[ros-users] Registering controller on PR2

Peter Brook pbrook at cs.washington.edu
Wed Nov 10 00:00:18 UTC 2010

Hey Jenny and Mario,

I actually just came across this issue with our PR2 last night. I found that
starting the robot by running "sudo robot start" fails to find any
controllers created in my local directories. I had to "sudo robot stop" the
robot and then start it up with "roslaunch /etc/ros/robot.launch" to get the
system to find my custom controllers.

Hope this helps,


On Tue, Nov 9, 2010 at 1:40 PM, Jenny Barry <jlbarry at mit.edu> wrote:

> Hi,
> We are trying to get a realtime controller to run on the PR2 robot.  We
> have copied and pasted the "writing a realtime joint controller" tutorial
> and it works in simulation.  However, the controller fails to register on
> the actual robot.  It finds the controller_plugins.xml file but the
> pr2_controller_manager does not list MyControllerPlugin in the types.  We've
> reloaded the libraries, remade things, and restarted the robot.  Help?
> Thanks,
> Jenny and Mario
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> ros-users at code.ros.org
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