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Questions tagged [gazebo-ros2-control]

Questions related to the gazebo-ros2-control package for gazebo classic from ros2_control framework for ROS 2

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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 ...
Pratham's user avatar
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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: ...
Hasan Shadi's user avatar
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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 ...
Pratham's user avatar
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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: ...
Doğukan YILMAZ's user avatar
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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 ...
joker13's user avatar
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1 answer
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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 ...
Jakub Ivan's user avatar
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1 answer
29 views

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 ...
Jakub Ivan's user avatar
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1 answer
54 views

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 <...
M.K's user avatar
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2 answers
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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. <...
M.K's user avatar
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1 vote
1 answer
103 views

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 ...
quescondido's user avatar
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1 answer
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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....
Gideon's user avatar
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2 answers
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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 ...
Pratham's user avatar
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0 answers
33 views

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 ...
user38346's user avatar
1 vote
1 answer
99 views

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 ...
Gideon's user avatar
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1 answer
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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 ...
Spiff's user avatar
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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 ...
Spiff's user avatar
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1 answer
194 views

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(...
Pratham's user avatar
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1 answer
194 views

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 ...
NotARobot's user avatar
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69 views

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 ...
ale's user avatar
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2 answers
46 views

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 ...
JesterHead77's user avatar
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2 answers
2k views

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 ...
Vishaal's user avatar
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1 answer
39 views

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 ...
user37130's user avatar
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221 views

Robotic Arm- Moveit2- Controllers spawner error

Moveit2 planning successfully but gives error at execution, also the controllers are not spawning. ...
uguryakut's user avatar
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1 answer
298 views

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 ...
Vladimir's user avatar
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1 answer
147 views

prismatic joint not workin with ros2_control?

HI everyone i have the following code: ...
Icon45's user avatar
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0 answers
909 views

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- ...
Shreejit Deshmukh's user avatar
0 votes
2 answers
1k views

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] [...
Kirill Partala's user avatar