ROS探索总结(三十一)——ros_control - 古月居

来自 : www.guyuehome.com/890 发布时间：2021-03-25

launch gazabo world.lauch之后，[ INFO] [1528368686.710405677]: Finished loading Gazebo ROS API Plugin.[ INFO] [1528368686.711762737]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...[ INFO] [1528368686.729320721]: Finished loading Gazebo ROS API Plugin.[ INFO] [1528368686.729531710]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...SpawnModel script started[INFO] [1528368687.057146, 0.000000]: Loading model XML from ros parameter[INFO] [1528368687.059300, 0.000000]: Waiting for service /gazebo/spawn_urdf_model[ INFO] [1528368688.067746896, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.[ INFO] [1528368688.094271541, 0.045000000]: Physics dynamic reconfigure ready.[INFO] [1528368688.264447, 0.205000]: Calling service /gazebo/spawn_urdf_model[ INFO] [1528368688.282969685, 0.224000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.[INFO] [1528368688.455227, 0.350000]: Spawn status: SpawnModel: Successfully spawned entity[ INFO] [1528368688.464370987, 0.350000000]: Physics dynamic reconfigure ready.[ INFO] [1528368688.596049337, 0.350000000]: Loading gazebo_ros_control plugin[ INFO] [1528368688.596242106, 0.350000000]: Starting gazebo_ros_control plugin in namespace: /testrobot[ INFO] [1528368688.596981285, 0.350000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.launch control.lauch之后，[INFO] [1528368696.272598, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller[INFO] [1528368696.274275, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller[INFO] [1528368696.276808, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller[INFO] [1528368696.278426, 7.860000]: Loading controller: joint_state_controller[INFO] [1528368696.290424, 7.872000]: Loading controller: joint1_position_controller[INFO] [1528368696.331757, 7.911000]: Loading controller: joint2_position_controller[INFO] [1528368696.364468, 7.941000]: Controller Spawner: Loaded controllers: joint_state_controller, joint1_position_controller, joint2_position_controller[INFO] [1528368696.370902, 7.942000]: Started controllers: joint_state_controller, joint1_position_controller, joint2_position_controller发布命令到topic，$ rostopic pub -1 /testrobot/joint2_position_controller/command std_msgs/Float64 \"data: 1.5\"publishing and latching message for 3.0 seconds最后，无反应。古月大神觉的有可能是哪出了问题？欢迎古月大神指教。 2018-06-07 19:12 回复