Rqt can't subscribe and publish controller topics.

[ban-masa]

I tried to control nao with the joint_trajectory_controller of rqt. However, rqt can't subscribe and publish controller topics of nao_gazebo_plugin_H25.launch. In version 0.0.5, the launch file fails to load controllers. In version 0.0.4, the controllers' names are not suitable for rqt. Rqt expects namespace = /path/to/controller/manager, controller_name = foo", if the published controller is "/path/to/foo However nao_gazebo_plugin outputs namespcae = /nao_dcm, controller_name = /nao_dcm/hoge_controller

[mikaelarguedas]

Hi, You're right that's something that need to be fixed in the future. Does that prevent you to use rqt to send command or interact with the controllers ? What is your use case ? and what rqt plugins are you using ?

What you should be able to do with this package: Controller Manager rqt plugin: you can detect load and unload controllers Message Publisher topic:

• Publish command to position controllers:
  * add a controller command topic (e.g. /nao_dcm/Head_controller/command)
  * publish a std_msgs/Float64 message (command in radians)
• Publish comand to trajectory controller:
  **You cannot publish this using rqt, you need to use the action server to send trajectories.

[mikaelarguedas]

@ban-masa I was not able to reproduce your issue. Did you try to run:

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

It seems that rqt is able to recognize, enable and send commands to controllers

[ban-masa]

I forgot to pull this commit(https://github.com/ros-naoqi/nao_robot/commit/f8eeae0). After I pulled this commit, I can control nao with the joint_trajectory_controller of rqt. I am sorry for the delay in my response, and thank you for your cooperation.

[mikaelarguedas]

No worries, glad it works for you now