javi_tecla's profile - activity

Hi. This is the post that help me to run the Hardware interface. https://answers.ros.org/question/289561/help-to-run-dif

Hi. This is the post that help me to run the Hardware interface. https://answers.ros.org/question/289561/help-to-run-dif

Thanks a lot for the answers and specialy for the dedicated video. Finaly I can launch the control node. You can see in

Thanks a lot for the answers and specialy for dedicated video. Finaly I can launch the control node. You can see in thi

Dynamic Reconfigure is called automatically in ros_control Hi everyone I have a problem when I launch the ros_control no

Dynamic Reconfigure is called automatically in ros_control Hi everyone I have a problem when I launch the ros_control no

I’m trying to launch the diff_drive_controller but I get this message when I run the .launch file.

“Controller Spawner: Waiting for service controller_manager/load_controller”

" Controller Spawner couldn't find the expected controller_manager ROS interface."

This is my .launch file: https://www.dropbox.com/s/gwtwy3ogzq8... . I try with args="mobile_base_controller" instead of args="diff_drive_controller"

And the config file that I copied from the diff_drive_controller site.

mobile_base_controller:
  type        : "diff_drive_controller/DiffDriveController"
  left_wheel  : 'wheel_left_joint'
  right_wheel : 'wheel_right_joint'
  publish_rate: 50.0               # default: 50
  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]

  # Wheel separation and diameter. These are both optional.
  # diff_drive_controller will attempt to read either one or both from the
  # URDF if not specified as a parameter
  wheel_separation : 1.0
  wheel_radius : 0.3

  # Wheel separation and radius multipliers
  wheel_separation_multiplier: 1.0 # default: 1.0
  wheel_radius_multiplier    : 1.0 # default: 1.0

  # Velocity commands timeout [s], default 0.5
  cmd_vel_timeout: 0.25

  # Base frame_id
  base_frame_id: base_footprint #default: base_link

  # Velocity and acceleration limits
  # Whenever a min_* is unspecified, default to -max_*
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.0  # m/s
      min_velocity           : -0.5 # m/s
      has_acceleration_limits: true
      max_acceleration       : 0.8  # m/s^2
      min_acceleration       : -0.4 # m/s^2
      has_jerk_limits        : true
      max_jerk               : 5.0  # m/s^3
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 1.7  # rad/s
      has_acceleration_limits: true
      max_acceleration       : 1.5  # rad/s^2
      has_jerk_limits        : true
      max_jerk               : 2.5  # rad/s^3

Thanks for the help, I’m desperate with the ros_control package. Sorry for my english.

Help to run diff_drive_controller I’m trying to launch the diff_drive_controller but I get this message when I run the .