Hi, how can I add more than one joint to the test_controller in the yaml-fie. Or can the test_controller work only with one joint? How can I write a controller in my own node (separate it from the hole pr2 node)? Thanks test_controller: type: JointPositionController joint: joint_p-a1 pid: p: 1.0 i: 0.0 d: 0.0 i_clamp: 1 > Hi John, > > thanks a lot, it works! I'll promise to write a tutorial about this topic. > > Andreas > > John Hsu schrieb: > >> Hi Andreas, >> >> * what you're missing in rover.xml are transmissions. >> * gazebo_ros_controller_manager is the hw equivalent of >> pr2_etherCAT node for simulation >> * gazebo_ros_time, gazebo_ros_controller update rate should match >> your world file time step size. i.e. if step size for the >> physics is .001 sec, updateRate's should be 1000.0. >> >> otherwise, things should work (see attached tar ball). >> John >> >> On Thu, May 6, 2010 at 3:06 AM, Andreas Vogt > > wrote: >> >> Hi John, >> >> Thanks your example worked but still I don't know how the information >> goes from xml file to the controller. >> Still there are some questions. How I can use this: >> >> >> >> > name="gazebo_ros_controller_manager" >> plugin="libgazebo_ros_controller_manager.so"> >> true >> 100.0 >> > name="gazebo_ros_controller_manager_dummy_iface" /> >> >> >> >> > plugin="libgazebo_ros_p3d.so"> >> true >> 100.0 >> link1 >> link1_pose >> map >> >> >> >> >> >> >> for my model (see attached file rover.xml)? >> >> And the problem with rviz still exist. All components are merged >> together at one point and the model is white. >> >> Thanks >> >> Andreas >> >> >> John Hsu schrieb: >> >> Hi Andreas, >> A simple example can be found here: >> >> roslaunch pr2_examples_gazebo single_link.launch >> roslaunch pr2_controller_manager controller_manager.launch >> >> then you can see your link in rviz >> >> rosrun rviz rviz >> >> Set fixed and target frames to /world and try sending a >> command to the controller by >> >> rostopic pub /test_controller/command std_msgs/Float64 0.1 >> >> you should see the link approach target joint position in >> gazebo and in rviz. >> John >> >> On Thu, May 6, 2010 at 12:29 AM, Andreas Vogt >> >> >> >> wrote: >> >> >> Hi, >> Can anyone give me a short example (with one or two joints) >> how to >> use URDF together with gazebo? >> There are a lot of examples for the pr2 robot but no >> example how >> to start with a simple and small system from the scratch. >> I have a robot description in xml. I did all the parse and >> checking stuff described in the tutorials. But now I want >> to read >> and write angles to these joints which are described in the XML >> file and want to see the movements in the simulation. How >> can I do >> that? >> >> Thanxs for any help >> Andreas >> >> I spawn the XML model of the robot sucessfully into gazebo but >> when I start rviz all the tf's are missing. >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> > >> >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> ------------------------------------------------------------------------ >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> >> -- >> >> Andreas Vogt >> Logistics and Production Robotics >> >> DFKI Bremen >> Robotics Innovation Center >> Robert-Hooke-Straße 5 >> 28359 Bremen, Germany >> >> Phone: +49 (0)421 218-64140 >> Fax: +49 (0)421 218-64150 >> E-Mail: andreas.vogt@dfki.de >> >> Weitere Informationen: http://www.dfki.de/robotik >> ----------------------------------------------------------------------- >> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH >> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern >> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster >> (Vorsitzender) Dr. Walter Olthoff >> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes >> Amtsgericht Kaiserslautern, HRB 2313 >> Sitz der Gesellschaft: Kaiserslautern (HRB 2313) >> USt-Id.Nr.: DE 148646973 >> Steuernummer: 19/673/0060/3 >> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> ------------------------------------------------------------------------ >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > > -- Andreas Vogt Logistics and Production Robotics DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 218-64140 Fax: +49 (0)421 218-64150 E-Mail: andreas.vogt@dfki.de Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3