Hey all,
I have been trying to use Isaac-sim with the ROS controller_manager but so far without success. To be fair, I don’t fully understand how the ROS controller_manager works. To me it should take joints states in, shoot joint commands out. But apparently it needs something more…
[ WARN] [1634630138.145786902]: Received JointState is 1634628410.048216 seconds old.
[WARN] [1634630138.269975]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[base_controller_spawner-1] process has finished cleanly
log file: /home/gpu_user/.ros/log/5ed28b12-30ae-11ec-92ee-b42e99f33eca/base_controller_spawner-1*.log
Did anyone manage to get the ROS controller_manager working as is with Isaac? Is using the controller manager recommended? Using it is clearly not necessary with Isaac, since Isaac already provides a joint command interface. But I figure this is not the most ROS way of doing things since it kills the compatibility with these tools.
Here is more information regarding my setup, I’m using ROS-melodic on Ubuntu 18.04. All the following works fine with Gazebo.
Here is the launch file, I have tried things like loading the robot_description file from the URDF file, but it doesn’t work.
<launch>
<!-- Load controller configuration -->
<rosparam command="load" file="$(find husky_control)/config/control.yaml" />
<!-- Spawn controllers -->
<node name="base_controller_spawner" pkg="controller_manager" type="spawner"
args="husky_joint_publisher husky_velocity_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node pkg="twist_mux" type="twist_mux" name="twist_mux">
<rosparam command="load" file="$(find husky_control)/config/twist_mux.yaml" />
<remap from="cmd_vel_out" to="husky_velocity_controller/cmd_vel"/>
</node>
</launch>
Here is the configuration file:
husky_joint_publisher:
type: "joint_state_controller/JointStateController"
publish_rate: 50
husky_velocity_controller:
type: "diff_drive_controller/DiffDriveController"
left_wheel: ['front_left_wheel', 'rear_left_wheel']
right_wheel: ['front_right_wheel', 'rear_right_wheel']
publish_rate: 50
pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
cmd_vel_timeout: 0.25
velocity_rolling_window_size: 2
# Base frame_id
base_frame_id: base_link
# Odometry fused with IMU is published by robot_localization, so
# no need to publish a TF based on encoders alone.
enable_odom_tf: false
# Husky hardware provides wheel velocities
estimate_velocity_from_position: false
# Wheel separation and radius multipliers
wheel_separation_multiplier: 1.875 # default: 1.0
wheel_radius_multiplier : 1.0 # default: 1.0
# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
linear:
x:
has_velocity_limits : true
max_velocity : 1.0 # m/s
has_acceleration_limits: true
max_acceleration : 3.0 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 2.0 # rad/s
has_acceleration_limits: true
max_acceleration : 6.0 # rad/s^2
Here is a dump from the /joint_states
---
header:
seq: 264457
stamp:
secs: 4409
nsecs: 264344418
frame_id: ''
name: [front_left_wheel, front_right_wheel, rear_left_wheel, rear_right_wheel]
position: [-0.00025040123728103936, -0.0002826738345902413, -0.00018943348550237715, -0.00021793755877297372]
velocity: [0.00011761963833123446, 0.0002730426494963467, 0.00012692707241512835, 0.0002798598725348711]
effort: [0.0, 0.0, 0.0, 0.0]
---
Here are the TFs published by the robot_state_publisher:
---
transforms:
-
header:
seq: 0
stamp:
secs: 4791
nsecs: 197697671
frame_id: "world"
child_frame_id: "base_link"
transform:
translation:
x: 0.0180044434965
y: -0.00754821067676
z: 0.131376713514
rotation:
x: -6.05414970778e-06
y: -4.94683627039e-06
z: -0.0294107105583
w: 0.999567508698
-
header:
seq: 0
stamp:
secs: 4791
nsecs: 197697671
frame_id: "base_link"
child_frame_id: "front_left_wheel_link"
transform:
translation:
x: 0.256000161171
y: 0.285400182009
z: 0.0328200384974
rotation:
x: -1.22781784739e-11
y: -0.000125801147078
z: -7.42986561164e-10
w: 1.00000011921
-
header:
seq: 0
stamp:
secs: 4791
nsecs: 197697671
frame_id: "base_link"
child_frame_id: "front_right_wheel_link"
transform:
translation:
x: 0.256000161171
y: -0.285400152206
z: 0.0328200310469
rotation:
x: -1.54614099301e-11
y: -0.000141398457345
z: -2.69775024542e-09
w: 1.00000011921
-
header:
seq: 0
stamp:
secs: 4791
nsecs: 197697671
frame_id: "base_link"
child_frame_id: "rear_left_wheel_link"
transform:
translation:
x: -0.256000190973
y: 0.285400301218
z: 0.0328200012445
rotation:
x: -1.86446413863e-11
y: -9.56292860792e-05
z: -5.64790325619e-10
w: 1.00000011921
-
header:
seq: 0
stamp:
secs: 4791
nsecs: 197697671
frame_id: "base_link"
child_frame_id: "rear_right_wheel_link"
transform:
translation:
x: -0.256000131369
y: -0.285400122404
z: 0.0328200310469
rotation:
x: -1.50066625793e-11
y: -0.000108784319309
z: -2.50512965927e-09
w: 1.00000011921
---
So everything seems to be working fine except for the controller_manager.
Thanks in advance,
Best,
Antoine