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My robot blows up when I launch the controllers [update 2]

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EDIT2: I have forked the gazebo\_ros_demos package to try a velocity control on the rrbot simple robot. Here is the link to my repo: [https://github.com/Arn-O/gazebo_ros_demos.git](https://github.com/Arn-O/gazebo\_ros\_demos.git) I have changed something in the configuration files. VelocityJointInterface and no longer EffortJointInterface: transmission_interface/SimpleTransmissionVelocityJointInterface1 \velocity_controllers and no longer \effort_controllers: rrbot: joint1_position_controller: type: effort_controllers/JointPositionController joint: joint1 pid: {p: 100.0, i: 0.01, d: 10.0} joint2_velocity_controller: type: velocity_controllers/JointVelocityController joint: joint2 pid: {p: 100.0, i: 0.01, d: 10.0} The robot does not explode with this configuration, but I do not have the expected effect. The joint2 is not animated. EDIT: this is related to the velocity controller. I had another issue before the upgrade, see [answer](http://answers.gazebosim.org/question/4086/fail-to-start/). Hello. I have upgraded the source code of the package required for the installation of Gazebo 1.9 and ROS, and now my robot blows up when I launch the controllers. (EDIT: it is fine without the velocity controllers). Before the controllers: ![image description](/upfiles/137588601333817.png) After: ![image description](/upfiles/13758860481661861.png) It looks like everything has collapsed to the origin point of my robot, like if there were no joints. It was working fine before the update (expect the velocity controller). (EDIT: I had the usse described in the [following answer](http://answers.gazebosim.org/question/4086/fail-to-start/)). Any idea? Thx in advance! EDIT: additional details. Here is the definition of the elements of my robot related to this topic. ... ... Definition of the transmission: ... transmission_interface/SimpleTransmissionEffortJointInterface${wheel_mechanical_reduction} ... Launch file for the controllers: ... ... And parameters of the controllers: youbot: wheel_joint_fl_velocity_controller: type: effort_controllers/JointVelocityController joint: wheel_joint_fl pid: {p: 100.0, i: 0.01, d: 10.0} wheel_joint_fr_velocity_controller: type: effort_controllers/JointVelocityController joint: wheel_joint_fr pid: {p: 100.0, i: 0.01, d: 10.0} wheel_joint_bl_velocity_controller: type: effort_controllers/JointVelocityController joint: wheel_joint_bl pid: {p: 100.0, i: 0.01, d: 10.0} wheel_joint_br_velocity_controller: type: effort_controllers/JointVelocityController joint: wheel_joint_br pid: {p: 100.0, i: 0.01, d: 10.0} ... I have no error message when the bug is triggered. I do not know if there is a useful log somewhere. I can create a simple rrbot like with a velocity controller to investigate the point (the tutorial has been very helpful).

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