pr2_controller_interface inheritance
Hi everyone!
Using a differential wheeled robot, I'm trying to clean up my controller programs : I used a controller for each wheel in two different package, whereas they are very very similar ! But now, the left wheel controller inherits from the WheelController class, which inherits from the pr2_controller_interface::Controller class (as in the tutorials).
I built the library for the left wheel controller, and specified the base class was the WheelController class (with PLUGINLIB_DECLARE_CLASS and in the controller_plugins.xml file). I got the following when i try to load the controller after running my robot in gazebo :
Could not load class wheelcontroller/LeftWheelControllerPlugin: According to the loaded plugin descriptions the class wheelcontroller/LeftWheelControllerPlugin with base class type pr2_controller_interface::Controller does not exist.
Is the problem that my controller does not directly inherit from the pr2_controller_interface::Controller class? I tried specifying that class instead of the WheelController class, but it still fails.
Any idea?
UP ! (again)
