Andreas,
to add more than one joint to the test_controller, you'll have to first
write your own controller.  I suggest taking a look at controllers in
pr2_mechanism_controllers for examples.  Though slightly complex, but
documented is the base controller:

http://www.ros.org/wiki/pr2_mechanism_controllers/Pr2BaseController


John

On Thu, May 6, 2010 at 7:21 AM, Andreas Vogt <andreas.vogt@dfki.de> wrote:

> 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 <andreas.vogt@dfki.de
> >> <mailto:andreas.vogt@dfki.de>> 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:
> >>
> >>
> >>        <!-- PR2_ACTARRAY -->
> >>          <controller:gazebo_ros_controller_manager
> >>     name="gazebo_ros_controller_manager"
> >>     plugin="libgazebo_ros_controller_manager.so">
> >>            <alwaysOn>true</alwaysOn>
> >>            <updateRate>100.0</updateRate>
> >>            <interface:audio
> >>     name="gazebo_ros_controller_manager_dummy_iface" />
> >>          </controller:gazebo_ros_controller_manager>
> >>
> >>          <!-- gazebo_ros_p3d for position groundtruth -->
> >>          <controller:gazebo_ros_p3d name="p3d_link1_controller"
> >>     plugin="libgazebo_ros_p3d.so">
> >>              <alwaysOn>true</alwaysOn>
> >>              <updateRate>100.0</updateRate>
> >>              <bodyName>link1</bodyName>
> >>              <topicName>link1_pose</topicName>
> >>              <frameName>map</frameName>
> >>              <interface:position name="p3d_link1_position"/>
> >>          </controller:gazebo_ros_p3d>
> >>      </gazebo>
> >>      <!-- mechanism controls -->
> >>      <include filename="./single_link.transmission.xacro" />
> >>
> >>      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
> >>         <andreas.vogt@dfki.de <mailto:andreas.vogt@dfki.de>
> >>         <mailto:andreas.vogt@dfki.de <mailto:andreas.vogt@dfki.de>>>
> >>         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.
> >>
> >>
> >>
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> >>
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> >>
> >>
> >>
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> >>
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> >>
> >>
> >>     --
> >>
> >>      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 <mailto:andreas.vogt@dfki.de>
> >>
> >>      Weitere Informationen: http://www.dfki.de/robotik
> >>
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> --
>
>  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
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