Hello,
I have been searching but I haven't been able to find any similar questions with this error message.
My goal is to get you the rrbot up and running in Gazebo 11 using ros2_control.
However when I run my launch file I get the following error message:
parser error Couldn't parse params file: '--params-file /home/user/ros2_ws/install/my_robot_bringup/share/my_robot_bringup/config/controller_manager.yaml'. Error: Error openingYAML file.
Unfortunately the referenced path and file does not exist in my system, only this part exists:
/home/user/ros2_ws/install/my_robot_bringup/share/my_robot_bringup/
and this is missing (folder and yaml file do not exist in here):
config/controller_manager.yaml
I think that it has something to do with a missing statement in my CMakeLists.txt but I'm not sure how to correct this problem.
I really appreciate any help.
Roberto
If matters:
- I'm on ROS2 Foxy.
My URDF ros2_control and plugin snippet:
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-6.28</param>
<param name="max">6.28</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-6.28</param>
<param name="max">6.28</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<parameters>$(find my_robot_bringup)/config/controller_manager.yaml</parameters>
</plugin>
</gazebo>
This is my CMakeLists.txt file:
cmake_minimum_required(VERSION 3.5)
project(my_robot_bringup)
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(urdf REQUIRED)
find_package(xacro REQUIRED)
find_package(robot_state_publisher REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
install( DIRECTORY launch DESTINATION share/${PROJECT_NAME}/ )
ament_python_install_package(${PROJECT_NAME})
install(PROGRAMS
scripts/spawn_helper.py
DESTINATION lib/${PROJECT_NAME}
)
ament_package()
And this is my controller_manager.yaml file:
controller_manager:
ros__parameters:
update_rate: 10 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
forward_position_controller:
type: forward_command_controller/ForwardCommandController
position_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
forward_position_controller:
ros__parameters:
joints:
- joint1
- joint2
interface_name: position
position_trajectory_controller:
ros__parameters:
joints:
- joint1
- joint2
command_interfaces:
- position
state_interfaces:
- position
state_publish_rate: 200.0 # Defaults to 50
action_monitor_rate: 20.0 # Defaults to 20
allow_partial_joints_goal: false # Defaults to false
open_loop_control: true
allow_integration_in_goal_trajectories: true
constraints:
stopped_velocity_tolerance: 0.01 # Defaults to 0.01
goal_time: 0.0 # Defaults to 0.0 (start immediately)
Originally posted by Roberto Z. on ROS Answers with karma: 500 on 2022-03-14
Post score: 0
