I am trying to write a new controller as simply as possible and get it working with Gazebo, but now that I have everything set up, my new controller does not seem to register with controller_manager. I am new to ROS, ros_control, and cmake, so I am struggling to troubleshoot.
When launching my controller, parameters load successfully, but I receive an error for each controller:
Could not load controller 'joint1_position_controller' because controller type 'artbot_control_new/CustomController' does not exist.
What is necessary for controller_manager to recognize the new class? In my workspace I have:
Robot description and gazebo packages for a robot very similar to this tutorial. Works correctly with existing ros_controllers examples.
A control package with the following:
- CMakeLists.txt and package.xml files specifying controller_interface, hardware_interface, pluginlib.
- In src, a controller class .cpp file based on this example, with the namespace, class name, and pluginlib arguments updated.
- A .yaml config file and launchfile specifying this package and the new controller.
I could be missing something very basic, but I am not sure where to look next. Let me know what information I can provide.
I'm using ROS Indigo on Ubuntu 14.04.
Thanks in advance!
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