How to implement the position_controllers correctly?
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!