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The issue is in your configuration.
First you use:
type: "position_controllers/JointPositionController"
joint: antenna_base_to_antenna
Which is a JointPositionController
in the position_controllers
package.
Then you state (emphasis mine):
Now I try to switch to a different type of controller, I change my urdf to VelocityJointInterface I change my antenna.yaml to velocity_controllers/JointTrajectoryController
That is a different controller (provided by the joint_trajectory_controller
package) and it requires different parameters, one of which is the joints
parameter (here).
You only have joint
in your antenna.yaml
, so you'll have to change it.
This is also clear from the error message in the console output you show:
[ERROR] [1553738576.470885508, 1298.720000000]: Could not find 'joints' parameter (namespace: /antenna_robot/antenna_sim_antenna_controller).
Please also note that joint_trajectory_controller
s will require you to send FollowJointTrajectory goals. A single std_msgs/Float64
will no longer work.