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Am I using the JointVelocityController correctly? [closed]

asked 2013-08-16 15:42:55 -0500

Jim Rothrock gravatar image

updated 2014-01-28 17:17:41 -0500

ngrennan gravatar image

I am using Ubuntu 12.04 LTS, ROS Hydro beta, and Gazebo 1.9.0 (the one that is installed with Hydro). When I use a JointVelocityController, I get the following error:

[ INFO] [1376543194.963746055, 0.937000000]: Loaded gazebo_ros_control.
gzserver: /opt/ros/hydro/include/hardware_interface/joint_state_interface.h:71: double hardware_interface::JointStateHandle::getVelocity() const: Assertion `vel_' failed.
Aborted (core dumped)

Instances of JointPositionController work correctly. Initially, I thought this problem was caused by a bug in Gazebo 1.9.0, but the assertion is failing in effort_controllers::JointVelocityController::update(), so the problem might be in ros_controllers. I've uploaded a test case to GitHub:

git clone 

To reproduce the error:

roslaunch ackermann_vehicle_gazebo ackermann_vehicle.launch

Am I using the JointVelocityController correctly?

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Closed for the following reason the question is answered, right answer was accepted by Jim Rothrock
close date 2013-09-30 11:42:19

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answered 2013-09-30 11:40:41 -0500

Jim Rothrock gravatar image

This problem does not exist in Gazebo 1.9.1.

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Asked: 2013-08-16 15:42:55 -0500

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Last updated: Sep 30 '13