Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

asked 2017-02-12 07:55:31 -0500

dinesh gravatar image

How do i load jointtrajectoryaction controller from launch file

I am trying to load the "robot_mechanism_controllers/JointTrajectoryActionController" like this: <launch>

<rosparam file="$(find Ravage_control)/config/Ravage_control.yaml" command="load"/>

  <node name="default_controllers_spawner"
        pkg="pr2_controller_manager" type="spawner" output="screen"
        args="--wait-for=/calibrated Ravage_body_controller" />

  <group ns="Ravage_link_controller">
    <node name="point_head_server"
          pkg="Ravage_action" type="Ravage_action" />
  </group>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/Ravage/joint_states" />
  </node>

</launch>

And he yaml file is: Ravage_body_controller:

  type: "robot_mechanism_controllers/JointTrajectoryActionController"
  joints:
    - joint1
        - joint2
      gains:
        join1: {p: 2400.0, d: 18.0, i: 800.0, i_clamp: 4.0}
        joint2: {p: 1200.0, d: 10.0, i: 700.0, i_clamp: 4.0}

  joint_trajectory_action_node:
    joints:
      - joint1
      - joint2
    constraints:
      goal_time: 0.6
      joint1:
        goal: 0.02
      joint2:
        goal: 0.02

But i cant see that the joint trajectory action controller has been loaded. When i change robot_mechanism with effort_controllers/jointtrajectorycontrooller it works fine. And also isn't their any tutorial on how to use the joint trajectory controller related action server, similarly like pr2 joint trajector action server and client? I can load the joint trajectory controller but i don't see any tutorial how to make action server and client for that, and i cant load the joint trajectory action controller but the tutorial realted to createing both joint trajectory action server and client is present.

How do i load jointtrajectoryaction controller from launch file

I am trying to load the "robot_mechanism_controllers/JointTrajectoryActionController" like this: <launch>

<rosparam file="$(find Ravage_control)/config/Ravage_control.yaml" command="load"/>

  <node name="default_controllers_spawner"
        pkg="pr2_controller_manager" type="spawner" output="screen"
        args="--wait-for=/calibrated Ravage_body_controller" />

  <group ns="Ravage_link_controller">
    <node name="point_head_server"
          pkg="Ravage_action" type="Ravage_action" />
  </group>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/Ravage/joint_states" />
  </node>

</launch>

And he yaml file is: Ravage_body_controller:

  type: "robot_mechanism_controllers/JointTrajectoryActionController"
  joints:
    - joint1
        - joint2
      gains:
        join1: {p: 2400.0, d: 18.0, i: 800.0, i_clamp: 4.0}
        joint2: {p: 1200.0, d: 10.0, i: 700.0, i_clamp: 4.0}

  joint_trajectory_action_node:
    joints:
      - joint1
      - joint2
    constraints:
      goal_time: 0.6
      joint1:
        goal: 0.02
      joint2:
        goal: 0.02

But i cant see that the joint trajectory action controller has been loaded. When i change robot_mechanism with effort_controllers/jointtrajectorycontrooller it works fine. And also isn't their any tutorial on how to use the joint trajectory controller related action server, similarly like pr2 joint trajector action server and client? I can load the joint trajectory controller but i don't see any tutorial how to make action server and client for that, and i cant load the joint trajectory action controller but the tutorial realted to createing both joint trajectory action server and client is present.fine.