Andreas,<br>to add more than one joint to the test_controller, you'll have to first write your own controller. I suggest taking a look at controllers in pr2_mechanism_controllers for examples. Though slightly complex, but documented is the base controller:<br>
<br><a href="http://www.ros.org/wiki/pr2_mechanism_controllers/Pr2BaseController">http://www.ros.org/wiki/pr2_mechanism_controllers/Pr2BaseController</a><br><br><br>John<br><br><div class="gmail_quote">On Thu, May 6, 2010 at 7:21 AM, Andreas Vogt <span dir="ltr"><<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi,<br>
<br>
how can I add more than one joint to the test_controller in the<br>
yaml-fie. Or can the test_controller work only with one joint? How can I<br>
write a controller in my own node (separate it from the hole pr2 node)?<br>
<br>
Thanks<br>
<br>
test_controller:<br>
type: JointPositionController<br>
joint: joint_p-a1<br>
pid:<br>
p: 1.0<br>
i: 0.0<br>
d: 0.0<br>
i_clamp: 1<br>
<div><div></div><div class="h5">> Hi John,<br>
><br>
> thanks a lot, it works! I'll promise to write a tutorial about this topic.<br>
><br>
> Andreas<br>
><br>
> John Hsu schrieb:<br>
><br>
>> Hi Andreas,<br>
>><br>
>> * what you're missing in rover.xml are transmissions.<br>
>> * gazebo_ros_controller_manager is the hw equivalent of<br>
>> pr2_etherCAT node for simulation<br>
>> * gazebo_ros_time, gazebo_ros_controller update rate should match<br>
>> your world file time step size. i.e. if step size for the<br>
>> physics is .001 sec, updateRate's should be 1000.0.<br>
>><br>
>> otherwise, things should work (see attached tar ball).<br>
>> John<br>
>><br>
>> On Thu, May 6, 2010 at 3:06 AM, Andreas Vogt <<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a><br>
>> <mailto:<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>>> wrote:<br>
>><br>
>> Hi John,<br>
>><br>
>> Thanks your example worked but still I don't know how the information<br>
>> goes from xml file to the controller.<br>
>> Still there are some questions. How I can use this:<br>
>><br>
>><br>
>> <!-- PR2_ACTARRAY --><br>
>> <controller:gazebo_ros_controller_manager<br>
>> name="gazebo_ros_controller_manager"<br>
>> plugin="libgazebo_ros_controller_manager.so"><br>
>> <alwaysOn>true</alwaysOn><br>
>> <updateRate>100.0</updateRate><br>
>> <interface:audio<br>
>> name="gazebo_ros_controller_manager_dummy_iface" /><br>
>> </controller:gazebo_ros_controller_manager><br>
>><br>
>> <!-- gazebo_ros_p3d for position groundtruth --><br>
>> <controller:gazebo_ros_p3d name="p3d_link1_controller"<br>
>> plugin="libgazebo_ros_p3d.so"><br>
>> <alwaysOn>true</alwaysOn><br>
>> <updateRate>100.0</updateRate><br>
>> <bodyName>link1</bodyName><br>
>> <topicName>link1_pose</topicName><br>
>> <frameName>map</frameName><br>
>> <interface:position name="p3d_link1_position"/><br>
>> </controller:gazebo_ros_p3d><br>
>> </gazebo><br>
>> <!-- mechanism controls --><br>
>> <include filename="./single_link.transmission.xacro" /><br>
>><br>
>> for my model (see attached file rover.xml)?<br>
>><br>
>> And the problem with rviz still exist. All components are merged<br>
>> together at one point and the model is white.<br>
>><br>
>> Thanks<br>
>><br>
>> Andreas<br>
>><br>
>><br>
>> John Hsu schrieb:<br>
>><br>
>> Hi Andreas,<br>
>> A simple example can be found here:<br>
>><br>
>> roslaunch pr2_examples_gazebo single_link.launch<br>
>> roslaunch pr2_controller_manager controller_manager.launch<br>
>><br>
>> then you can see your link in rviz<br>
>><br>
>> rosrun rviz rviz<br>
>><br>
>> Set fixed and target frames to /world and try sending a<br>
>> command to the controller by<br>
>><br>
>> rostopic pub /test_controller/command std_msgs/Float64 0.1<br>
>><br>
>> you should see the link approach target joint position in<br>
>> gazebo and in rviz.<br>
>> John<br>
>><br>
>> On Thu, May 6, 2010 at 12:29 AM, Andreas Vogt<br>
>> <<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a> <mailto:<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>><br>
>> <mailto:<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a> <mailto:<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>>>><br>
>> wrote:<br>
>><br>
>><br>
>> Hi,<br>
>> Can anyone give me a short example (with one or two joints)<br>
>> how to<br>
>> use URDF together with gazebo?<br>
>> There are a lot of examples for the pr2 robot but no<br>
>> example how<br>
>> to start with a simple and small system from the scratch.<br>
>> I have a robot description in xml. I did all the parse and<br>
>> checking stuff described in the tutorials. But now I want<br>
>> to read<br>
>> and write angles to these joints which are described in the XML<br>
>> file and want to see the movements in the simulation. How<br>
>> can I do<br>
>> that?<br>
>><br>
>> Thanxs for any help<br>
>> Andreas<br>
>><br>
>> I spawn the XML model of the robot sucessfully into gazebo but<br>
>> when I start rviz all the tf's are missing.<br>
>><br>
>><br>
>><br>
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>> --<br>
>><br>
>> Andreas Vogt<br>
>> Logistics and Production Robotics<br>
>><br>
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>> Robotics Innovation Center<br>
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>> 28359 Bremen, Germany<br>
>><br>
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<br>
--<br>
<br>
Andreas Vogt<br>
Logistics and Production Robotics<br>
<br>
DFKI Bremen<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
<br>
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</div></div></blockquote></div><br>