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ros-controls / ros_control

Generic and simple controls framework for ROS
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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RRBoT tutorial controller spawner problem #243

Open slaniel opened 8 years ago

slaniel commented 8 years ago

Hi,

I try to control a robot in gazebo with ROS topics.

To learn, I tried the ros_control package for the RRBoT example.

I can launch the : $ roslaunch rrbot_gazebo rrbot_world.launch Gazebo opens perfectly with the robot and the environment.

My problem comes afterwards when I execute : $ roslaunch rrbot_control rrbot_control.launch

Everytime my console displays :

[INFO] [WallTime: 1466101921.611973] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [WallTime: 1466101951.737910] [1599.057000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[rrbot/controller_spawner-1] process has finished cleanly

What am I doing wrong? Sebastien

miguelprada commented 8 years ago

Hi @slaniel,

First of all, you should specify where those rrbot_gazebo and rrbot_control packages you're using come from. I'm going to go ahead and assume your talking about the packages in gazebo_ros_demos.

Second, I've just tested the same commands on ROS Indigo with a clean clone of gazebo_ros_demos master branch and everything works fine. Could you ellaborate more on your problem? Which ROS distro are you using? Have you modified anything in the gazebo_ros_demos packages?

Finally, if my assumption is right, maybe you should post your issue in that repo, not here, since the problem seems more related with incorrect configuration of rrbot_control, which is making the controller spawner incapable of finding the right controller manager topics.

adnanmunawar commented 8 years ago

If you are using Indigo and a version of Gazebo that doesn't come by default with it, this issue arises. A quick fix is to remove the ros-indigo-gazebo7-ros-pgs and install them from source.