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How to implement the position_controllers correctly?

asked 2021-12-18 15:50:27 -0500

sincoy gravatar image

Hello everybody,

I would like to use the position_controllers/JointPositionController after loading my robot in gazebo to move a joint up and down with the command

"rostopic pub -1 /joint1/command std_msgs/Float64 "data: 5.0""

But the joint1 is not moving. I do not know why? Do you have any advice?

My .yaml file for this joint1 is:

joint1:
    type: position_controllers/JointPositionController
    joint: joint_base_link

the transmission in my urdf file for this joint1 is:

<transmission name="tran">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_base_link">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
        </actuator>
      </transmission>

Thank you very much!

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answered 2021-12-19 15:29:12 -0500

ljaniec gravatar image

This tutorial about ros_control could be helpful for you or straight out this post from The Construct.

I would like to see your topic list too, did you try to publish your message with sample talker? Maybe sending it once isn't enough.

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Asked: 2021-12-18 15:50:27 -0500

Seen: 41 times

Last updated: Dec 19 '21