joint_state_publisher not working with gazebo model !

asked 2018-05-02 00:18:22 -0600

chrissunny94 gravatar image

updated 2018-05-02 01:40:37 -0600

Hey , I recently started out on robotic manipulators , I have build a URDF model of the robot and it looks fine .

https://github.com/chefbot/saya , this is the complete repository 

roslaunch saya_gazebo robot_spawn.launch

Use the above to launch the gazebo model , it will spawn the gazebo model and joint_state_publisher

roslaunch saya_description saya_rviz.launch

* The published topics *

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/rosout
/rosout_agg
/saya/camera1/camera_info
/saya/camera1/image_raw
/saya/camera1/image_raw/compressed
/saya/camera1/image_raw/compressed/parameter_descriptions
/saya/camera1/image_raw/compressed/parameter_updates
/saya/camera1/image_raw/compressedDepth
/saya/camera1/image_raw/compressedDepth/parameter_descriptions
/saya/camera1/image_raw/compressedDepth/parameter_updates
/saya/camera1/image_raw/theora
/saya/camera1/image_raw/theora/parameter_descriptions
/saya/camera1/image_raw/theora/parameter_updates
/saya/camera1/parameter_descriptions
/saya/camera1/parameter_updates
/saya/joint1_position_controller/command
/saya/joint2_position_controller/command
/saya/joint3_position_controller/command
/saya/joint4_position_controller/command
/saya/joint5_position_controller/command
/saya/joint6_position_controller/command
/saya/joint_states
/saya/laser/scan
/tf
/tf_static

* How the URDF is defined *

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint3">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint4">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor4">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint5">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor5">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint6">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor6">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

   <!--Transmission and actuators-->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>


  <!--Transmission and actuators-->
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint3">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint4">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor4">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>



  <!--Transmission and actuators-->
  <transmission name="tran5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint5">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor5">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint6">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor6">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

* The control launch script *

<launch>
  <!--Load the joint controllers to param server-->
  <rosparam file="$(find saya_control)/config/saya_control.yaml" command="load"/>

  <!--Load controllers-->
  <node name="spawner" pkg="controller_manager" type="spawner" respawn="false"
    output ...
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Comments

Please don't use an image to display text. Images are not searchable and people cannot copy and paste the text from the image. Please update your question with a copy and paste of the text.

jayess gravatar image jayess  ( 2018-05-02 01:06:54 -0600 )edit

It notoriously difficult to add text/code because , everything needs to be intended (not put inside quotes )

Anyways i have added comments to what the images are refereeing to!

chrissunny94 gravatar image chrissunny94  ( 2018-05-02 01:29:02 -0600 )edit
1

It notoriously difficult to add text/code because , everything needs to be intended

copy-paste text, select it all with the mouse, press Preformatted Text button (the one with 101010 on it. Done.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-02 01:34:37 -0600 )edit

As-is, your question violates the support guidelines (especially the: "don't post screenshots of text" part). Please update it or I'll close it later today.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-02 01:36:15 -0600 )edit
1

As to your question: the joint_state_publisher is not meant to control any robots. The joint_state_controller from ros_control is not a controller, but only broadcasts joint state.

Its name is unfortunate, so I can see where the confusion comes from.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-02 01:36:58 -0600 )edit

@gvdhoorn , thanks , i have edited the question (and thank you for telling me how to !).

Well back to the problem . I can move the robotic arm vai publishing the command like this 

rostopic pub /saya/joint2_position_controller/command std_msgs/Float64 "data: -0.9"
chrissunny94 gravatar image chrissunny94  ( 2018-05-02 01:45:05 -0600 )edit
1

That's great, but without some work, the output of joint_state_publisher (ie: JointState msg) will not be compatible with that. I also don't recommend using JSP for controlling robots. It's not what it is meant for.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-02 01:48:17 -0600 )edit

Hey , the problem i am trying to describe is there with this package as well

https://github.com/ROBOTIS-GIT/ROBOTI...

  • when gazebo model launched , then rviz launched , it messes up the rviz model
  • cannot control the gazebo model with rqt/ joint_state_publisher
chrissunny94 gravatar image chrissunny94  ( 2018-05-02 02:31:48 -0600 )edit
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