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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
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Skid steer demo using ros_control #12

Open lucasw opened 7 years ago

lucasw commented 7 years ago

Need to make own controller manager instance: https://answers.ros.org/question/199042/how-to-run-controller_manager/

It doesn't need any special connection to the bullet_server, since everything is controlled through topics, so it will be generic and maybe should go into different repo later.

Maybe the boilerplate code already does this, if not it at least provides a template: https://github.com/davetcoleman/ros_control_boilerplate

lucasw commented 7 years ago

Need ros_control_boilerplate generic_hw_interface to not error out if no urdf- make own version or modify source then try to merge it?

Modify ros_control_boilerplate for now: https://github.com/davetcoleman/ros_control_boilerplate/issues/17

lucasw commented 7 years ago

It looks like the diff drive controller is running and updating properly, but the joints it has aren't connected to the joints in diffbot_control.