ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

djangbahevans's profile - activity

2023-05-06 03:51:43 -0500 asked a question Amazon KVS WebRTC with C SDK

Amazon KVS WebRTC with C SDK This is not necessarily ROS specific, but I'm trying to stream to Amazon KVS WebRTC using t

2023-05-06 03:11:31 -0500 asked a question Can I use move_base for local navigation only?

Can I use move_base for local navigation only? I am new to ROS, but I am trying to build a lane tracking and centering r

2023-02-10 05:41:44 -0500 received badge  Famous Question (source)
2022-01-17 23:52:20 -0500 received badge  Notable Question (source)
2021-07-30 02:32:49 -0500 received badge  Notable Question (source)
2021-07-30 02:32:49 -0500 received badge  Popular Question (source)
2021-07-12 08:52:43 -0500 received badge  Popular Question (source)
2021-03-10 15:55:22 -0500 asked a question flexbe_widget create_repo not working

flexbe_widget create_repo not working I am new to flexbe and I am followed the installation tutorials here to install fl

2021-03-08 04:51:22 -0500 received badge  Enthusiast
2021-03-07 16:47:41 -0500 asked a question Simulating drone propellers with libLiftDragPlugin

Simulating drone propellers with libLiftDragPlugin I'm new to ROS and I'm trying to simulate a drone propeller with the

2021-03-01 01:03:30 -0500 received badge  Notable Question (source)
2021-02-26 02:13:59 -0500 asked a question Building hector_gazebo on Windows fail

Building hector_gazebo on Windows fail I am trying to build the hector_gazebo package on Windows by cloning the repo [ht

2021-02-25 17:10:21 -0500 marked best answer controller_manager not publishing /joint_state topic

I am a ROS beginner so this might all be a rather basic mistake. But I have a simulation of a drone in Gazebo. I am using controller_manager to spawn controllers for the propellers and a camera. However, robot model in Rviz gives me a lot of no transform link errors because /joint_state topic is not being published.

Here is my control.yaml file

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

joint_motor_controller:
  type: velocity_controllers/JointGroupVelocityController
  joints:
    - front_left_prop_joint
    - front_right_prop_joint
    - back_left_prop_joint
    - back_right_prop_joint

camera_joint_position_controller:
  type: position_controllers/JointPositionController
  joint: camera_joint

drone_base.xacro

<?xml version="1.0" encoding="utf-8"?>
<robot name="drone_description"
  xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:property name="PI" value="3.14159265359"/>

  <xacro:include filename="$(find drone_description)/urdf/drone_macros.xacro" />
  <xacro:include filename="$(find drone_description)/urdf/drone_gazebo.xacro" />
  <xacro:include filename="$(find drone_description)/urdf/sensors.xacro" />

  <!-- DUMMY lINK -->
  <link name="dummy_link" />

  <!-- LINKS -->
  <link name="base_link">
    <inertial>
      <origin xyz="5.7334E-07 0.026879 0.015324" rpy="0 0 0" />
      <mass value="0.38016" />
      <inertia ixx="0.00029212" ixy="-1.331E-09" ixz="-3.9126E-08" iyy="0.00040699" iyz="1.6869E-06" izz="0.00015798" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://drone_description/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://drone_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="camera">
    <inertial>
      <origin xyz="-0.0036143 0.00349 0.00925" rpy="0 0 0" />
      <mass value="0.090718" />
      <inertia ixx="2.4903E-06" ixy="3.2829E-09" ixz="8.2525E-22" iyy="3.279E-06" iyz="-1.531E-21" izz="2.3388E-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://drone_description/meshes/camera.STL" />
      </geometry>
      <material name="">
        <color rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://drone_description/meshes/camera.STL" />
      </geometry>
    </collision>
  </link>

  <!-- DUMMY JOINT -->
  <joint name="dummy" type="fixed">
    <parent link="dummy_link" />
    <child link="base_link" />
  </joint>

  <!-- JOINT -->
  <joint name="camera_joint" type="revolute">
    <origin xyz="0.00925 0.059965 0.0165" rpy="${PI/2} 0 -${PI/2}" />
    <parent link="base_link" />
    <child link="camera" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="${PI/3}" effort="100" velocity="1" />
  </joint>

  <transmission name="camera_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="camera_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="camera_motor">
      <mechanicalReduction>1</mechanicalReduction>
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </actuator>
  </transmission>

  <xacro:prop_link name="front_left_prop" />
  <xacro:prop_link name="front_right_prop" />
  <xacro:prop_link name="back_left_prop" />
  <xacro:prop_link name="back_right_prop" />

  <xacro:prop_joint name="front_left_prop" originxyz="-0.092959 ...
(more)
2021-02-25 17:10:21 -0500 received badge  Scholar (source)
2021-02-25 17:10:19 -0500 received badge  Supporter (source)
2021-02-24 14:24:59 -0500 received badge  Popular Question (source)
2021-02-24 14:06:31 -0500 received badge  Student (source)
2021-02-24 14:05:11 -0500 commented question controller_manager not publishing /joint_state topic

That was the mistake. Thanks @turtleMaster20

2021-02-24 09:03:35 -0500 commented question controller_manager not publishing /joint_state topic

There already are joints joining all the other links to the base_link, and they display and work fine in Gazebo. The pro

2021-02-24 08:29:21 -0500 commented question controller_manager not publishing /joint_state topic

For the dummy_link and base_link, Rviz determines the transforms properly, but for all other links, it says "No transfor

2021-02-24 08:23:07 -0500 edited question controller_manager not publishing /joint_state topic

/joint_state not published in Gazebo I am a ROS beginner so this might all be a rather basic mistake. But I have a simul

2021-02-24 07:21:11 -0500 asked a question /joint_states not published by controller_manager

/joint_states not published by controller_manager I am a ROS beginner so this might all be a rather basic mistake. But I

2021-02-24 07:19:05 -0500 asked a question controller_manager not publishing /joint_state topic

/joint_state not published in Gazebo I am a ROS beginner so this might all be a rather basic mistake. But I have a simul

2021-02-23 09:13:47 -0500 asked a question Simulating a quad propeller with libLiftDragPlugin

Simulating a quad propeller with libLiftDragPlugin I am new to ROS so this might all be a silly mistake I am making. I