how to use robot_mechanism_controllers/JointVelocityController ?
In brief: how to public message to the topic that one sample robot_mechanism_controllers/JointVelocityController subscribes?
I launched my robot_mechanism_controllers/JointVelocityController with this yaml file:
r_shoulder_pan_joint_controller:
type: robot_mechanism_controllers/JointVelocityController
joint: r_shoulder_pan_joint
pid:
p: 10.0
i: 0.0
d: 0.0
i_clamp: 0.0
and I published to the topic "/r_shoulder_pan_joint_controller/command".
In my rxgraph terminal I could see that the publisher is working however the "r_shoulder_pan_joint_controller" is not subscribing. Its connection is like:
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /clock
* to: /gazebo (<a href="http://localhost:39443/">http://localhost:39443/</a>)
* direction: inbound
* transport: TCPROS
In addition after the "gazebo" node received the message (that I published), it publishes it to itself instead of to "r_shoulder_pan_joint_controller" node:
topic: /r_shoulder_pan_joint_controller/command
* to: <a href="http://localhost:55720/">http://localhost:55720/</a>
* direction: inbound
* transport: TCPROS
I suppose "to: http://localhost:55720/" should be "to: /r_shoulder_pan_joint_controller"
Any hint/suggestion/discussion is very much welcome! Thanks!
Yuquan