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I tried to create a differential drive controller without gazebo simulation with this page: http://gazebosim.org/tutorials/?tut=r...

But I can't load the controller when controller manager is started

Here is my hardware interface( it reads fake data, writes nothing to the real hardware since it doesn't connect to hardware):

#include "hardware_interface/joint_command_interface.h"
#include "hardware_interface/joint_state_interface.h"
#include "hardware_interface/robot_hw.h"

#include "ros/time.h"
#include "ros/duration.h"

class Zumy : public hardware_interface::RobotHW {
public:
  Zumy(){
    //register joint state interface 
    hardware_interface::JointStateHandle state_handle_left_wheel("wheel_left_joint",&pos[0],&vel[0],&eff[0]);
    jnt_state_interface.registerHandle(state_handle_left_wheel);

    hardware_interface::JointStateHandle state_handle_right_wheel("wheel_right_joint",&pos[1],&vel[1],&eff[1]);
    jnt_state_interface.registerHandle(state_handle_right_wheel);

    registerInterface(&jnt_state_interface);

    //register joint velocity interface
    hardware_interface::JointHandle vel_handle_left_wheel(jnt_state_interface.getHandle("wheel_left_joint"), &cmd[0]);
    jnt_vel_interface.registerHandle(vel_handle_left_wheel);

    hardware_interface::JointHandle vel_handle_right_wheel(jnt_state_interface.getHandle("wheel_right_joint"), &cmd[1]);
    jnt_vel_interface.registerHandle(vel_handle_right_wheel);

    registerInterface(&jnt_vel_interface);

    //record current time
    last_time = ros::Time::now();
  }

  void read();
  void write();
  ros::Time get_time();
  ros::Duration get_period();

private:
  hardware_interface::JointStateInterface jnt_state_interface;
  hardware_interface::VelocityJointInterface jnt_vel_interface;
  //hardware_interface::PositionJointInterface jnt_pos_interface;
  ros::Time last_time;
  ros::Duration period;
  double cmd[2];
  double pos[2];
  double vel[2];
  double eff[2];
};

void Zumy::read () {
  pos[0]=1;
  pos[1]=1;
  vel[0]=0;
  vel[1]=0;
  eff[0]=0;
  eff[1]=0;
}

void Zumy::write(){
}

ros::Time Zumy::get_time(){
  return ros::Time::now();
}

ros::Duration Zumy::get_period(){
  ros::Time current_time = ros::Time::now();
  ros::Duration period = current_time - last_time;
  last_time = current_time;
  return period;
}

Here is my controller configuration:

zumy:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50 

  zumy_controller:

    type: "diff_drive_controller/DiffDriveController"
    left_wheel: 'wheel_left_joint'
    right_wheel: 'wheel_right_joint'
    pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
    twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]

The problem is：

When I run my hardware interface and load the controller, the console hangs at "Loading controller: zumy_controller". The expected ros topic /zumy/zumy_controller/command and /zumy/zumy_controller/state does not show up. When I use the service to load and list the controllers, it also hangs. The debug message says something like "TCP socket [11] closed" and "Connection::drop(2)". I wonder it fails connect to load service provided by the controller.

Anyone knows what is the problem here?