I'm building a Ackermann Vehicle in Gazebo and therefore I implemented a custom hardware_interface for the gazebor_ros_control plugin.
Now I want to use a simple VelocityJointController in addition to the existing Controller for another functionality on the same robot. But when I try to launch everything, I get the following error
This controller requires a hardware interface of type 'hardware_interface::EffortJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class"
I think that the default interfaces like EffortJoint-/JointState/- and VelocityJoint Interface aren't loaded. Does someone know how to fix this problem?
<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotSimType>steer_bot_hardware_gazebo/SteerBotHardwareGazebo</robotSimType> </plugin> </gazebo>