[ros-users] pr2_cockpit stack (Teleoperation stack)

[Kevin Watts]

Hai-
     We need to put something in the tutorials about this, because I think
this confused a lot of people in the workshop. The controllers are loaded by
the pr2_controller_manager, which is part of the realtime loop node. This
system uses pluginlib to load the controllers. Pluginlib searches for
controllers using the ROS_PACKAGE_PATH from the process that started it.
      First of all, make sure you have properly built the controllers. Make
sure the controllers package is in your environment. Check for the
controller plugin using rospack.
      If the controller plugin is properly set up, you'll need to launch the
robot using the correct environment. You can either use "sudo robot start
-e", or run "roslaunch /etc/ros/robot.launch". This will launch the robot
with the controller manager pointed at the right place.

Kevin

On Jun 22, 2010 9:01 PM, "Hai Nguyen" <haidai at gmail.com> wrote:

Hi,

I'm trying to get the JTTelopController running on our robot.  At
first, I checked out the version tagged for cturtle but the
telop_controllers package had a ROS_BUILD_BLACKLIST in it so I moved
on to 'latest' (r39163).  From latest I found the launch files
formerly in cartesian_controller_tutorial in telop_microscribe,
launched c_jt.launch (a file that we were using during the workshop),
but then I received errors about something failing to load the
controllers (see below).  Have you seen these errors before and
possibly know how to fix them?

Errors from roslaunch:
[ERROR] 1277263944.599523: Failed to load l_cart
[ERROR] 1277263945.605297: Failed to load r_cart

Errors from rosout:
Node: /realtime_loop
Could not load controller 'l_cart' because controller type
'JTTeleopController' does not exist

Node: /realtime_loop
Could not load class JTTeleopController: According to the loaded
plugin descriptions the class JTTeleopController with base class type
pr2_controller_interface::Controller does not exist. Declared types
are  CasterCalibrationController CheckoutController
CounterbalanceTestController GripperCalibrationController
HeadPositionController HysteresisController JointCalibrationController
JointLimitCalibrationController MotorJointCalibrationController
TFFController TestController WristCalibrationController
WristDifferenceController
ethercat_trigger_controllers/MultiTriggerController
ethercat_trigger_controllers/ProjectorController
ethercat_trigger_controllers/TriggerController
pr2_mechanism_controllers/CasterController
pr2_mechanism_controllers/CasterControllerNode
pr2_mechanism_controllers/LaserScannerTrajController
pr2_mechanism_controllers/Pr2BaseController
pr2_mechanism_controllers/Pr2BaseController2
pr2_mechanism_controllers/Pr2GripperController
pr2_mechanism_controllers/Pr2Odometry
robot_mechanism_controllers/CartesianPoseController
robot_mechanism_controllers/CartesianTwistController
robot_mechanism_controllers/CartesianWrenchController
robot_mechanism_controllers/JointEffortController
robot_mechanism_controllers/JointPositionController
robot_mechanism_controllers/JointSplineTrajectoryController
robot_mechanism_controllers/JointTrajectoryActionController
robot_mechanism_controllers/JointVelocityController



On Wed, Jun 2, 2010 at 8:04 PM, Stuart Glaser <sglaser at willowgarage.com>
wrote:
> Hi all,
>
> I'm ...
--
Hai Nguyen
CS, Robotics

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