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jackal / jackal_simulator

Gazebo simulation for Jackal
BSD 3-Clause "New" or "Revised" License
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No p gain specified for pid #9

Closed ashishk88 closed 4 years ago

ashishk88 commented 4 years ago

Launching the jackal_world.launch outputs the following error:

[ERROR] [1586987092.807651539, 1517.347000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_left_wheel
[ERROR] [1586987092.808212953, 1517.347000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/front_right_wheel
[ERROR] [1586987092.808681929, 1517.347000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_left_wheel
[ERROR] [1586987092.809196164, 1517.347000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/rear_right_wheel

Is there a config file that is missing on the melodic-devel branch?

I am using Ubuntu 18.04, ROS Melodic and building jackal packages from source.

ashishk88 commented 4 years ago

I used dummy values:

/gazebo_ros_control:   
  pid_gains:
    front_left_wheel:
      p: 10.0
      i: 0.01 
      d: 10.0
    front_right_wheel:
      p: 10.0
      i: 0.01 
      d: 10.0
    rear_left_wheel:
      p: 10.0
      i: 0.01 
      d: 10.0
    rear_right_wheel:
      p: 10.0
      i: 0.01 
      d: 10.0

I can't move the robot in gazebo after issuing Twist commands on /cmd_vel or /jackal_velocity_controller/cmd_vel topics.

This could help: https://pasteboard.co/J40MytB.png

ashsifat commented 4 years ago

I am having the same issue as well as the error: Spawn service failed. Exiting.

Could you please let me know if you fixed it? TIA

ashishk88 commented 4 years ago

Sorry, I ended up building a non-holonomic mobile robot in Gazebo.