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Questions tagged [ros-control]

Questions related to the ros-control framework for ROS 1

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GRIPKIT and Universal Robots: ROS control [closed]

could you please help me with the gripper control? The gripper is connected to Universal Robots arm (UR5) using the GRIPKIT by Weiss Robotics. I use Universal_Robots_ROS_Driver and MoveIt Motion ...
Lada Kudlackova's user avatar
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16 views

Issues with legs vibrating and contact flickering in gazebo ros noeitc

I am having issues with simulating my custom robot. The video can be seen here video. I have no clue why the legs are shaking. Here is the limit of revolute joints. ...
Dev Manek's user avatar
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1 answer
26 views

The appropriate robot controller

Good afternoon, Im new to ros, started working on gazebo simulation for construction machinery, excavators in particular. the manipulator excavator I'm trying to simulate uses oil pressure to move ...
nizar mhatli's user avatar
1 vote
0 answers
24 views

Modular robot (canopen base+ universal robot arm) controller_manager setup for different hardware interfaces

I have a modular robot composed of a mobile base and an arm. The mobile base is driven with two CANopen-driven joints, while the arm is an UR10e universal robot. I’m able to drive BOTH the mobile base ...
user3632489's user avatar
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1 answer
37 views

Combining UR10e with two canopen driven joints

As the title says, I'm trying to augment the UR10e with additional joints, which are driven with canopen_motor_node. I'm able to drive both the UR10e and the canopen joints separately, but struggling ...
user3632489's user avatar
1 vote
1 answer
17 views

How to integrate omnidirectional base and redundant manipulator

I have been working on integrating a panda (from Franka Emika) and a summit-xl-steel in ROS noetic. I am not an expert on ROS, but I have integrated the two xacro files, and now I get an error saying ...
Markus Simonsen's user avatar
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1 answer
23 views

Launch two urdfs under same spawner giving issues with different descriptions

I'm trying to launch two robots (panda and iiwa) under the same urdf spawner node. Both robots have a different robot description that I pass to the node as a parameter. My issue is that for some ...
mikel lasa's user avatar
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1 answer
16 views

Approach for a bimanual robot ROS controller? Impedance control

I'm working in a Cartesian impedance controller based in ros_control. So far I managed to programme a controller and load it in a panda robot and it works. Now I wonder about the approach in order to ...
mikel lasa's user avatar
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0 answers
13 views

Issues when using namespace in a launch file

I've created a workspace where I launch a panda robot with a custom controller (CartesianImpedance_trajectory_controller) from https://github.com/matthias-mayr/...
mikel lasa's user avatar
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0 answers
6 views

Help with robot bimanual manipulator impedance controller

I have question with how should I focus the development of a impedance controller for two robots. I already built a controller for one arm but after a thorough search if literature or examples I didn'...
mikel lasa's user avatar
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47 views

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
76 views

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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2 answers
195 views

How to configure ROS2 Control Hardware interface for differential drive motors for AMR with Roboteq FAMILY controller?

I want to control differential drive Autonomous Mobile Robot(AMR) with 2 Brushless DC Motors. Its a 2 wheels differential drive AMR. I have Roboteq FAMILY controller and was able to use the ROS2 ...
Macedon971's user avatar
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1 answer
155 views

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 ...
user37765's user avatar
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1 answer
163 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/...
Macedon971's user avatar
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1 answer
20 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/...
RoopanJK's user avatar
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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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1 answer
25 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 ...
mikel lasa's user avatar
1 vote
1 answer
241 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 ...
Yuki's user avatar
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22 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 ...
mikel lasa's user avatar
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1 answer
34 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 ...
mikel lasa's user avatar
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0 answers
10 views

swerve steering controller: unable to load the controller

The error thrown is this: ...
rjx's user avatar
  • 1
0 votes
1 answer
46 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: ...
joe qiu's user avatar
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1 answer
31 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 ...
Yasushi Shoji's user avatar
1 vote
1 answer
536 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 ...
geko's user avatar
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1 answer
163 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 ...
Osama Salah's user avatar
0 votes
1 answer
366 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 ...
Diego Carvajal's user avatar
-1 votes
1 answer
267 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 ...
Mohammad Tariqul Islam's user avatar
0 votes
1 answer
268 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 ...
Josselin's user avatar
0 votes
1 answer
992 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: ...
Adithya Damarla's user avatar
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1 answer
115 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 ...
Chris's user avatar
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1 answer
406 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 ...
Abdelrahman Mohsen's user avatar
0 votes
1 answer
225 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 ...
user avatar
0 votes
1 answer
42 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. ...
user avatar
0 votes
1 answer
4 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 ...
user avatar
0 votes
1 answer
8 views

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 ...
user avatar
0 votes
1 answer
9 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 ...
user avatar
0 votes
1 answer
10 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, ...
user avatar
0 votes
1 answer
96 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 ...
user avatar
0 votes
1 answer
14 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 ...
user avatar
0 votes
1 answer
17 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 ...
user avatar
0 votes
1 answer
19 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 ...
user avatar
0 votes
1 answer
18 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 ...
user avatar
0 votes
1 answer
112 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 ...
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0 votes
1 answer
17 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 ...
user avatar
0 votes
1 answer
64 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 ...
user avatar
0 votes
1 answer
11 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 ...
user avatar
0 votes
1 answer
57 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 ...
user avatar
0 votes
1 answer
39 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 ...
user avatar
0 votes
1 answer
5 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 ...
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