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Questions tagged [gazebo-ros-control]

Questions related to the gazebo-ros-control package from ros-control framework for ROS 1

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Why are PID values have no effect on position_controllers/JointTrajectotyController?

I read on this website https://www.rosroboticslearning.com/ros-control that PID values have no effect in the case of using position_controllers/JointTrajectoryController. Is this true? If the answer ...
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This robot has a joint named "joint" which is not in the gazebo model

I am using the following method in https://answers.ros.org/question/223196/using-gazebo_ros_control-with-sdf-instead-of-urdf/ to actuate a 2D Gimbal model using the ROS Control Plugin. However, the ...
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Gravity Compensation for a UR10e controller with the UR ROS package

We're using the Universal Robots ROS package from Github for our project, with Gazebo simulating UR robots. Each joint has an Effort Controller following a predefined trajectory. However, gravity ...
user38283's user avatar
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1 answer
66 views

Trouble running gazebo_ros2_control for iron/harmonic

I am trying to run a basic example from gazebo_ros2_control - https://control.ros.org/master/doc/gz_ros2_control/doc/index.html My Setup Ubuntu 22.04 ROS Version - Iron gz_ros2_control - main branch ...
Apurv Saha's user avatar
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1 answer
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How to turn the wheels on a robot that uses ros_control?

I have made a robot with 4 wheels and it uses ros_control. At the moment I can use a python script to make it move forward and backward but I don't know how to make the wheels turn as it only has the <...
Balen's user avatar
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1 answer
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Troubleshooting Joystick and Controller Issues in ROS Launch File Execution

"I've already installed the necessary packages for the robot operation and completed the setup in the launch file. However, whenever I run the launch file, the joystick doesn't seem to work, and ...
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gazebo_ros_control: robot moves towards 0 position without any command (custom effort controller)

I wrote an impedance controller for my 6 DOF robot using based in EffortJointInterface and I'm strugglin while simulating it in gazebo. So far because of the sake keeping simplify I'm trying to just ...
mikel lasa's user avatar
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Initialize Gazebo_ros_controll plugin with a custom hardware interface and the standard interfaces

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 ...
user37227's user avatar
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Issues defining setCommandCB function for a 7 joint robot torque control

I'm writing my own effort controller based in a simple example from gazebo webpage to test it in a robot and I'm having an issue when writing void setCommandCB ...
mikel lasa's user avatar
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General Questions About Joint Control (Gazebo & ROS2)

There are some separate questions about the Gazebo and ROS 2. When I apply force/torque to a link about its joint in Gazebo simulation by hand, it behaves different than the one that is controlled ...
Selim's user avatar
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1 answer
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ros2_control state interfaces not showing up

i am having problems with my robot simulation with gazebo and ROS 2 Humble and hope someone can help me. I already have the URDF setup for gazebo and ros2_control, however every time I launch my ...
Diego Carvajal's user avatar
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1 answer
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[MoveIt] Executed motions are always slightly off from waypoints

Hi all, I've been using MoveIt motion planning (OMPL) to simulate pick&place in the Gazebo environment. And I've noticed that the end-effector of the robot in the simulation is always off (~3cm) ...
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1 answer
221 views

how to speed up gazebo simulation?

I'm working with the panda_gazebo package to control the 7-dofs franka manipulator, using the cartesian velocity controller of ros_control. For computational constraints, I have to slow down the ...
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1 answer
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Difference between the gazebo plugins "ros_control" and "gazebo_ros_control"?

Any kind human is able to explain to me the difference between "ros_control" and "gazebo_ros_control" in simple words? Many thanks. Originally posted by iceberg on ROS Answers ...
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1 answer
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Do I need PID gains for velocity_controllers?

I would like to use velocity_controllers/JointGroupVelocityController. In ros_controllers, the controllers ...
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1 answer
11 views

Creating Controller Plugin No joint_name specified

I'm having an issue with making the plugin works in Gazebo 9 and melodic in ubuntu 18.04. I'm keep getting these errors ...
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1 answer
131 views

DiffDriveController in Gazebo Ros control

Hi! I set up a sim via rviz & gazebo firstly using gazebo diff drive plug in. then I noticed some limits using this model and I attempted to switch to gazebo_ros_control diff_drive_controller. the ...
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1 answer
73 views

No p gain specified for pid

I have made custom urdf for 6 DOF robot, when I run it it shows this error I have added ros control to this this is the YAML file robot: #list of controllers joint_state_controller: type: ...
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1 answer
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ur_gazebo: changed controller configuration does not work

Hello I'm using ros-melodic and I'm having trouble with controlling ur5 manipulator with gazebo I downloaded ur_gazebo package from https://github.com/ros-industrial/universal_robot.git Planning and ...
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1 answer
18 views

Failed to load Joint Controller - Ros Melodic

Hello, I am running ROS melodic on a NVIDIA Jetson Nano and I am at the stage of simulation of a rover. To be more specific I have created the following rover (see XML code below) and I am trying to ...
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1 answer
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Problem with ros_control and gazebo

I'm new to ros, I exported urdf from solidworks. when I add transmission to urdf and launch it gazebo is not opening it's giving me error as ...
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1 answer
22 views

How to mimic an encoder-motor joint in Gazebo using ros_control?

Hello, I am running Ubuntu 16.04, with Ros Kinetic and Gazebo7 ver 7.16. At present my physical robot can be viewed as a mobile base, and a custom 3-d lidar. The mobile base is controlled via a ...
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1 answer
38 views

[Gazebo 9] Could not find parameter robot_description on parameter server

Hi, I know this question is asked a couple of times before, but I just couldn't find the right answer for me. So I'm trying to launch my URDF model with gazebo plug in and use ros_control package to ...
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2 answers
42 views

Problem with ROS control and Gazebo

Hello, I have a problem with controlling a URDF that I exported from SolidWorks. (Ubuntu 16.04 , Kinetic, Gazebo 7.x) I followed this tutorial and I wanted to implemented on my robot. All the ...
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1 answer
19 views

Velocity controller does not stop on Slopes

Hi, I am currently working with ROS Kinetic and Gazebo 7 in a vehicle model. To simplify things, the model has 4 continuous joints to apply a certain velocity to the model. With the ...
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1 answer
79 views

Gazebo ros control position controller joints problem

Hi, I am currently working on a project using a vehicle of type EasyMile Ez10 and I have problems when it comes to control both the steering and linear joints. I am currently using Gazebo 7 with ROS ...
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1 answer
12 views

Error no p gain specified for pid

Hi, I'm using ros-melodic with gazebo on ubuntu 14.04. I have seen similar errors and tried all of them but still unable to solve mine. Here is the text that is stored in config file. ...
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1 answer
50 views

Can anyone help me solve the error related to robot_description on parameter server?

The error exactly is ...
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1 answer
42 views

rosrun: unable to locate the node robot_state_publisher

The exact error I am having is ...
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1 answer
17 views

MoveIt! for multiple robots

I've spawned 2 similar robots(with their controllers) with distinct namespaces (robot1,robot2) in Gazebo according to this. I intend to run two separate moveit instances to control them. For now I've ...
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1 answer
7 views

Any good example for ros_control of diff drive robot

I'm looking for examples related to ros_control of differential drive robot. Please list any real or simulated diff-drive robots (with source code references) that use ros_control. Such references ...
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1 answer
33 views

Delay in JointStates

Hi I am working on ROS Kinetic with Ubuntu 16.04. I am simulating my robot with gazebo and ros-control however the terminal always shows this warning :: ...
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3 answers
120 views

What is the fix for 'No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/back_right_wheel_joint ' ros melodic?

Hi, I am using gazebo_ros_control package from ROS melodic. I am geting error like ...
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1 answer
3 views

What is the difference between different controllers provided in ros_control?

As mentioned in the official documentation, the list of available controllers are: effort_controllers joint_effort_controller joint_position_controller joint_velocity_controller ...
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1 answer
9 views

Simple box grasping fails

Grasping is not working in this primitive case I've made. The object is a box of mass 1 and default friction and contact parameters. The gripper uses two prismatic joints to move two c-shaped links ...
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1 answer
2 views

Joints of my model sway in gazebo

Hi everyone, the joints of my robot model start to sway when I spawn it in gazebo and then launch its controllers I added previously. Here is the contents of my yaml file: cambot: # Publish all ...
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1 answer
2 views

Controllers not working in Simulation

Hi, I tried to spawn multiple controllers in Gazebo.Related launch file and config files are attached here. I am able to see the topic names ,but when i publish the values through command line,...
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1 answer
4 views

Making packages with metapackage dependencies

I'm following the Gazebo ROS control tutorial and the following command is creating issues for me. catkin_create_pkg MYROBOT_control ros_control ros_controllers I understand that ros_control and ...
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1 answer
49 views

How to control a joint with position and velocity using ros_control?

Right now I have postion controllers for all of my joints. I can set every joint to the position I want and It takes the velocity limit into account. But I can't get it to move slower then the limit. ...
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1 answer
90 views

Switching between controllers with ros_control / controller_manager

Is there an easy way to switch between different controllers for a single resource? I would like to control a joint of my Gazebo model either by ...
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0 votes
2 answers
14 views

Prismatic joint with PositionJointInterface interferes with Gazebo physics

I working on a simulation model of a forklift using ROS control and Gazebo. I'm using a prismatic joint to simulate the piston moving the forks up and down. Since I added a PositionJointInterface to ...
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1 answer
5 views

controll rrbot from ros node instead manually

In this tutorial how can i control the position of rrbot by sending the position commands from ros node instead manually. I also tried this tutorial to control volocity of joint of velodyne sensor but ...
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1 answer
4 views

error finding ros control in catkin_make

I was following ros control tutorial to control robot in gazebo with ros, but as i try to build the package by running catkin_make i get this error: ...
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1 answer
29 views

How can I spawn multiple of the same robot, and control them individually?

Hey, I'm using Indigo for a project involving swarms of robots. I want to be able to spawn and control multiple of the same URDF into Gazebo. I've been attempting to use the RRBot (from this tutorial: ...
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1 vote
1 answer
24 views

Spawning and controlling two different robots in Gazebo

Hi! Currently there's an UR5 robot, which is working and doing it's stuff (with moveit). My task is to have a robot that goes around in circles near the UR5 (so later the UR5 can do stuff with it). I ...
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1 answer
12 views

no factory exists problem with Gazebo ros control tutorial

Hi there, My ros distribution is indigo and my ubuntu distribution is 14.04. I'm currently learning ros control. And it speed learning curve really makes me frustrated. Here is my question, I tried ...
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1 answer
2 views

STRANGE ERROR! Unable to move Revolute Joints in Gazebo

I'm running : 1. ROS Indigo 2. Ubuntu 14.04 Trusty I'm simulating a 6DOF robotic arm using ros_control and using gazebo_ros_control plugins. I'm using Joint Position Controllers. I have set up the ....
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1 answer
8 views

ros_control makes Gazebo abort

Until last week, I was working on a robot simulation in Gazebo, with the ros_control plugin, without problems. But after a few days ago, Gazebo just started to abort with the folllowing error: ...
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1 answer
21 views

Using gazebo_ros_control with SDF instead of URDF

My robot has a closed loop linkage, and therefore I cant use a URDF file as URDF only supports tree strucutres. Since SDF supports graph structures, I need to use that in order to simulate my robot. ...
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1 answer
3 views

Gazebo model problems

Hi all I want to run my real robot in ros so I already wrote a simple hardware controller. I also created xacro model. First I wanted to simulate robot in gazebo and tried there follow joint ...
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