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I am trying to use steered wheel base controller for my four wheeled mobile base. I was trying to implement steering joints as position controlled and axle joints as velocity controlled.

My problem is, while publishing cmd_vel , axle joints are not working. Velocity command from ros control is always outputs as zero. But steering joints which uses position control is working when I published yaw velocity.

Is it problem with velocity control I implemented or it is a problem with steered base controller ?

What all things I need to taken care while setting control frequency of controller manager?


Originally posted by SVS on ROS Answers with karma: 233 on 2015-03-04

Post score: 1

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Got solution. The mistake is I registered position and velocity hardware interfaces for each joints.


Originally posted by SVS with karma: 233 on 2015-03-06

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by Mos on 2015-08-28:
So, it means we should not use position and velocity hardware interfaces,? Did you use this in Gazebo? How did you define the transmissions in URDF for this controller?

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