Diff_Drive_Controller not publishes cmd_vel_out on hardware
Hi, I have a setup that uses diff_drive_controller. Robot is working fine with gazebo.
diff_drive_controller is not working if I switch from simulation to real hardware interface. I have a motor controller from roboteq and use this implementation: https://github.com/rbonghi/roboteq_co...
Controller indicates everything ok. Controller Manager shows registered hardware interfaces. Connection to motor is ok.
It seems that diff_drive_controller does not publish any commands. I activated publish of cmd_vel_out, but even this is not published by diff_drive_controller.
Attached you will find my diff_drive_controller configuration.
<launch>
<rosparam command="load" file="$(find hr_control)/config/hr_control.yaml" />
<node name="base_controller_spawner" pkg="controller_manager" type="spawner"
args="hr_driver_joint_state_controller hr_driver_diff_drive_controller"/>
<node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
<param name="default_topic" value="/hr_driver_diff_drive_controller/cmd_vel"/>
</node>
<!-- Mux to control via joy, keyboard, high level control the robot -->
<node pkg="twist_mux" type="twist_mux" name="twist_mux">
<rosparam command="load" file="$(find hr_control)/config/hr_teleop_twist_mux.yaml" />
<remap from="cmd_vel_out" to="hr_driver_diff_drive_controller/cmd_vel"/>
</node>
</launch>
hr_driver_joint_state_controller:
type: "joint_state_controller/JointStateController"
publish_rate: 50
hr_driver_diff_drive_controller:
type: "diff_drive_controller/DiffDriveController"
publish_rate: 50
left_wheel: 'base_to_left_wheel'
right_wheel: 'base_to_right_wheel'
wheel_separation: 0.44
# Odometry covariances for the encoder output of the robot. These values should
# be tuned to your robot's sample odometry data, but these values are a good place
# to start
pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
# Top level frame (link) of the robot description
base_frame_id: base_link
# Velocity and acceleration limits for the robot
linear:
x:
has_velocity_limits : true
max_velocity : 1.9 # m/s
has_acceleration_limits: true
max_acceleration : 0.6 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 2.0 # rad/s
has_acceleration_limits: true
max_acceleration : 6.0 # rad/s^2