MoveIt tutorial: PR2 Gazebo Quick Start

asked 2013-02-04 18:36:48 -0600

3060 ●32 ●57 ●83 http://people.idsia.ch/~gromov

Following the tutorial on MoveIt wiki it is promted to create the pr2_moveit_controller_manager.launch file that includes a reference to controller.yaml. However the former is not included anywhere - neither in generated files nor in the files manualy added during tutorial.

How it is loaded then?

The "detailed documentation" refered from this section is empty yet. So I am a bit confused at this point.

Thanks,

Boris

answered 2013-02-19 05:01:12 -0600

Dave Coleman

1396 ●36 ●56 ●70 http://dav.ee/

updated 2013-02-19 18:32:45 -0600

There is a section on the page link you posted titled "controllers.yaml" file, that describes how to create this file:

"This file should be created inside the config directory of the MoveIt! configuration package generated for your robot by the Setup Assistant. This file does not exist yet - it has not been auto-generated by the MoveIt! Setup Assistant. "

It says to copy-paste their version into your config directory. Did you try this yet?

EDIT (per comment) Got it. What you need to do is create the pr2_moveit_controller_manager.launch file in the launch folder of your configuration package. Within that file you will see the line

rosparam file="$(find pr2_moveit_generated)/config/controllers.yaml"

That is where it is referenced.

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Sorry for confusion. The question is not how to create this file, but how it is called by the system. I was unable to find anything that uses this file. So, the next question would be - why should I even bother to create it? It is also not mentioned anywhere in future tutorials.

Boris ( 2013-02-19 12:15:54 -0600 )edit

Ah, I see. So it is then used through the parameter server. I somehow was inattentive and was thinking it is <param> and not <rosparam>, which is a big difference. Thanks to point this out!

Boris ( 2013-02-19 19:25:48 -0600 )edit

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