Questions tagged [ros-control]
Questions related to the ros-control framework for ROS 1
202
questions
0
votes
0
answers
6
views
Error when using Roboteq Controller ROS2 driver
I have roboteq Controller for brushless DC Motor. I would like to use the driver abd the controller with ROS2 humble. I was using this fork https://github.com/DoanNguyenTrong/roboteq_controller_ros/...
- 101
0
votes
1
answer
14
views
How to command ros_control joint commands other that publish to the /command topic of the joint
I'm using ROS Noetic, Gazebo 11.11
As the title states is there any other way to command the joints interfaced with ros_control in a gazebo simulation here in my case (effort_controllers/...
- 1
0
votes
0
answers
8
views
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 ...
0
votes
1
answer
15
views
custom impedance control plugin, how to initialize impedance matrix
I finished coding my impedance control for a 6 DOF robot but now I'm struggling on how to initialize and edit the spring and damping matrixes. So far, first I tried hardcoding them in the controller ...
1
vote
1
answer
148
views
Robot model explodes in Gazebo
I am currently working on developing a model of a robot that moves in space (gravity=0) in the Gazebo simulator. The robot is based on a body with one continuous joint and two revolute joints. Jount1 ...
- 11
0
votes
0
answers
12
views
hardware_interface::JointHandle getPosition() not returning right values
I'm testing my own custom controller for my panda but I have a small problem, when I start the simulation in gazebo, the robot is loaded in the right joint configuration. In my launch file I specified ...
0
votes
1
answer
26
views
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 ...
0
votes
0
answers
8
views
0
votes
1
answer
26
views
realtime_publisher&realtime_buffer
I'm trying to figure out how to use realtime_tools (mainly realtime_publisher&realtime_buffer), but there are to few information about it. I can only find this:
...
- 5
0
votes
1
answer
22
views
Design Considerations Behind Creating controller_interface::ControllerInterfaceBase
What were the design considerations behind creating controller_interface::ControllerInterfaceBase in ROS2 Control? While it appears there are many ...
- 105
0
votes
1
answer
135
views
Basic example project of a gripper holding an object in Gazebo
I am searching for a working example of a gripper that can hold an object in Gazebo / Gazebo Classic. The example should ideally:
use a 1-DOF gripper with two fingers where one is mimicked
use Python ...
- 13
0
votes
1
answer
76
views
ros2_control Odometery Data Publication Frequency Discrepancy
I am using ros2_control framework to control the motor wheel of my robot and to publish odometry data. However, I have encountered an unusual issue where the odometry data is being published at only ...
- 11
0
votes
1
answer
83
views
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 ...
-1
votes
1
answer
121
views
ROS2 Control For VESC (motor controller) not working with two VESCs
I am currently working on a project to make a four-wheeled differential drive robot using 4 VESCs with ROS2 as the means of communication. Two vesc will be masters and the rest two will be slaves. I ...
0
votes
1
answer
124
views
Transform between odom and base_link is faster than in real life [Solved]
i have a differential drive mobile robot and i want to add him the navigation and the localization satck.
Currently it's controlled by a teleop.
But when i look the transform between odom and ...
- 3
0
votes
1
answer
253
views
how to fix failed loading controller in controller manager
I'm trying to use spawner for the custom controller to use different controllers like the joint trajectory controller and the forward command controller in a launch file.
This is controller.yaml file:
...
0
votes
1
answer
64
views
Hardware interface for floating joint
In the URDF file for my robot I would like to use a floating joint (6DOF). I'm currently writing the hardware interface for ros2-control for this robot. Is there a way to export a state interface for ...
- 3
0
votes
1
answer
210
views
Sensor fusion with ros2_control
I built 4 wheels robot that uses diff_driver_cont in ros2_control, the controller get encoders reading to calculate interface status and interface command.
later, I used robot_localization package to ...
0
votes
1
answer
61
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 ...
underscoredavid
0
votes
1
answer
10
views
ros_control for hardware with PID controller
ros_control is designed as an interface to create robot agnostic access to hardware with ros AND allow to have a (easily exchangeable) controller for the hardware.
...
CoffeeKangaroo
0
votes
1
answer
3
views
Number of ros_control nodes with a controller_manager (ros1 - noetic)
I am currently building a robot. The robot has two continuous spinning motors (wheels) and two servos.
I plan on using the ros_control stack to control the ...
CoffeeKangaroo
0
votes
1
answer
1
view
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 ...
iceberg
0
votes
1
answer
2
views
Building custom Franka controller for visual servoing
My goal is to control the Franka Panda system in cartesian velocity coordinates using vision data that is being published within my ROS network.
I'm currently writing a custom controller as ...
hmccarty
0
votes
1
answer
2
views
is URDF model needed for ros control?
Hi, all, It's first time to use ros control, and there's a confusing question.
In my project, I need to navigate a mobile robot (double steering type) to the target place. For navigation algorithm, ...
RyanChen.YLC
0
votes
1
answer
18
views
What motors can I use that are compatible with ROS2?
I'm looking for some servo motors that I can use on a ROS2-based robot and am unsure what my options are. Ideally the motors would have integrated controllers that ...
Py
0
votes
1
answer
5
views
How to retrieve the desired.velocities from JointTrajectoryController
I am trying to connect my robot with actuators. I am using MoveIt and ros_control. My controller is of type position_controllers/JointTrajectoryController. My actuators need velocities. If I check the ...
willemstuijt
0
votes
1
answer
5
views
Meaning of stopped_velocity_tolerance of joint_trajectory_controller
I saw the description (Velocity to be considered approximately equal to zero.) of the stopped_velocity_tolerance parameter on ...
mug
0
votes
1
answer
7
views
why do we need the (pid) controllers in ros_control?
For example, I have a robot with a motor controlled by a embeded board and I want to use ros applications to control the robot. Usually, there is a pid , let's say, speed controller implemented in the ...
zhixin
0
votes
1
answer
11
views
How to interface abb_robot_driver with a high level velocity controller
Hi,
As stated in the title, I want to interface a high-level velocity controller with abb robot using abb_robot_driver, YuMi for example.
My problem here is that:
I don't know how to get a ...
bhomaidan
0
votes
1
answer
23
views
Purpose of Forward Command Controller
I recently stumbled across the forward_command_controller/ForwardCommandController ros controller while doing some research online. From the documentation, it seems ...
swiz23
0
votes
1
answer
8
views
Understanding JointTrajectoryController of ros_control
Hi,
currently, I am trying to understand how the hardware_interface and ros_control work: velocity_controllers/JointTrajectoryController is chosen for the ...
xman236
0
votes
1
answer
18
views
[INFO] [1632Controller Spawner couldn't find the expected controller_manager ROS interface
Hi!
I'm trying to control a robotic arm I designed. I'm using moveit for kinematics and trajectory planning. I designed it in solidworks, so I used the urdf exporter plugin to get the arm into a urdf ...
nichols
0
votes
1
answer
4
views
How to interpret position in JointStateInterface
The context is a robot with 2 drive wheels, using the ros_control diff_drive_controller.
I would like to know if it is well ...
Mike Scheutzow
0
votes
1
answer
20
views
Using MoveIt! and ros_control to control hardware
I am trying to use MoveIt! to control a robot, but have a hard time wrapping my head around how to integrate it with ros_control.
I have a working controller which i have created with the help of ...
MRRobot
0
votes
1
answer
7
views
Low-level differences between jointTrajectoryController and jointGroupPositionController
Hi everyone,
I'm having problem when running servoing of a robotic manipulator. I can't find adequate explanation which could
explain my difficulties. When running robotic arm with MoveIt!, e.g. when ...
__zozan__
0
votes
1
answer
3
views
Graphical tool to check controller performance (MoveIt, ros_control)?
Hi,
is there a graphical tool to plot current joint_states vs desired joint states which are output by moveit?
I want to visually evaluate the performance of the hardware controller / check if my ...
cschindlbeck
0
votes
1
answer
9
views
MultiRobot MoveIt controller management
I'm currently working on a multirobot system based in two UR3e, each one with a gripper attached. So far I've managed to build a single URDF file with the whole system. Now I'm working on the MoveIt ...
IgnacioUD
0
votes
1
answer
2
views
controller_manager and controller library on different machines
I have a 2-machine ROS setup.
M1 is connected to the robot, and runs the node that starts controller_manager (franka_control_node...
samarth.robo
0
votes
1
answer
10
views
ROS MoveIt GripperCommand directed to position_controllers
Hi there everyone, my question is this, how do I get MoveIt gripper_action or GripperCommand to control a ros_control position_controllers/JointPositionController type joint?
My configuration was ...
Zonared
0
votes
1
answer
26
views
diff drive controller giving wrong odometry data (radius and separation multipliers)
I'm working on a 4WD skid steer robot which uses ros control and the diff drive controller.
If I set my wheel radius multiplier to 1.0, the robot seems to go extremely slow (doesn't seem to be moving ...
jorgemia
0
votes
1
answer
38
views
Best practices for using ros_control (hardware_interface) to send different data types to a PLC controller?
I'm using the ROS(Kinetic) navigation stack with an industrial AGV and a Siemens S7 PLC as the central controller. The motors and encoders are interfaced to the PLC. Currently the PLC communicates ...
curi_ROS
0
votes
1
answer
3
views
How to use UR3 with JointGroupPositionController?
So the background is that I want to use the moveit_servo package with a real UR3.
I have some questions regarding implementation of the JointGroupPositionController and the UR drivers:
The github ...
rfn123
0
votes
1
answer
4
views
Integrating custom controller to ros_control package
Hi everyone,
I am new to ROS and ros_control and I don't know how to integrate my custom controller into to the ros_control package. I have implemented this tutorial and everything works OK. I can run ...
abata
0
votes
1
answer
8
views
how do you create a group of joints for MoveIt Planning Group for a custom robot
Hi everyone, first time posting.
My question relates to my attempt at creating a custom robot from scratch and trying to control it using MoveIt. I reverse engineered a model for an existing toy robot ...
Zonared
0
votes
2
answers
13
views
trajectory_msgs/JointTrajectory Exception :AttributeError: 'str' object has no attribute 'positions'
I wrote a python script to publish a JointTrajectory message. It results in an Exception: AttributeError: 'str' object has no attribute 'positions'.
The python script:
...
GUENNI
0
votes
1
answer
27
views
controller type 'position_controllers/JointTrajectoryController' does not exist
I try to follow a tutorial in the "Programming Robots with ROS" book. In this tutorial I want to show and move my own robot model in Gazebo. The URDF description loads correctly in Gazebo, ...
GUENNI
0
votes
1
answer
10
views
Why my hardware interface can't get command from controller?
Hello, everyone
I have succeed to connect the Gazebo with MOVEIT by editing my yaml files and launch files.
And now I decide to write a hardware interface to control my real robot by joint-trajectory-...
Heho
0
votes
1
answer
2
views
How does time influence moveit motion planning?
Hello all,
I just got started with ROS and moveit! to make my robot arm plan some movements. Ultimately I would like to optimize the speed of the executed movements by tuning the actuator's PID ...
You RQT
0
votes
1
answer
13
views
couldn't start diff drive controller: Could not find resource 'Joint1'
while launching diff drive controller i'm getting this kind of erros:
...
dinesh
0
votes
1
answer
5
views
How to emulate a MoveJ, or MoveL movement using ROS?
Hi all,
I am currently using a UR5 in simulation and would like to know if there is a way to emulate the way that the UR5 moves from one joint target to another joint target. The movement/trajectory I ...
Pinknoise2077