Open Franklein20 opened 8 months ago
Hello Franklein20,
Firstly, I would like to apologize for the unstable, buggy software packages. Also, I am sorry I may not be able to help you properly on your issue, as I have stopped working on these codes for quite some time.
However, given the error messages, I'm quite certain that "joint state handle" is the hardware interface from gazebo, so most likely that the issue is not related to joint_state_broadcaster
node. Here are some possible causes:
Hope this helps!
Thanks for your feedback, On the terminal ,i'm able to see this [gazebo-1] [INFO] [1702299480.460413832] [gazebo_ros2_control]: connected to service!! robot_state_publisher [gazebo-1] [INFO] [1702299480.461012790] [gazebo_ros2_control]: Received urdf from param server, parsing... [gazebo-1] [INFO] [1702299480.466750516] [gazebo_ros2_control]: Loading joint: left_wheel_joint
[gazebo-1] [INFO] [1702299480.466815307] [gazebo_ros2_control]: Loading joint: right_wheel_joint
[gazebo-1] [INFO] [1702299480.466833582] [gazebo_ros2_control]: Loading joint: wheel_back_right_joint
[gazebo-1] [INFO] [1702299480.466849906] [gazebo_ros2_control]: Loading joint: wheel_back_left_joint
[gazebo-1] [INFO] [1702299480.466865744] [gazebo_ros2_control]: Loading joint: left_wheel_steering_joint
[gazebo-1] [INFO] [1702299480.466883521] [gazebo_ros2_control]: Loading joint: right_wheel_steering_joint
[gazebo-1] [INFO] [1702299480.466899173] [gazebo_ros2_control]: Loading joint: right_back_wheel_steering_joint
[gazebo-1] [INFO] [1702299480.466914725] [gazebo_ros2_control]: Loading joint: left_back_wheel_steering_joint
So in gazebo everything seems well. i continues to investigate, if i find something
hello
i'm working on ackerman driving controller, that you developped. i integrated in which has 04 wheels (propulsion and steering)
But at each execution I get this error message. here is also the configuration file
controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
ackermann_drive: ros__parameters: left_wheel_name: "wheel_back_left_joint" right_wheel_name: "wheel_back_right_joint" left_steering_name: "left_wheel_steering_joint" right_steering_name: "right_wheel_steering_joint"
joint_state_broadcaster: ros__parameters: update_rate: 1000 # Hz use_sim_time: true