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Questions tagged [pr2-controllers]

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Output of JointGroupVelocityControllers on PR2 robot_mechanism_controllers

I am on my way to understand the behavior of the JointGroupVelocityControllers used on PR2 robot mechanism controller. When using this controller to execute the ...
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Erratic behaiour of PR2 in simulation

I am using a simulated PR2 in ROS Indigo (Ubuntu 14.04). While running roslaunch pr2_gazebo pr2_empty_world.launch the head of PR2 turns back and the arms get twisted and rotates continously. Also ...
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editing CMakeList.txt

I was going through pr2_controller tutorials and came across the portion where we must build and run the program. It says make the binary by typing make in the drive_base_tutorial directory. Where ...
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The meaning of velocities, accelerations and time_from_start in JointTrajectoryPoint.msg

I've followed this tutorial When I tried to fill in the action goal of the type JointTrajectoryActionGoal, I didn't know what value shoud goal.goal.trajectory.points[i].velocities[i] and goal.goal....
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PR2_controller Plugin Nothing happened in Gazebo

Hello all, I followed the tutorial pr2_mechanism/Tutorials/Running a real-time Cartesian/controller exactly to write a pr2 controller. Everything seems fine except nothing happened in the gazebo ...
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Continuous Joints Rotation Problem (PR2, JointTrajectoryAction)

Hi all, I have a couple of problems with using the Joint Spline Trajectory Controller on the PR2. I used the controller through the provided action interface and followed this tutorial: http://www....
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PR2 Velocity Control

Is it possible to control the velocity (effort) of a PR2's gripper? So instead giving the position of the gripper, calculating the IK etcetc, I would like to give the velocity of the gripper as a ...
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Gazebo plugin vs. pr2_mechanism

Hello, I would like to create simulation of simple robot and play with it little. I have (almost) working URDF model a now I have to write some controller. But I'm little bit confused... First I tried ...
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Joint publisher with empty velocity and effort vector

Hi, After reading the URDF and robot / joint state publisher related tutorials, I am able to see the joint messages published by the joint state publisher, but the velocity and effort fields are empty....
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PR2 controller joint: control 2 joints with one motor

In our robotics hand, I have to control 2 joints with one motor: the distal and middle joints are mecanically linked together, so you issue a command to a "super joint" which moves both of ...
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JointTrajectoryResult not defined?

Hi, I am trying to get the result of a JointTrajectoryAction. The my_joint_trajecotry_action_client.get_result() returns a message of type JointTrajectoryResult, but it has no meaningful fields. What'...
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wait until pr2 joint trajectory motion ends

Due to the hardware limitation, the robot did not follow the trajectory as we send via joint_trajectory_action, especially for a torso_controller/joint_trajectory_action of spine joint. We'd like to ...
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what might cause the shoulder_lift_joint not to go all the way up?

Hi, I'm using JointTrajectoryAction to control the arm to follow a trajectory that can be executed well by openrave's controller. Most of the time, it works. But I found one case where the trajectory ...
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It is allowed to change the update() method frequency for PR2 controllers?

I found the parameters /pr2_controller_manager/mechanism_statistics_publish_rate and /pr2_controller_manager/joint_state_publish_rate, but I didn't find anything that allows me to change the update() ...
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why pr2-controllers use a shared pointer + realtimebox?

Hi all, As I further explore controllers, I notice that shared access is made possible by a realtimebox containing a shared pointer. If I understand correctly, the realtimebox uses a mutex for thread ...
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PR2 base controller algorithm

Hi! I am using the PR2 base controller algorithm for another robotic platform. So far, the algorithm works perfectly for me, but I would like to know whether there is any documentation about how it ...
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Behavior of JointTrajectoryActionController with a single goal

If I send the JointTrajectoryActionController a single goal using the SimpleActionClient with a velocity and acceleration of 0 each, will the commanded motor torques simply be like a PID controller ...
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Callbacks in pr2 controllers

Hi ros answers users, I'm currently trying to make a custom controller work on pr2. I have two subscribers inside the controller.My problem is that their respective callbacks are not called. Moreover ...
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Error when loading MyControllerClass

Hi, I run this tutorial. And everything seems ok, but at last I couldn't load the controller. How to fix that? Thank you~~ It showed that: ...
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