All Questions
Tagged with ros-control ros-controllers
22 questions
0
votes
1
answer
36
views
How does ROS_control compute the dynamic model of the robot?
Suppose I want to use a torque control of the form :
$$
\tau = J^T(q) \left( K_p (p_d - p) - K_d \dot{p} \right) + g(q)
$$
given that:
$$
M(q) \ddot{q} + C(q, \dot{q}) \dot{q} + g(q) = \tau
$$
where $...
- 25
0
votes
2
answers
81
views
Understanding ackermann_steering_controller in ros2_control
I'm currently working on an Ackermann Steering Vehicle simulation in ROS2 with Gazebo. I'm currently trying to use the ackermann_steering_controller from ros2_control to control the steering.
However, ...
0
votes
1
answer
39
views
ROS2 Control Not Working with Gazebo and URDF
I am working on a project using ROS2 Humble and Gazebo, and I am facing an issue where the ROS2 control is not working as expected. Here are the details of my setup and the problem I am encountering:
...
0
votes
1
answer
28
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 ...
0
votes
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/...
- 1
0
votes
1
answer
58
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
67
views
Initialization Error for 'effort_controllers/JointGroupPositionController'
I see that effort_controllers/JointPositionController looks for the particular joint and assigns the corresponding PID value to the control_toolbox::Pid variable. effort_controllers/...
sthakar
0
votes
1
answer
39
views
Attempt to spin a callback queue from two spinners, one of them being single-threaded
Hello,
I followed this guide to implement a controller for my rotary stage. Everything works just fine, but when I launch my controller, I get the following error (which does not impair the ...
nmelchert
0
votes
1
answer
8
views
What is the difference between different controllers provided in ros_control?
As mentioned in the official documentation, the list of available controllers are:
effort_controllers
joint_effort_controller
joint_position_controller
joint_velocity_controller
...
aniket0112
0
votes
1
answer
15
views
Ros_control cannot be found (Kinetic)
Hello,
I am using ROS Kinetic and today I tried to create a package (labrob_control) to implement the necessary controllers for my actuators with the following dependencies: ros_control, ...
patrchri
0
votes
1
answer
1
view
ros_controller not making -indigo
Hello,
I am trying to make my own costume robot in gazebo. I have been following this tutorials
http://www.generationrobots.com/en/content/75-gazebo-and-ros
http://www.romin.upm.es/wiki/index.php?...
ngoldfarb
0
votes
1
answer
7
views
IMU_sensor_controller publishes incomplete covariances
I am trying to use ros_control to publish IMU data, with the eventual goal of combining this with odometry from the robot's encoders in robot_localization. Currently my hardware_interface is largely ...
etappan
0
votes
1
answer
2
views
Unexpected Link Position Reset When Launching Controllers
Hello everyone,
I am simulating a simple manipulator in Gazebo, and controlling joints via ros_control using a simplified version of this controller class. The robot model spawns normally in Gazebo ...
ColinG
0
votes
1
answer
15
views
Getting controller_manager to recognize new controller
Hello everyone,
I am trying to write a new controller as simply as possible and get it working with Gazebo, but now that I have everything set up, my new controller does not seem to register with ...
ColinG
0
votes
1
answer
5
views
steered wheel controller wheel joints not working
I am trying to use steered wheel base controller for my four wheeled mobile base. I was trying to implement steering joints as position controlled and axle joints as velocity controlled.
My problem is,...
- 77
0
votes
1
answer
8
views
How to aggregate command hardware interfaces in ros_control?
I would like to know what workarounds can be used to allow a controller to command more than one hardware interface in ros_control. The hardware interfaces could be homogeneous or heterogeneous (e.g. <...
Daniel L
0
votes
1
answer
72
views
Proper use of ros_control's RealtimeBuffer
I am new to real-time programming, and I am trying to learn how to properly use realtime_tools::RealtimeBuffer in my ros_control controller by looking at source ...
Daniel L
0
votes
1
answer
52
views
What is the purpose of RobotHW?
I am currently working on a robot with several subsystems. For simplicity, let's say it has a robotic arm and a drive system. These things need to be modular, so if we removed the arm (for example), ...
duffany1
0
votes
2
answers
17
views
Implement MoveIt! on Real Robot
Hi all,
Unfortunately I am really struggling with implementing MoveIt! on my custom hardware.
Basically I am stuck in connecting to an Action Client.
I have been successful in using a driver package ...
anonymous8676
0
votes
1
answer
5
views
rc_control controllers modes
Dear all,
I am currently checking the ros_controllers and I am not sure I understand the way the different modes are organized. From the ros_control wiki I read the controllers can be either:
...
arennuit
0
votes
1
answer
14
views
Controllers are unable to fight gravity in Gazebo simulation
I am currently trying to simulate a robot in Gazebo using the ROS framework. I used this (www.gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo) Tutorial to get an existing robot model running ...
miniME05
0
votes
1
answer
7
views
Am I using the JointVelocityController correctly?
I am using Ubuntu 12.04 LTS, ROS Hydro beta, and Gazebo 1.9.0 (the one that is installed with Hydro). When I use a JointVelocityController, I get the following error:
[ INFO] [1376543194.963746055, 0....
Jim Rothrock