Hi Marc,

you can try and model after the single link tutorial in here:

http://www.ros.org/wiki/pr2_simulator/Tutorials/Pendulums

The gazebo_ros_controller_manager plugin included in the urdf
file<https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/tags/cturtle/pr2_examples_gazebo/single_link_defs/single_link.urdf.xacro>does
the job of publishing the joint states as you mentioned.
This controller yaml
file<https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/tags/cturtle/pr2_examples_gazebo/single_link_defs/single_link_position_controller.yaml>specifies
the controller gains.
This transmissions
file<https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/tags/cturtle/pr2_examples_gazebo/single_link_defs/single_link.transmission.xacro>specifies
the transmission at the joint.
The launch script<https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/tags/cturtle/pr2_examples_gazebo/single_link.launch>loads
the controller.

Let me know if this helps.
John



On Sat, Sep 25, 2010 at 7:30 PM, MightTower <marcjoeris@uni-koblenz.de>wrote:

>
> Hi John,
> i tried to write my own controllers for 2 joints, like you recommended in
> your first approach.
> It works when i play around with the tutorials
> (http://www.ros.org/wiki/pr2_mechanism/Tutorials) and the PR2 model.
> I tried then to control the joints in my model, but the problem is that the
> joints are not published so the controller cant find them. I try to find a
> tutorial which tells me how to publish the joints but no luck till now. I
> think its not a big thing but i cant find the right way at the moment.
> Any suggestion or hint?
> Thanks a lot
> Marc
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