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Hi! it's my first time doing a robot with ackermann steering model. right now i got this error
[ INFO] [1744522733.554158501, 0.170000000]: Loaded gazebo_ros_control.
[INFO] [1744522733.790122, 0.398000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1744522733.791888, 0.399000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1744522733.793515, 0.401000]: Loading controller: joint_state_controller
[New Thread 0x7ffef0bf6700 (LWP 233443)]
[INFO] [1744522733.804974, 0.413000]: Loading controller: ackermann_steering_controller
[ INFO] [1744522733.825235380, 0.433000000]: Controller state will be published at 50Hz.
[ INFO] [1744522733.825650929, 0.434000000]: Wheel separation height will be multiplied by 1.
[ INFO] [1744522733.825941867, 0.434000000]: Wheel radius will be multiplied by 1.
[ INFO] [1744522733.826232527, 0.434000000]: Steer pos will be multiplied by 1.
[ INFO] [1744522733.826785626, 0.435000000]: Velocity rolling window size of 10.
[ INFO] [1744522733.827406981, 0.435000000]: Velocity commands will be considered old if they are older than 0.5s.
[ INFO] [1744522733.827704625, 0.436000000]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1744522733.828148312, 0.436000000]: Base frame_id set to base_footprint
[ INFO] [1744522733.828572746, 0.437000000]: Odometry frame_id set to odom
[ INFO] [1744522733.828874202, 0.437000000]: Publishing to tf is enabled
[ INFO] [1744522733.835806526, 0.444000000]: rear wheel to origin: 0,1.45, 0.42
[ INFO] [1744522733.835824893, 0.444000000]: front steer to origin: 0,-1.5, 0.42
[ INFO] [1744522733.835836750, 0.444000000]: Calculated wheel_separation_h: 0
[ INFO] [1744522733.835870557, 0.444000000]: Odometry params : wheel separation height 0, wheel radius 0.15
[ERROR] [1744522733.836263387, 0.444000000]: Exception thrown while initializing controller 'ackermann_steering_controller'
[ERROR] [1744522733.836309744, 0.444000000]: Initializing controller 'ackermann_steering_controller' failed
[ERROR] [1744522734.837597, 1.341000]: Failed to load ackermann_steering_controller
I noticed that it has some diffrences for the setup between the ros noetic and ros jazzy one. this is how my ackermann_controller.yaml looks like
controller_list:
- name: joint_state_controller
type: joint_state_controller/JointStateController
- name: ackermann_steering_controller
type: "ackermann_steering_controller/AckermannSteeringController"
joints:
- artificial_rear_joint
- steer_front_joint
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
ackermann_steering_controller:
type: "ackermann_steering_controller/AckermannSteeringController"
rear_wheel: 'artificial_rear_joint'
front_steer: 'steer_front_joint'
wheelbase: 3.02972 # adjust to your robot
track: 1.36431 # adjust to your robot
wheel_radius: 0.15
cmd_vel_timeout: 0.5
publish_rate: 50
velocity_rolling_window_size: 10
base_frame_id: base_footprint #default: base_link
# Odom frame_id
odom_frame_id: odom
linear:
x:
has_velocity_limits : true
max_velocity : 1.0 # m/s
min_velocity : -0.5 # m/s
has_acceleration_limits: true
max_acceleration : 0.8 # m/s^2
min_acceleration : -0.4 # m/s^2
has_jerk_limits : true
max_jerk : 5.0 # m/s^3
angular:
z:
has_velocity_limits : true
max_velocity : 1.7 # rad/s
has_acceleration_limits: true
max_acceleration : 1.5 # rad/s^2
has_jerk_limits : true
max_jerk : 2.5 # rad/s^3
This is how i define the urdf on robot.urdf.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="car">
<xacro:include filename="include/HDL-32E.urdf.xacro" />
<xacro:include filename="include/macros.xacro" />
<xacro:include filename="include/parameters.xacro" />
<link name="base_footprint" />
<link name="base_link">
<xacro:inertial_box
mass="${car_weight}"
x="${car_length}"
y="${car_width}"
z="${car_height}">
<origin xyz="0.0 0.0 ${car_height/2}" rpy="0 0 1.570796" />
</xacro:inertial_box>
<visual name="chassis">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/body.dae" scale="1 1 1" />
</geometry>
</visual>
<collision name="chassis_collision">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/body.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- JOINTS BASE -->
<joint name="base_link_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<!-- STEERING -->
<link name="steer_front">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1.0" />
<inertia ixx="0.037227" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.06" />
</inertial>
</link>
<link name="artificial_rear">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1.0" />
<inertia ixx="0.037227" ixy="0" ixz="0" iyy="0.04" iyz="0" izz="0.06" />
</inertial>
</link>
<joint name="steer_front_joint" type="revolute">
<origin xyz="0.0 -1.5 0.42" rpy="-1.57 0 0.0" />
<parent link="base_link" />
<child link="steer_front" />
<axis xyz="0 1 0" />
<limit lower="-0.6" upper="0.6" effort="10" velocity="1.0" />
</joint>
<joint name="artificial_rear_joint" type="continuous">
<origin xyz="0.0 1.45 0.42" rpy="-1.57 0 0.0" />
<parent link="base_link" />
<child link="artificial_rear" />
<axis xyz="1 0 0" />
</joint>
<!-- WHEELS -->
<!-- Same for all wheels -->
<link name="front_right_wheel">
<xacro:inertial_cylinder
mass="${tire_weight}"
length="${tire_length}"
radius="${tire_rad}">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 -1.570796 0.0" />
</xacro:inertial_cylinder>
<visual name="wheel">
<origin xyz="0.0 0 0.0" rpy="1.570796 -1.570796 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</visual>
<collision name="wheel_collision">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 -1.570796 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="front_left_wheel">
<xacro:inertial_cylinder
mass="${tire_weight}"
length="${tire_length}"
radius="${tire_rad}">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 1.570796 0.0" />
</xacro:inertial_cylinder>
<visual name="wheel">
<origin xyz="0.0 0 0.0" rpy="1.570796 1.570796 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</visual>
<collision name="wheel_collision">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 1.570796 0.0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- REAR WHEELS -->
<link name="rear_right_wheel">
<xacro:inertial_cylinder
mass="${tire_weight}"
length="${tire_length}"
radius="${tire_rad}">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 -1.570796 0" />
</xacro:inertial_cylinder>
<visual name="wheel">
<origin xyz="0.0 0 0.0" rpy="1.570796 -1.570796 0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</visual>
<collision name="wheel_collision">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 -1.570796 0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="rear_left_wheel">
<xacro:inertial_cylinder
mass="${tire_weight}"
length="${tire_length}"
radius="${tire_rad}">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 1.570796 0" />
</xacro:inertial_cylinder>
<visual name="wheel">
<origin xyz="0.0 0 0.0" rpy="1.570796 1.570796 0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</visual>
<collision name="wheel_collision">
<origin xyz="0.0 0.0 0.0" rpy="1.570796 1.570796 0" />
<geometry>
<mesh filename="package://car_description/meshes/car/wheel.dae" scale="1 1 1" />
</geometry>
</collision>
</link>
<!-- JOINTS WHEEL -->
<joint name="front_left_wheel_joint" type="continuous">
<origin xyz="0.79121 0 0" rpy="0.0 0 0.0" />
<parent link="steer_front" />
<child link="front_left_wheel" />
<axis xyz="0 1 0" />
<limit effort="0" velocity="22.0" />
</joint>
<joint name="front_right_wheel_joint" type="continuous">
<origin xyz="-0.79121 0 0" rpy="0.0 0 0.0" />
<parent link="steer_front" />
<child link="front_right_wheel" />
<axis xyz="0 1 0" />
<limit effort="0" velocity="22.0" />
</joint>
<joint name="rear_right_wheel_joint" type="continuous">
<origin xyz="-0.79121 0 0" rpy="0.0 0 0.0" />
<parent link="artificial_rear" />
<child link="rear_right_wheel" />
<axis xyz="1 0 0" />
</joint>
<joint name="rear_left_wheel_joint" type="continuous">
<origin xyz="0.79121 0 0" rpy="0.0 0 0.0" />
<parent link="artificial_rear" />
<child link="rear_left_wheel" />
<axis xyz="-1 0 0" />
</joint>
<!-- Transmission -->
<transmission name="steer_front_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="steer_front_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="steer_front_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="artificial_rear_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="artificial_rear_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="artificial_rear_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wheel_rear_left_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wheel_rear_right_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wheel_front_left_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wheel_front_right_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
</gazebo>
</robot>
As for the included xacro, it's just simply some macros or parameters. And last file, this is my simulator.launch file.
<launch>
<arg name="ros_control_file" default="$(find car_description)/config/ackermann_controller.yaml" />
<rosparam file="$(arg ros_control_file)" command="load" />
<param name="robot_description"
command="$(find xacro)/xacro --inorder
'$(find car_description)/urdf/robot.urdf.xacro'" />
<node name="controller_spawner" pkg="controller_manager" type="spawner"
respawn="false" output="screen"
args="
joint_state_controller ackermann_steering_controller">
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
output="screen">
<param name="use_tf_static" value="true" />
<param name="publish_frequency" value="200" />
<param name="ignore_timestamp" value="false" />
<remap from="/joint_states" to="/joint_states" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="false" />
<arg name="use_sim_time" value="true" />
<arg name="gui" value="true" />
<arg name="debug" value="true" />
<arg name="verbose" value="true" />
</include>
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model car -param robot_description -x 0 -y 0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0" />
<!-- rvic -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find car_description)/display/viz.rviz" />
</launch>
This is the screenshot from the rviz (the tf)
and visual from the gz
And also the car on the gazebo is shaking up and down. I don't get it why did i'm getting an error like that, i also tried to see what controllers is active, and it's only the joint_state_controller
rosservice call /controller_manager/list_controllers "{}"
controller:
-
name: "joint_state_controller"
state: "running"
type: "joint_state_controller/JointStateController"
claimed_resources:
-
hardware_interface: "hardware_interface::JointStateInterface"
resources: []
Can anyone help me with this issue?
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