Questions tagged [gazebo-ros2-control]
Questions related to the gazebo-ros2-control package for gazebo classic from ros2_control framework for ROS 2
31
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How to use imu plugin with ros2 control
I have setup ros2 control with ackerman drive which works properly and lets me control the vehicle by publishing to ros2 topics. Now I want to add an IMU sensor and following this tutorial: https://...
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Ros2 control with nav2 problem
I am using ros2 control to drive a four wheel robot every thing is working well when i move it using teleop keyboard aline but when i am using slam toolbox to generate a map or even used a previously ...
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2
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58
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how to apply ros2_control on urdf model?
I have designed a robot model using fusion 360 and exported the urdf, but how can I put ros2_contorl in the code below and control it in the gazebo? Also, how can I attach the base link of the robot ...
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169
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Waiting for 'controller_manager' node to exist
So I am new to ros2 and ros2_control. I am projecting a wheelchair with a rotating 2d LiDAR, to make a cheap 3d LiDAR. My problem is, I cannot solve the controller manager issue with the rotating ...
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48
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Difference between "ParamListener" and "auto_declare" when initialising parameters in ros2_control
I am creating a custom controller using ros2_control. Going through the source code of existing controllers, I found out that there are 2 ways to initialize parameters(the one defined in controller ...
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70
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Could not contact service /controller_manager/load_controller error
I have been trying to run a gazebo simulation package from ros2 humble, with gazebo11. This is my console output:
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- 113
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179
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Holonomic drive in Ros2 using Mecanum Wheels
I am working on a robot involving holonomic drive using 4 mecanum wheels. I have the following questions:
Is there any ros2 controller for holonomic drive (like for diff drive and Ackermann Steering ...
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42
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Parameter 'hold_joints' has already been declared, parameter 'hold_joints' has already been declared
When I run my ros2 launch files to simulate my robot in gazebo I get this error:
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218
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Controller Manager Not Available in ROS2 Humble
I am facing issue when using ros2_control for my robot in gazebo. I am using Ubuntu 22.04 with ROS2 Humble. When i launch my launch file it gives me below error
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Gazebo does not calculate dynamics when joint_trajectory_controller with position command_interface is used
I was wondering why Gazebo does not calculate dynamics (velocity, acceleration, effort) when JointTrajectoryController is used with
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125
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MoveIt2 with effort_controllers/JointGroupEffortController
Does anyone know if this is the correct setup of the MoveIt with the effort ros2 controller?
What do I want to do?
Having a custom robotic arm, I would like to control the simulated drives in my ...
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94
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gazebo_ros2_control mimic joints not working as expected
In ros2 Humble and Gazebo (11 I think is the latest). I have a gripper as shown in the images below. The images are from a very similar robot, it basically has the same structure! It's made out of <...
- 125
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Does gazebo_ros2_control need to be sourced/built/linked after installation via apt?
Anywhere I search I can see that gazebo_ros2_control can be installed in the Humble distribution with Ubuntu 22 with just an apt command.
My problem is that ros2 seems to not be finding the plugin.
<...
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1
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232
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gazebo_ros2_control does not load joints or sensors from URDF
Following along with the ros2_control demonstration from ROSCon 2022, I am attempting to run step 5, simulation in Gazebo. The system successfully responds to Joint Trajectory commands, both through ...
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121
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namespace issue when using libgazebo_ros2_control
I am launching a robot_state_publisher from within a namespace 'zray'. I get confirmation the node is running and I see
"[robot_state_publisher-2] [INFO] [1709760080.001380149] [zray....
- 26
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123
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Error: Loader for controller 'asc' not found
I have a ros2 project which is running in one system(with ros2 humble) perfectly but i am getting error on other system(with ros2 foxy). I need to run it on 2nd system as my first system dosen't has a ...
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How can I make my "two legged" modular robot to move in Gazebo (it seems "pinned" by a fixed joint and unmovable)?
I am currently working on a "two legs" modular robot (cuboctaedric units with some revolute joints) and I have to make it move in Gazebo.
Here is what it looks like :
I built this model ...
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the class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist
I have seen two posts with talking about this issue but none of them have been answered.
class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist
...
- 26
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1
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60
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Lag between effort command and measured effort
I am working with Inverted double pendulum in ROS2 Gazebo. I have written a controller which subscribes to /dynamic_joint_states and publishes to /effort_controller/commands of effort controller of ...
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71
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Very slow / No rotation of front wheels for an ackermann steering type model
I am trying to simulate a mobile robot with ackermann steering in Gazebo. I have velocity control for rear wheels and steering angle control for front wheels.
I am using ROS2 Humble with Gazebo.
There ...
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1
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252
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impliment car like steering in ros2_control
I want to implement a 4 wheel robot with car like steering(having 2 front steerable wheels and 2 back drive wheels) in ros2 using ros2_control. Can you suggest me which ros2 controller should I use(...
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311
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How to control a closed kinematic chain in Gazebo?
I am trying to control a closed kinematic chain in Gazebo 11 using ros2_control and gazebo_ros2_control. I know, that closed kinematic chains are not supported by URDF, therefore I've closed the loop ...
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98
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Gazebo simulation - robot_description param passing
I'm working on a (simulated) Universal Robot UR10e. I've been able to teleop the robot using a custom controller and it works flawlessly in RViZ. I'd like now to have a reproduction of what happens in ...
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2
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59
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Model in gazebo moves violently, with JointTrajectoryController
I am developing heaped project. I am using ROS2 humble with JointTrajectoryController.
When I spawn model in gazebo it moves uncontrollably, it shoot itself out of sight. When it lands on its back it ...
- 21
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2
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2k
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Controller Manager not available
I'm facing an issue with controlling a robot in Gazebo using ROS 2 and ros2_control. I'm running ROS 2 with the Humble distribution on Ubuntu 22.04. I have installed the necessary packages including ...
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42
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Two wheeled self balancing robot(TWSBR)
I'm trying to impliment LQR in a TWSBR, the the control input is in terms of torque for the left and right wheels. Is there a way to use diff-drive controller for this? How do i convert torque to ...
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273
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Robotic Arm- Moveit2- Controllers spawner error
Moveit2 planning successfully but gives error at execution, also the controllers are not spawning.
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1
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404
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Communication between ignition and ROS2 (via gazebo_ros_pkgs/ros_gz_bridge etc)
I have a dilemma here:
I want to test my controller nodes (written in ROS2) on bluerov2 ignition model (https://github.com/clydemcqueen/bluerov2_ignition).
I installed Ignition Citadel (tried Garden ...
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182
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1k
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Could not contact service /controller_manager/load_controller
I am using gazebo_ros2_control to simulate a prismatic joint. ROS distro - iron. Using gazebo Classic 11.
URDF relevant to the prismatic joint-
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2
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1k
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class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist
ROS2 Humble, Gazebo Classic.
I build a 6-axis robot with moveit setup assistent and try to load demo.launch with gazebo.
And I have error:
[ros2_control_node-5] [INFO] [1693236183.459465629]
[...
