pr2: writing a realtime joint controller

edit

I'm currently attempting this tutorial http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller

Everything is okay until I reach this step:

Loading and Starting the Controller

Finally, we need to check if our controller got registered to the controller manager. To get the list of registered controllers, type:

$ rosrun pr2_controller_manager pr2_controller_manager list-types

Look in the output for our controller MyControllerPlugin. If it's there you're ready to load and start it.

I don't see MyControllerPlugin anywhere. I just tried to continue anyway by typing

rosrun pr2_controller_manager pr2_controller_manager load MyControllerPlugin

rosrun pr2_controller_manager pr2_controller_manager start MyControllerPlugin

The controller successfully loads in and starts in Terminal but nothing is happening in Gazebo. I did exactly as the tutorial said except I changed my_controller_name to MyControllerPlugin. Did I do something wrong?

The warning reflected after trying to run MyControllerPlugin is

[ WARN] [1349677273.168201399, 243.496000000]: The deprecated controller type MyControllerPlugin was not found. Using the namespaced version my_controller_pkg/MyControllerPlugin instead. Please update your configuration to use the namespaced version.

I'm running ubuntu 12.04 and Fuerte.

Thanks.

EDIT: I managed to get rid of the warnings by

rosparam set my_controller_pkg/MyControllerPlugin/type my_controller_pkg/MyControllerPlugin

&

rosparam set my_controller_pkg/MyControllerPlugin/joint_type r_shoulder_pan_joint

However, when I load and start the plugin, nothing happens on gazebo. PR2 just stands there doing nothing. Does anyone else have the same problem?

EDIT2(to Arthur): What I typed

rosrun pr2_controller_manager pr2_controller_manager load my_controller_pkg/MyControllerPlugin

rosrun pr2_controller_manager pr2_controller_manager start my_controller_pkg/MyControllerPlugin

rosrun pr2_controller_manager pr2_controller_manager list

The results showed that the plugin was running[my_controller_pkg/MyControllerPlugin (running)] but nothing was happening in the simulator. :(

EDIT3: Thanks Arthur. I see "my_controller_pkg/MyControllerPlugin" when I run "$ rosrun pr2_controller_manager pr2_controller_manager list-types"

I changed "rosparam set my_controller_pkg/MyControllerPlugin/type my_controller_pkg/MyControllerPlugin" to "rosparam set my_controller_name/type my_controller_pkg/MyControllerPlugin".

I also changed this respectively "rosparam set my_controller_pkg/MyControllerPlugin/joint_type r_shoulder_pan_joint" to " rosparam set my_controller_name/joint_type r_shoulder_pan_joint" Is that what you mean by not using the same name for Plugin and controller?

After loading and starting the controller I ran this command $ rosrun pr2_controller_manager pr2_controller_manager list and found this: my_controller_name ( running )

Pr2 is still not doing anything in the simulator. :s

EDIT4: I think I gave information very messily before so here is it again. I followed the tutorial (http://www.ros.org/wiki/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller) quite closely and managed to get it to load successfully with the help of Arthur. However, despite loading successfully, pr2 does not do anything in the simulator.

This is the code at the end of my_controller_file.cpp(exactly the same from tutorial)

PLUGINLIB_DECLARE_CLASS(my_controller_pkg,MyControllerPlugin, my_controller_ns::MyControllerClass, pr2_controller_interface::Controller)

This is my contoller_plugins.xml file

<library path="lib/libmy_controller_lib">
  <class name="my_controller_pkg/MyControllerPlugin" 
         type="my_controller_ns::MyControllerClass"           
         base_class_type="pr2_controller_interface::Controller" />
</library>

Step1

rosparam set my_controller_name/type my_controller_pkg/MyControllerPlugin

Step2

rosparam set my_controller_name/joint_name r_shoulder_pan_joint

Step3

rosparam get -p my_controller_name

I get

joint_name: r_shoulder_pan_joint
type: my_controller_pkg/MyControllerPlugin

Step4

rosrun pr2_controller_manager pr2_controller_manager list-types

I get(yes, my_controller_pkg/MyControllerPlugin is there)

JointGravityController
JointPendulumController
ethercat_trigger_controllers ...