz="-3.918E-09"
izz="2.7469E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://spot_description/meshes/L3_obj.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="0 1.57075 0" />
<geometry>
<cylinder length="0.06" radius="0.007"/>
</geometry>
</collision>
</link>
<!-- RL4 -->
<link name="RL4">
<inertial>
<origin xyz="0.00 0 0" rpy="0 0 0" />
<mass value="0.0391" />
<inertia
ixx="3.7713E-012"
ixy="0"
ixz="0"
iyy="3.5422E-12"
iyz="0"
izz="5.443E-012" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.0072"/>
</geometry>
</collision>
</link>
<!-- JOINTS -->
<joint name="base_link_to_inertia" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<joint name="FR1_joint" type="revolute">
<origin xyz="0.0954 -0.04 0" rpy="1.5708 0 -1.5708" />
<parent link="base_link" />
<child link="FR1" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FR2_joint" type="revolute">
<origin xyz="0.0469 0 0" rpy="1.5708 0 -1.5708" />
<parent link="FR1" />
<child link="FR2" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FR3_joint" type="revolute">
<origin xyz="0.1 0 0" rpy="0 0 0" />
<parent link="FR2" />
<child link="FR3" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FR4_joint" type="fixed">
<origin xyz="0.094333 0 0" rpy="0 0 0" />
<parent link="FR3" />
<child link="FR4" />
<axis xyz="0 0 0" />
</joint>
<joint name="FL1_joint" type="revolute">
<origin xyz="0.0954 0.04 0" rpy="1.5708 0 -1.5708" />
<parent link="base_link" />
<child link="FL1" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FL2_joint" type="revolute">
<origin xyz="-0.0469 0 0" rpy="1.5708 0 -1.5708" />
<parent link="FL1" />
<child link="FL2" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FL3_joint" type="revolute">
<origin xyz="0.1 0 0" rpy="0 0 0" />
<parent link="FL2" />
<child link="FL3" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="FL4_joint" type="fixed">
<origin xyz="0.094333 0 0" rpy="0 0 0" />
<parent link="FL3" />
<child link="FL4" />
<axis xyz="0 0 0" />
</joint>
<joint name="RR1_joint" type="revolute">
<origin xyz="-0.0954 -0.04 0" rpy="1.5708 0 -1.5708" />
<parent link="base_link" />
<child link="RR1" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RR2_joint" type="revolute">
<origin xyz="0.0469 0 0" rpy="1.5708 0 -1.5708" />
<parent link="RR1" />
<child link="RR2" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RR3_joint" type="revolute">
<origin xyz="0.1 0 0" rpy="0 0 0" />
<parent link="RR2" />
<child link="RR3" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RR4_joint" type="fixed">
<origin xyz="0.094333 0 0" rpy="0 0 0" />
<parent link="RR3" />
<child link="RR4" />
<axis xyz="0 0 0" />
</joint>
<joint name="RL1_joint" type="revolute">
<origin xyz="-0.0954 0.04 0" rpy="1.5708 0 -1.5708" />
<parent link="base_link" />
<child link="RL1" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RL2_joint" type="revolute">
<origin xyz="-0.0469 0 0" rpy="1.5708 0 -1.5708" />
<parent link="RL1" />
<child link="RL2" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RL3_joint" type="revolute">
<origin xyz="0.1 0 0" rpy="0 0 0" />
<parent link="RL2" />
<child link="RL3" />
<axis xyz="0 0 1" />
<limit
lower="-3"
upper="3"
effort="${effort_limit}"
velocity="3" />
</joint>
<joint name="RL4_joint" type="fixed">
<origin xyz="0.094333 0 0" rpy="0 0 0" />
<parent link="RL3" />
<child link="RL4" />
<axis xyz="0 0 0" />
</joint>
<!-- ROS control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>spot_controller</robotNamespace>
</plugin>
</gazebo>
<!-- IMU sensor -->
<gazebo reference="base_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>spot_imu/base_link_orientation</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>15.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>base_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Joint state publisher plugin -->
<gazebo>
<plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
<robotNamespace>spot_gazebo</robotNamespace>
<jointName>FR1_joint, FR2_joint, FR3_joint, FL1_joint, FL2_joint,
FL3_joint, RR1_joint, RR2_joint, RR3_joint, RL1_joint,
RL2_joint, RL3_joint</jointName>
<updateRate>100</updateRate>
</plugin>
</gazebo>
<!-- Transmission -->
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran8">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor8">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran9">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor9">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran10">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor10">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran11">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor11">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<transmission name="tran12">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor12">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>5</mechanicalReduction>
</actuator>
</transmission>
<!-- FR4 friction -->
<gazebo reference="FR4">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<minDepth>0.0002</minDepth>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<!-- FL4 friction -->
<gazebo reference="FL4">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<minDepth>0.0002</minDepth>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<!-- RR4 friction -->
<gazebo reference="RR4">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<minDepth>0.0002</minDepth>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
<!-- RL4 friction -->
<gazebo reference="RL4">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<minDepth>0.0002</minDepth>
<kp value="1000000.0"/>
<kd value="100.0"/>
</gazebo>
</robot>
And controllers.yaml file:
spotmicroai:
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 25
# FL Controllers ------------------------------------------------------------
FL1_joint:
type: effort_controllers/JointPositionController
joint: FL1_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
FL2_joint:
type: effort_controllers/JointPositionController
joint: FL2_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
FL3_joint:
type: effort_controllers/JointPositionController
joint: FL3_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
# FR Controllers ------------------------------------------------------------
FR1_joint:
type: effort_controllers/JointPositionController
joint: FR1_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
FR2_joint:
type: effort_controllers/JointPositionController
joint: FR2_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
FR3_joint:
type: effort_controllers/JointPositionController
joint: FR3_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
# RR Controllers ------------------------------------------------------------
RR1_joint:
type: effort_controllers/JointPositionController
joint: RR1_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
RR2_joint:
type: effort_controllers/JointPositionController
joint: RR2_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
RR3_joint:
type: effort_controllers/JointPositionController
joint: RR3_joint
pid: {p: 9, i: 0, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
# RL Controllers ------------------------------------------------------------
RL1_joint:
type: effort_controllers/JointPositionController
joint: RL1_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
RL2_joint:
type: effort_controllers/JointPositionController
joint: RL2_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
RL3_joint:
type: effort_controllers/JointPositionController
joint: RL3_joint
pid: {p: 9, i: 0.03, d: 0.3055, i_clamp_min: -1000, i_clamp_max: 1000}
Then, gazebo.launch file:
<launch>
<arg name="world" default="empty"/>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!--Load empty world-->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find spot_description)/worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<arg name="x_pos" default="0.0"/>
<arg name="y_pos" default="0.0"/>
<arg name="z_pos" default="0.0"/>
<arg name="model" default="$(find spot_description)/models/notspot.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -param robot_description -model spotmicroai -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)"/>
<!--Load controller-->
<rosparam file="$(find spot_controller)/config/config.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="spotmicroai" args="joint_state_controller
FL_shoulder FL_leg FL_foot
FR_shoulder FR_leg FR_foot
RR_shoulder RR_leg RR_foot
RL_shoulder RL_leg RL_foot"/>
<!-- Robot State Publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen">
<remap from="/joint_states" to="/spotmicroai/joint_states" />
<param name="publish_frequency" type="double" value="10.0" />
</node>
<!--include file="$(find spot_controller)/launch/control_via_gui_without_config_file.launch" /-->
</launch>
Why can all the above errors happen? How can I fix it?
Thanks in advance.
Asked by Irobo on 2021-09-06 11:15:18 UTC
Comments
Have you seen the answer to question #q384611 ? It may help your understanding with
ros controllersvs.moveit controllers.Asked by Mike Scheutzow on 2021-09-08 15:26:15 UTC