[ros-users] Gazebo real time controller

[Andreas Vogt]

Hi Stuart

I just want to use rviz as a visualization tool.  My real robot   
driver publish the information ( speed, angle) about the joints over a  
topic. The model should receive this information and behave like the  
real robot.
I asked this because I wrote the real time controller for gazebo and  
now I want to avoid that I have to write something new for rviz which  
does more or less  the same as the controller.

Andreas

Am 22.10.2010 um 20:42 schrieb Stuart Glaser <sglaser at willowgarage.com>:

> Hi Andreas,
>
> The ill-named controller_manager.launch does not actually launch the
> controller manager.  Instead, it launches other nodes that work with
> the controller manager (publishing diagnostics and tf, I believe).
> The controller manager is launched inside the Gazebo process as a
> Gazebo plugin.
>
> At Willow, we either launch the controller manager inside Gazebo or in
> the process controlling a PR2 (pr2_etherCAT).  The controllers operate
> on joint states and commands, which are provided by the robot or by
> Gazebo.  Launching the controller manager by itself means that the
> controllers have nothing to operate on, which doesn't make a great
> deal of sense.
>
> How are you trying to use only RViz as an environment?  In your
> planned setup, where can you read joint positions from and where can
> you send joint efforts?
>
> -Stu
>
> 2010/10/22 Andreas Vogt <andreas.vogt at dfki.de>:
>>
>> Hi,
>>
>>
>> How can I use my real time controller without Gazebo? I want only use
>> RVIZ as an environment.
>> With Gazebo everything works fine but when I try to start the  
>> controller
>> without Gazebo nothing happens.
>>
>> <launch>
>> <include file="$(find pr2_controller_manager)/ 
>> controller_manager.launch"/>
>> <param name="robot_description" textfile="$(find
>> robot_simulation)/robot.xml" />
>> <rosparam file="$(find robot_simulation)/robot_simulation.yaml"
>> command="load" />
>> <node pkg="pr2_controller_manager" type="spawner"
>> args="robot_simulation_ns" name="robot_simulation_spawner" />
>> </launch>
>>
>> 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
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>> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
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>>
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>
>
>
> -- 
> Stuart Glaser
> sglaser -at- willowgarage -dot- com
> www.willowgarage.com
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