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AutoRally / autorally

Software for the AutoRally platform
http://autorally.github.io
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chassisState not published without control input #68

Closed jisacks closed 4 years ago

jisacks commented 6 years ago

When I do not use a joystick and instead attempt to manually set runstopMotionEnabled by publishing to runstop topic with the rqt_publisher or a Python script, I found that chassisState was not being published by the simulator. Instead I get the following warning:

WARNING: no messages received and simulated time is active.
Is /clock being published?

However, when I enable runstopMotionEnabled from the AutoRally OCS and set the control from the Control tab, I can then do a rostopic echo /chassisState successfully. There are no issues when I use the joystick. It seems that the simulator does not publish chassisState unless it receives control decisions.

rdesc commented 4 years ago

Even if I try sending control commands from the control tab in the OCS, I am still not getting anything published on the /chassisState topic. Any ideas?

rdesc commented 4 years ago

Never mind figured it out! Had to set a delay for launching the controller spawner, since gazebo is slow to come up on my machine. Changes are seen here https://github.com/rdesc/autorally/commit/4c93ece9ab95a59039fad2d0d86ceee682a4ff29

JasonGibson274 commented 4 years ago

This sounds like gazebo not recognizing the controller interface due to namespacing, it should have been address at this point. Please reopen if the issue is persisting.