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ros-controls / gz_ros2_control

Connect the latest version of Gazebo with ros2_control.
https://gazebosim.org
Apache License 2.0
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controllers loaded but the robots falls #426

Open peakyquest opened 1 month ago

peakyquest commented 1 month ago

I am using humble with gazebo ignition. I am able to spawn the robot in the ignition env, and I all the controllers are active, still my robot falls on the ground, and when I am publishing something on the topic the robot doesnt move

christophfroehlich commented 1 month ago

Please give more information to be able to help you.

Which controllers are you using? For example, add output of ros2 control list_controllers and ros2 control list_hardware_components

peakyquest commented 1 month ago

IMG_5257 IMG_5256 IMG_5259

I have added damping and fiction in my urdf, which makes my robot stand, but I am not sure is this a correct way. Further more I was unable to move the robot with the trajectory topics, should I have to use ign_bridge but there is no ign_bridge used in the ros2 control demos videos. A bit confused.

christophfroehlich commented 1 month ago

As you are using joint_trajectory_controller, you have to send topics to the /<controller_name>/joint_trajectory topics or use its action interface.

Please don't post screenshots, better copy the log as txt in a code fraction or upload a txt file if it is too long.

Which command interfaces are you using? As I already asked for: ros2 control list_hardware_components

peakyquest commented 1 month ago

Hardware Component 1 name: IgnitionSystem type: plugin name: state: id=3 label=active command interfaces joint_1/position [available] [claimed] joint_2/position [available] [claimed] joint_3/position [available] [claimed] joint_4/position [available] [claimed] joint_5/position [available] [claimed] joint_6/position [available] [claimed]

christophfroehlich commented 1 month ago

Have you tried to send something to the controllers with the mentioned topics, e.g., via rqt_joint_trajectory_controller? Falling robots could also be a result from wrong masses/inertias of the links -> the solver explodes.

peakyquest commented 1 month ago

urdf.txt controller.txt launch.txt

well I use rqt_joint_trajectory_controller but the robot doesnt move either. and I have use mu old urdf, which worked fine on gazebo classic, so I am sure that it isnt about masses and inertia, however this was the link which I get my urdf frrom https://github.com/ros-industrial/kuka_experimental/blob/melodic-devel/kuka_kr210_support/urdf/kr210l150.urdf