[Bug] JointPositionController not working during px4 SITL

[Alessioo1]

Describe the bug

JointPositionController is not working during px4 SITL , the command is recieved by gazebo but the joint is not moving. The same model.sdf in a gazebo world with the SITL NOT RUNNING is working correctly

To Reproduce

1. Start ros_gz_bridge-parameter_bridge
2. Start MicroXRCEAgent udp4 -p 8888
3. Start SITL : PX4_SYS_AUTOSTART=40522 PX4_GZ_MODEL=qav_2 PX4_GZ_WORLD=blocks PX4_GZ_MODEL_POSE="0 0 0.34 0 0 0" ./build/px4_sitl_default/bin/px4
4. Start ros2 control node
5. trigger the node to send command on the specific topic

Expected behavior

Joint should move

Screenshot / Media

videos.zip

Flight Log

https://review.px4.io/plot_app?log=8d417341-f3e5-4832-8d97-52a298559894

Software Version

ver all HW arch: PX4_SITL PX4 git-hash: 4fce159a2ab490410e730d492d4135f1beca2db4 PX4 version: 1.14.0 0 (17694720) PX4 git-branch: main OS: Linux OS version: Release 5.15.90 (84892415) Build datetime: Sep 22 2023 09:01:06 Build uri: localhost Build variant: default Toolchain: GNU GCC, 11.4.0 PX4GUID: 1006554d49534954414c44494e4f30303030 UNKNOWN MCU pxh> INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 219 INFO [commander] Ready for takeoff!

Flight controller

px4

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[Jaeyoung-Lim]

@Alessioo1 What is quav_2? I suspect the problem is related to the model sdf itself

[Alessioo1]

It's a custom model qav_2.zip the airframe is airframe custom.zip

[Jaeyoung-Lim]

I won't be able to check the sdf file myself, but you can try to findout whether the joint names are named correctly to what px4 is publishing

[Alessioo1]

I'm able to see the data published in gazebo with an echo of the topic, isn't enough to check that px4 is publishing correctly?

[Jaeyoung-Lim]

@Alessioo1 But is the joint control topics publishing to the correct joints on your model?

[Alessioo1]

Yes it is. I use the same model.sdf when I spawn the robot without the sitl and it's working, doesn't it mean that the plugins are configured correctly?

[Jaeyoung-Lim]

But if the joint control topics are publishing to the right joints, why aren't the joints moving?

[Alessioo1]

I don't know, that's why I opened the issue. I have also tried to change the joint names because I had named them "servo_1" and "servo_2" and I thought that that could cause some type of conflict/error inside sitl. Nothing has changed changing names.

[Jaeyoung-Lim]

I have also tried to change the joint names because I had named them "servo_1" and "servo_2"

What did you change it to?

[Alessioo1]

“serrrvo_1” and “serrrvo_2”

[Jaeyoung-Lim]

@Alessioo1 Exactly, is px4 publishing a joint control topic to that joint? I suspect not

[Alessioo1]

From my ROS2 node I'm publishing messages to the input topic of the jointPositionController plugin, and ros_gz_bridge is reporting the topic in gazebo and the plugin should receive it, am I missing something? Is px4 involved in these steps? The names of the topics are correct I've changed them accordingly in each file: model.sdf , ros2 publisher/subscriber and ros_gz_bridge . As before everything works outside sitl but not with sitl running.

[Alessioo1]

Here it is the modified model of qav_2 with relative path for meshes files qav_2.zip

[Alessioo1]

Solved, for some reason inside the simulation the model qav_2 was named qav_2_0 changing the topic of jointpositioncontroller