[ros-users] URDF Gazebo problem
John Hsu
johnhsu at willowgarage.com
Thu May 6 15:47:02 UTC 2010
Andreas,
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:
http://www.ros.org/wiki/pr2_mechanism_controllers/Pr2BaseController
John
On Thu, May 6, 2010 at 7:21 AM, Andreas Vogt <andreas.vogt at dfki.de> wrote:
> 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
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> >> 28359 Bremen, Germany
> >>
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> >> 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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