[ros-users] URDF Gazebo problem
Andreas Vogt
andreas.vogt at dfki.de
Thu May 6 14:21:51 UTC 2010
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 at dfki.de
>> <mailto:andreas.vogt at 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 at dfki.de <mailto:andreas.vogt at dfki.de>
>> <mailto:andreas.vogt at dfki.de <mailto:andreas.vogt at 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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>>
>> --
>>
>> 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 at dfki.de <mailto:andreas.vogt at 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 at 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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