[ros-users] gazebo urdf rviz

[Tully Foote]

Andreas,
To load your controllers you need a controler manager to load them into.
This is usually ether the realtime loop on the robot or a plugin in gazebo.


Tully

On Thu, Oct 21, 2010 at 9:15 AM, Andreas Vogt <andreas.vogt at dfki.de> wrote:

> Hi,
>
> now another problem came up. How can I use my real-time controller
> (
> http://www.ros.org/wiki/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller
> )
> without gazebo?
> If I load my controller with:
> <rosparam file="$(find rover)/rover.yaml" command="load" />
> <node pkg="pr2_controller_manager" type="spawner" args="rover_ns"
> name="rover_spawner" />
> nothing happens.
>
> Any ideas?
> Andreas
>
>
> On 21.10.2010 17:43, Andreas Vogt wrote:
> > Ok solved
> >
> > <launch>
> > <param name="robot_description" textfile="$(find robot_sim)/model.xml"/>
> > <node name="robot_state_publisher" pkg="robot_state_publisher"
> > type="state_publisher" />
> > <node name="joint_state_publisher" pkg="joint_state_publisher"
> > type="joint_state_publisher" />
> > </launch>
> >
> >
> >
> > Thanks
> >
> > Andreas
> >
> > On 21.10.2010 17:34, Andreas Vogt wrote:
> >
> >> I do this:
> >>
> >> <launch>
> >> <param name="robot_description" textfile="$(find robot_sim)/model.xml"/>
> >> <node name="robot_state_publisher" pkg="robot_state_publisher"
> >> type="state_publisher" />
> >>
> >> </launch>
> >>
> >> The model.xml is perfect I checked it with urdf_check and also its
> >> perfect in gazebo but I can't find any tf transformation after I started
> >> the launch file.
> >>
> >>
> >> Andreas
> >>
> >> On 21.10.2010 17:23, David Lu!! wrote:
> >>
> >>
> >>> Yes, just make sure you have a transform tree for all of the links in
> >>> your model. This is easily accomplished using robot_state_publisher,
> >>> and if you just want to visualize it, joint_state_publisher.
> >>>
> >>> -DL!!
> >>>
> >>> 2010/10/21 Andreas Vogt<andreas.vogt at dfki.de>:
> >>>
> >>>
> >>>
> >>>> Hi,
> >>>>
> >>>> is it possible to spawn my robot urdf model without starting gazebo? I
> >>>> just want see the model in rviz.
> >>>>
> >>>> Thanks
> >>>>
> >>>> --
> >>>> Andreas Vogt
> >>>> Logistics and Production Robotics
> >>>>
> >>>> Standort Bremen:
> >>>> DFKI GmbH
> >>>> Robotics Innovation Center
> >>>> Robert-Hooke-Straße 5
> >>>> 28359 Bremen, Germany
> >>>>
> >>>> Phone: +49 (0)421 178 45-6617
> >>>> Fax:   +49 (0)421 178 45-4150
> >>>> 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)
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> >>>>
> >>>>
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> >>>>
> >>>>
> >>>>
> >>>>
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> >>>
> >>>
> >>>
> >>
> >>
> >
> >
>
>
> --
> Andreas Vogt
> Logistics and Production Robotics
>
> Standort Bremen:
> DFKI GmbH
> Robotics Innovation Center
> Robert-Hooke-Straße 5
> 28359 Bremen, Germany
>
> Phone: +49 (0)421 178 45-6617
> Fax:   +49 (0)421 178 45-4150
> 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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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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