Questions tagged [ros-control]
Questions related to the ros-control framework for ROS 1
220 questions
0
votes
1
answer
10
views
Any good example for ros_control of diff drive robot
I'm looking for examples related to ros_control of differential drive robot.
Please list any real or simulated diff-drive robots (with source code references) that use ros_control.
Such references ...
kiranpalla
0
votes
1
answer
17
views
differential transmission with ros_canopen, HOW to?
Hello ROS Community,
I have already tried to ask a similar question here: #q304832, however no answer was received so i am trying to ask again from a different perspective.
I am working on the control ...
akosodry
0
votes
1
answer
3
views
Does ROS_INFO break realtime?
Is the realtime lost if I use ROS_INFO inside a ros_control controller update method or inside a ros_control hardware interface write/read method?
edit:
this question may have different answers ...
0
votes
1
answer
50
views
does diff_drive_controller require a hardware interface?
Development Environment:
OS: Ubuntu 18.04
ROS version: Melodic
Robot:
6 wheel rover (3 wheels each side)
TREX Robot Controller: https://www.gotronic.fr/pj-1119.pdf
No encoders, but a built in ...
twelker
0
votes
1
answer
14
views
is it necessary to have URDF model for diff_drive_controller
Hello,
I am building a differential drive robot and trying to exploit the power of ros_control by using the diff_drive_controller into my project
I have found that I have to fulfill some hardware ...
ShehabAldeen
0
votes
1
answer
10
views
interfacing hardware with diff_drive_controller
Hello,
I am building a differential drive robot and I want to exploit the power of the diff_drive_controller
but I have faced a couple of problems to interface my hardware to the controller I am using ...
ShehabAldeen
0
votes
1
answer
2
views
ros_canopen: virtual joints, is it possible?
Hello,
Currently I have three working canopen motor drivers,
but my system will consists five motors later (the two missing motors have not been delivered yet).
I have already tested some basic ...
akosodry
0
votes
1
answer
21
views
How to increase frequency of /diagnostics topic published by epos_hardware node?
Dear ROS community,
I am using the epos_hardware ROS package as a hardware interface between an effort controller and a EPOS2 motor controller coupled with a Maxon EC90 motor. The set up is working ...
indraneel
0
votes
2
answers
31
views
[SOLVED] ros_canopen: "Did not receive a response message"
Hello!
I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here.
Even though i am able to both control the ...
akosodry
0
votes
1
answer
9
views
[solved] Struggling to run ros_control controller in gdb
Hi folks,
Intro
I am using the guided policy search (GPS) package (http://rll.berkeley.edu/gps/) to run the back-end of a ros_control controller for a Gazebo simulation of the KUKA LWR 4+ arm.
My ...
walkingbeard
0
votes
2
answers
64
views
[SOLVED] ros_canopen ERROR after spawning controllers
Hello!
The solution is given in the answer section.
The original question with different edit parts start here:
-------------------------------------------------- ORIGINAL QUESTION ...
akosodry
0
votes
1
answer
28
views
CANopen test based on the canopen_test_utils package
Hello,
i am trying to communicate with a single motor through CANopen.
I had posted earlier about it in this question: #q294210
EDIT (21/06): This question was answered by Mathias Lüdtke. The error ...
akosodry
0
votes
1
answer
7
views
ros control assertion failed
I wrote a custom controller for my robot. I used ros control boilerplate (by dave coleman) for hardware interface. The code compiles but I get the following error.
...
venkisagunner
0
votes
1
answer
4
views
Unable to load a custom controller
I created a custom controller for my omni wheel drive and listed it in my yaml file. But when I tried to launch, Im getting the following error. Tried searching the forum but unable to find an answer ...
venkisagunner
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
18
views
ROS Real Time Publisher
Hi,
I am new to ROS and am trying to understand how I can use the real time publishers. I followed this link http://wiki.ros.org/realtime_tools
For using this, would I require a RT kernel or the usual ...
Deba
0
votes
1
answer
34
views
Help to run diff_drive_controller
I’m trying to launch the diff_drive_controller but I get this message when I run the .launch file.
“Controller Spawner: Waiting for service controller_manager/load_controller”
" Controller ...
javi_tecla
0
votes
1
answer
22
views
Controllers fail during execution when using octomap with Moveit
I'm using MoveIt with the default RRTConnectkConfigDefault motion planning library. I have a 6 DoF arm to which I pass target poses using roscpp's ...
Shreeyak
0
votes
1
answer
13
views
Pick and place execution in Simulation_"Solution found but controller failed during execution"
Hi,
I am trying to execute pick and place task using jaco arm in simulation.I am able to successfully send Pickup goals to moveit pick action server.In the Rviz GUI i am able to see the pickup actions ...
ARB
0
votes
1
answer
19
views
Usage of ros_control
Hi ROS community.
I am working on project where the ultimate goal is to build autonomus car.
I found out that navigation stack is basically moving a robot by geometry_msgs/Twist.
I have also found out ...
Nitramek
0
votes
1
answer
7
views
Problem fetching the ros_controller state from controller/state topic
I am using ROS-Indigo on Ubunu 14.04. While using MoveIt! with ros-controllers I wanted to capture the data published on
coro/coro_arm_controller/state topic. However while the acceleration and effort ...
Pulkit123
0
votes
1
answer
182
views
Could not find resource '[]' in 'hardware_interface::EffortJointInterface'
Hello,
The answers at questions: 1, 2 etc, does not seem to be solving this. I am having trouble setting up basic controllers in Gazebo. Can you please help me out with this please?
When I launch the ...
dpakshimpo
0
votes
1
answer
70
views
Controlling multiple joints at the same time
Hi guys,
ROS supernoob here, apologies for that in advance.
I am currently trying to implement the end-effector control for a 7DOF robot arm in Gazebo. I have already figured out the inverse ...
Tim Stadtmann
0
votes
1
answer
44
views
Stop joint_trajectory_controller execution at rostopic event
I'm on Ubuntu 14.04 with ROS Indigo.
I am using joint_trajectory_controller to control a single actuated joint robotic hand. After having send a ...
dhindhimathai
0
votes
1
answer
30
views
Controller Spawner stuck while loading
Hi everyone,
I am working on a robotics project based in ROS where we started with out simulation in Gazebo and built all our algorithms around the simulation while waiting for our actual robot to ...
callum91
0
votes
1
answer
34
views
Ethercat interface to elmo motor controllers
Hi all,
I'd like to drive an Elmo DC Whistle motor controller via Ethercat in ROS.
I've look around quite a bit and found several questions like #q256404, #q240550 or #q199494 which are basically all: ...
- 5,825
0
votes
1
answer
4
views
Controlling a robot arm directly
Hello~
I have a UR5 which I would like to control in a more direct and continuous manner than what MoveIt allows. I imagine setting a pose/position for the arm's endeffector and through some kinematic ...
Managarm
0
votes
1
answer
7
views
Error while implementing prismatic joint
Hi,I tried to simulate prismatic joint in Gazebo and getting following error while implementing.
...
ARB
0
votes
1
answer
8
views
Use of diff_drive_controller to simulate a differential drive in Gazebo
Did anybody manage to use diff_drive_controller in to simulate a differential drive in Gazebo**?
Theoretically should work if the gazebo_ros_control (libgazebo_ros_control.so) plug in is used in ...
Toma Tacescu
0
votes
1
answer
15
views
Profiling ros_controllers with Valgrind / Callgrind
Hi,
I'm trying to proifle my controllers written in the ros_control framework in Gazebo. To this end, I added the following argument in gazebo_ros/launch/empty_world.launch:
...
Robert Krug
0
votes
1
answer
6
views
Can't find controller with Moveit
As the titles says, I can load the robot model with gazebo, start the controller, and receive the robot position from Gazebo, I even can plan the movement, but the execution fails with message
...
Fiddle
0
votes
1
answer
47
views
Joint Torque Control for Universal Robot
Hi All.
I’m wondering is there anybody who has tried to do a joint torque control (i.e. effort_controllers of the ros_control package) for the Universal Robot? I believe I could implement the ...
ahmadataka
0
votes
1
answer
4
views
Error getting controller list
When I attempt to get the list of controllers from the controller_manager in Kinetic, I get an error:
...
Ian Gough
0
votes
1
answer
67
views
Controlling an industrial servo motor through moveit
I want to control an additional motor along with my UR5 using moveit. I have added new controller to the moveit config controllers.yaml called rail_controller and made necessary changes to the URDF ...
Anirudh_s
0
votes
2
answers
54
views
How to change the robot_description paramter for the joint_trajectory_controller
Dear ROS community,
i am simulating a ABB IRB2400 robot arm in gazebo controlling it with MoveIt. This is working so far. My goal is to simulate two arms. So i moved them in different namespaces and ...
Panda1638
0
votes
1
answer
24
views
MoveIt! with Gazebo, using MoveItSimpleControllerManager, joint_trajectory_controller
Hi,
I am trying to use MoveIt! to control a simulated robot in Gazebo, and am at a loss as to how to proceed. The only documentation / tutorial I can find on the subject is this one, which is 4 years ...
PhydeauxLeChien
0
votes
1
answer
6
views
How to propagate actuator commands from actuator to joint space
I'm working in on the kinetic-devel branch, and need to have the transmissions propagate actuator commands from actuator to joint space, but am having trouble figuring out how to make this happen ...
jlack
0
votes
1
answer
8
views
differential drive + ros_control to move a 2 wheeled base of a robot?
First of all, I am very new to ROS.
I would like to perform a simple task of moving the base of my robot. The package that I want to use to move my Robot's base (consists of 2 wheels) is as simple as ...
kiranmayee
0
votes
1
answer
75
views
How to control a joint with position and velocity using ros_control?
Right now I have postion controllers for all of my joints.
I can set every joint to the position I want and It takes the velocity limit into account.
But I can't get it to move slower then the limit. ...
msabur
0
votes
1
answer
5
views
Real time ROS node without ROS control, orocos?
I have a hardware controller node which controls three motors using SOEM with Ethercat. I use a ROS timer in this node with 500 Hz control frequency. However, I find out that the timer is not accurate ...
Winston
0
votes
1
answer
5
views
Differences between ros_control and arbotix driver package
1, I wonder what are the differences or similarities between ros_control and arbotix driver.
2, Does arbotix driver belong to firmware for harware ? In other words, it belongs to hardware_interface:...
shawnysh
0
votes
2
answers
20
views
Prismatic joint with PositionJointInterface interferes with Gazebo physics
I working on a simulation model of a forklift using ROS control and Gazebo. I'm using a prismatic joint to simulate the piston moving the forks up and down. Since I added a PositionJointInterface to ...
gudjon
0
votes
1
answer
15
views
Split joint trajectory controller
I have an arm that uses dynamixel servo motors. I use the dynamixel motor stack along with Moveit! to operate it. The dynamixel stack is structured very similarly to ros_control, however, it is not ...
AMatt
0
votes
1
answer
13
views
Using diff_drive_controller for a robot with off-centre wheels
Hi.
I'm attempting to use the diff_drive_controller package in ros_control for a robot which has wheels positioned off-centre (i.e. at the front of the robot). It then has a caster wheel at the back. ...
epsilonjon
0
votes
1
answer
18
views
Using MoveIt with ros_control - why are /joint_states all zero?
Hi,
I'm having real difficulty configuring MoveIt with ros_control for my robot. I have used the SetupAssistant to create a config package, then have made some of my own launch and config files ...
epsilonjon
0
votes
1
answer
24
views
how to list all the controllers used when running a ros package
im trying to find all the controllers that this https://github.com/TEAMIFOR/ifor_offb2 package is using (on iris quadrotor, from px4 firmware)
i tried
rosrun controller_manager controller_manager list
...
serf
0
votes
1
answer
8
views
how ros abstract away the underlying hardware and work with generic messages instead
I read the below passage on book, ROS-by-Example Vol1,CH4.14
Once you get used to this style of
programming, there are some
significant advantages. As we have
already mentioned, many nodes can be
...
shawnysh
0
votes
2
answers
72
views
How to properly write yaml file for ros control
Isn't their any tutorial to write exactly the syntax/rules to write a yaml file for ros controller launch. I am dealing with this type of files first time, and i didn't found tutorial for this yaml ...
dinesh
0
votes
1
answer
41
views
Correct way to use diff_drive_controller with PID control?
Hi,
I am just learning about ros_control and saw the diff_drive_controller plugin. I am wondering how I would correctly integrate some PID control in with this? Would I have to have the write() ...
epsilonjon
0
votes
1
answer
7
views
Subsribe and publish conversion problem
I'm trying to write an own Subscribe and Publisk node. I would like ti subscribe to the joystick and publish to my motors. For the publish i create with a launchfile to topics, I use the ...
Milliau