Writing a realtime joint controller [Tutorial]

ROS
fuerte

asked 2013-02-05 09:21:16 -0500

MartinW
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updated 2014-01-28 17:15:07 -0500

ngrennan
1 ●1 ●1

Hello everyone,

I am doing the "Writing a realtime joint controller" tutorial. So far I have followed it closely and have checked that the plugin is visible to rospack using:

rospack plugins --attrib=plugin pr2_controller_interface

I can see the .xml file inside. Then when I go to the next tutorial, Running a realtime joint controller, it starts by launching the pr2 in Gazebo (which I do not want), rather I am using my own robot which publishes /joint_state, therefore I skipped to (4.) Running the Controller. I did the configuring but when I tried to check the status of other controllers by running:

rosrun pr2_controller_manager pr2_controller_manager list

I see nothing on the list. Does anyone what is going on here? Thanks in advance.

Kind Regards, Martin

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answered 2013-02-07 11:54:13 -0500

IgorZ
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I think you got it right with other questions. You need a specific code defining transmission in your robot URDF to pr2_controller_manager to be able to see it.

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answered 2013-02-09 04:01:23 -0500

Bharadwaj
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updated 2013-02-10 18:01:26 -0500

Hi, I too am facing the same problem. I have a urdf with the transmission elements in it. I tried to implement the a single joint control on it. I created a launch file and I open my model using roslaunch. I open a new terminal n follow the commands in the "running a real time joint controller" I can see my xml file in the plugin list but I do not see a .so file in the "lib" directory. Infact I do not know which lib directory I should check for it.

And do u need to add the description of the plugin in the urdf file ?

<plugin>
...
...
....
</plugin>

do u need those lines of script in the urdf file for you to be able to control a joint even if u are trying to control it by running the controller seperately like in the tutorial?

okay guys I added the following script in the urdf file

<gazebo>
   <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
    </controller:gazebo_ros_controller_manager>
  </gazebo>

I added this to the urdf file and I ran the model and I get a bunch of errors.

Error [parser.cc:696] XML Element[controller:gazebo_ros_controller_manager], child of element[model] not defined in SDF. Ignoring.[model]
Error [parser.cc:687] Error reading element <model>
Error [parser.cc:370] Unable to read element <sdf>
Error [parser.cc:292] parse as old deprecated model file failed.
Error [parser.cc:620] Unable to read file[/usr/share/drcsim-1.3/models/hubo_leg/model.urdf]
Error [parser.cc:687] Error reading element <world>
Error [parser.cc:370] Unable to read element <sdf>
Error:   Could not find the 'robot' element in the xml file
         at line 61 in /tmp/buildd/ros-fuerte-urdfdom-0.2.3-1precise-20121011-0155/urdf_parser/src/model.cpp
Error [parser_urdf.cc:1529] Unable to call parseURDF on robot model
Warning [parser.cc:378] SDF has no <sdf> element in file[urdf file]
Error [parser.cc:292] parse as old deprecated model file failed.
Error [Server.cc:220] Unable to read sdf file[hubo_leg.world]

I am not able to understand what these errors are telling me. Can we use the PR2 controllers on a urdf model and open it up in gazeb ?

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plugin xml description informs gazebo that some program must be executed when the simulation is running, so yes it is necessary.

IgorZ ( 2013-02-09 07:46:17 -0500 )edit

Yea IgorZ is right, and I think you need to check your CMakefile.txt to see if you're making the lib file, it should just show up in a lib folder after you compile the controller.cpp

MartinW ( 2013-02-09 09:32:15 -0500 )edit

I didn't add anything about a plugin in my urdf file, and I just used their default <gazebo> tags on the simple-urdf tutorial website. You don't add anything like <plugin> in the urdf, only declaring the class in your .cpp and exporting the plugin in your manifest.xml

MartinW ( 2013-02-11 07:08:51 -0500 )edit

I did add the above gazebo elements in the urdf file and I get that error . Do you know what those error mean ?

Bharadwaj ( 2013-02-11 16:01:23 -0500 )edit

MartinW Can you tell me which lib folder I should check, I am particularly trying the writing a realtim joint controller. I dont know where I should look. And what shuold I check in my CMakefile.text file?

Bharadwaj ( 2013-02-11 16:05:44 -0500 )edit

Yea I get the error when I .launch with the warehouse planner but the gazebo_worlds launch works fine with the tag. It must be something to do with that but I am unsure what the error means

MartinW ( 2013-02-12 05:32:09 -0500 )edit

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