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    在命名空间下加载两轮差速控制器controller_manager加载失败

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    控制器 gazebo 仿真 差速控制
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    • 2
      2118561423
      最后由 编辑

      在launch文件中加载命名空间下的gazebo机器人模型时控制器无法获取update_rate参数，但是在yaml文件中正常设置了该参数，且在其他非命名空间下的launch文件进行启动就不会有该问题能够正常启动，鱼哥，这是什么问题呢

      日志：

      [gzserver-2] [INFO] [1743648186.768197312] [robot2.gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1743648186.774441017] [robot2.gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1743648186.774570288] [robot2.gazebo_ros2_control]: Loading parameter files /home/chen/Program/test_car/test_car_ws/install/car_description/share/car_description/config/track_car_ros2_controller.yaml
[gzserver-2] [INFO] [1743648186.785325792] [robot2.gazebo_ros2_control]: Loading joint: left_wheel_joint
[gzserver-2] [INFO] [1743648186.785424816] [robot2.gazebo_ros2_control]:        State:
[gzserver-2] [INFO] [1743648186.785438451] [robot2.gazebo_ros2_control]:                 position
[gzserver-2] [INFO] [1743648186.785449251] [robot2.gazebo_ros2_control]:                 velocity
[gzserver-2] [INFO] [1743648186.789883244] [robot2.gazebo_ros2_control]:                 effort
[gzserver-2] [INFO] [1743648186.789891189] [robot2.gazebo_ros2_control]:        Command:
[gzserver-2] [INFO] [1743648186.789919331] [robot2.gazebo_ros2_control]:                 velocity
[gzserver-2] [INFO] [1743648186.790143749] [robot2.gazebo_ros2_control]:                 effort
[gzserver-2] [INFO] [1743648186.790156363] [robot2.gazebo_ros2_control]: Loading joint: right_wheel_joint
[gzserver-2] [INFO] [1743648186.790162734] [robot2.gazebo_ros2_control]:        State:
[gzserver-2] [INFO] [1743648186.790168756] [robot2.gazebo_ros2_control]:                 position
[gzserver-2] [INFO] [1743648186.790174326] [robot2.gazebo_ros2_control]:                 velocity
[gzserver-2] [INFO] [1743648186.790179756] [robot2.gazebo_ros2_control]:                 effort
[gzserver-2] [INFO] [1743648186.790184926] [robot2.gazebo_ros2_control]:        Command:
[gzserver-2] [INFO] [1743648186.790191789] [robot2.gazebo_ros2_control]:                 velocity
[gzserver-2] [INFO] [1743648186.790228076] [robot2.gazebo_ros2_control]:                 effort
[gzserver-2] [INFO] [1743648186.790315619] [resource_manager]: Initialize hardware 'TrackCarGazeboSystem' 
[gzserver-2] [INFO] [1743648186.790485555] [resource_manager]: Successful initialization of hardware 'TrackCarGazeboSystem'
[gzserver-2] [INFO] [1743648186.790567368] [resource_manager]: 'configure' hardware 'TrackCarGazeboSystem' 
[gzserver-2] [INFO] [1743648186.790576875] [resource_manager]: Successful 'configure' of hardware 'TrackCarGazeboSystem'
[gzserver-2] [INFO] [1743648186.790582496] [resource_manager]: 'activate' hardware 'TrackCarGazeboSystem' 
[gzserver-2] [INFO] [1743648186.790588126] [resource_manager]: Successful 'activate' of hardware 'TrackCarGazeboSystem'
[gzserver-2] [INFO] [1743648186.790664048] [robot2.gazebo_ros2_control]: Loading controller_manager
[gzserver-2] [WARN] [1743648186.821653458] [robot2.controller_manager]: 'update_rate' parameter not set, using default value.
[gzserver-2] [ERROR] [1743648186.836982336] [robot2.gazebo_ros2_control]: controller manager doesn't have an update_rate parameter

      launch文件代码：

      import launch
import launch_ros
import os
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration
import launch_ros.parameter_descriptions
from ament_index_python.packages import get_package_prefix
from launch.actions import TimerAction

def generate_launch_description():
    # pkg_robot1_path = get_package_share_directory('fishbot_description')
    pkg_robot2_path = get_package_share_directory('car_description')
    # urdf_robot1_path = os.path.join(pkg_robot1_path, 'urdf', 'fishbot', 'fishbot.urdf.xacro')
    urdf_robot2_path = os.path.join(pkg_robot2_path, 'urdf', 'car_urdf', 'trackcar.urdf.xacro')

    #获取模型文件目录
    package_name = 'car_description'
    pkg_share = os.pathsep + os.path.join(get_package_prefix(package_name), 'share')
    if 'GAZEBO_MODEL_PATH' in os.environ:  # 如果你修改了~/.bashrc, 就会执行这个
        os.environ['GAZEBO_MODEL_PATH'] += pkg_share
    else:  # 注意此处gazebo-11修改为你的gazebo版本
        os.environ['GAZEBO_MODEL_PATH'] = "/usr/share/gazebo-11/models" + pkg_share   

    default_world_path = os.path.join(pkg_robot2_path, 'world', 'custom_room.world')

    # action_declare_arg_mode1path = launch.actions.DeclareLaunchArgument(
    #     name='robot1',
    #     default_value=urdf_robot1_path
    # )
    action_declare_arg_mode2path = launch.actions.DeclareLaunchArgument(
        name='robot2',
        default_value=urdf_robot2_path
    )

    # robot1_description = launch_ros.parameter_descriptions.ParameterValue(
    #     Command(['xacro ', LaunchConfiguration("robot1")])
    # )
    robot2_description = launch_ros.parameter_descriptions.ParameterValue(
        Command(['xacro ', LaunchConfiguration("robot2")])
    )

    # robot1_state_publisher_node = launch_ros.actions.Node(
    #     package='robot_state_publisher',
    #     executable='robot_state_publisher',
    #     parameters=[{
    #         'robot_description': robot1_description
    #     }],
    #     namespace='robot1',
    #     output='screen'
    # )
    robot2_state_publisher_node = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{
            'robot_description': robot2_description
        }],
        namespace='robot2',
        output='screen'
    )

    action_launch_gazebo = launch.actions.IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('gazebo_ros'),
                'launch',
                'gazebo.launch.py'
            )
        ),
        launch_arguments=[
            ('world', default_world_path),
            ('verbose', 'true'),
            ('use_sim_time', 'true')
        ]
    )

    # action_spawn1_entity = launch_ros.actions.Node(
    #     package='gazebo_ros',
    #     executable='spawn_entity.py',
    #     arguments=[
    #         '-topic', 'robot1/robot_description',
    #         '-entity', 'myrobot1',
    #         '-robot_namespace', 'robot1'
    #     ],
    #     output='screen'
    # )
    action_spawn2_entity = launch_ros.actions.Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=[
            '-topic', 'robot2/robot_description',
            '-entity', 'myrobot2',
            '-robot_namespace', 'robot2',
            '-x','1.0',
            '-y','0.5',
            '-z','0.0'
        ],
        output='screen'
    )

    # 为每个机器人单独启动 joint_state_publisher
    # joint_state_publisher_robot1 = launch_ros.actions.Node(
    #     package='joint_state_publisher',
    #     executable='joint_state_publisher',
    #     namespace='robot1',
    #     parameters=[{'source_list': ['robot1/joint_states']}]
    # )
    joint_state_publisher_robot2 = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        namespace='robot2',
        parameters=[{'source_list': ['/joint_states']}]
    )
    action_robot2node_joint_state = launch.actions.ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller',
             '--controller-manager', 'robot2/controller_manager', # <--- **指定目标服务**
             'track_car_joint_state_broadcaster',
             '--set-state', 'active'],
        output='screen'
        

    )
    action_robot2node_diff_drive_controller = launch.actions.ExecuteProcess(
          # cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'track_car_diff_drive_controller'], # 旧命令，缺少--controller-manager
         cmd=['ros2', 'control', 'load_controller',
             '--controller-manager', 'robot2/controller_manager', # <--- **指定目标服务**
             'track_car_diff_drive_controller',
             '--set-state', 'active'],
        output='screen'
    )
    # 发
    return launch.LaunchDescription([
        # action_declare_arg_mode1path,
        action_declare_arg_mode2path,
        # robot1_state_publisher_node,
        robot2_state_publisher_node,
        action_launch_gazebo,
        # action_spawn1_entity,
        action_spawn2_entity,
        # joint_state_publisher_robot1,
        launch.actions.RegisterEventHandler(
            event_handler=launch.event_handlers.OnProcessExit(
                target_action=action_spawn2_entity,
                on_exit=[
                    TimerAction(
                        period=5.0,
                        actions=[action_robot2node_joint_state] # Timer结束后执行加载 broadcaster
                    )
                ],
            )
        ),
        launch.actions.RegisterEventHandler(
            event_handler=launch.event_handlers.OnProcessExit(
                target_action=action_robot2node_joint_state,
                on_exit=[action_robot2node_diff_drive_controller],
            )
        ) ,
    ])

      控制器URDF文件：

      <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="track_car_ros2_control">
    <ros2_control name="TrackCarGazeboSystem" type="system">
            <hardware>
                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
            </hardware>
            <joint name="left_wheel_joint">
            <!-- 命令接口 -->
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <!-- 状态接口 -->
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>
            <joint name="right_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-1</param>
                    <param name="max">1</param>
                </command_interface>
                <command_interface name="effort">
                    <param name="min">-0.1</param>
                    <param name="max">0.1</param>
                </command_interface>
                <state_interface name="position" />
                <state_interface name="velocity" />
                <state_interface name="effort" />
            </joint>
        </ros2_control>
        <gazebo>
            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
                <robot_namespace>/robot2</robot_namespace>
                <parameters>$(find car_description)/config/track_car_ros2_controller.yaml</parameters>
                 <ros>
                    <remapping>/track_car_diff_drive_controller/odom:=/odom</remapping>
                    <remapping>/track_car_diff_drive_controller/cmd_vel_unstamped:=/cmd_vel</remapping>
                 </ros>
            </plugin>
        </gazebo>
    </xacro:macro>
</robot>

      param参数文件：

      controller_manager:
  ros__parameters:
    update_rate: 1000 # Hz
    use_sim_time: true
    track_car_joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    track_car_effort_controller:
      type: effort_controllers/JointGroupEffortController
    track_car_diff_drive_controller:
      type: diff_drive_controller/DiffDriveController

track_car_effort_controller:
  ros__parameters:
    joints:
      - left_wheel_joint
      - right_wheel_joint
    command_interfaces:
      - effort
    state_interfaces:
      - position
      - velocity
      - effort

track_car_diff_drive_controller:
  ros__parameters:
    left_wheel_names: ["left_wheel_joint"]
    right_wheel_names: ["right_wheel_joint"]

    wheel_separation: 0.20
    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
    wheel_radius: 0.05

    wheel_separation_multiplier: 1.0
    left_wheel_radius_multiplier: 1.0
    right_wheel_radius_multiplier: 1.0

    publish_rate: 50.0
    odom_frame_id: odom
    base_frame_id: base_footprint
    pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01]
    twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]

    open_loop: true
    enable_odom_tf: true

    cmd_vel_timeout: 0.5
    #publish_limited_velocity: true
    use_stamped_vel: false
    #velocity_rolling_window_size: 10
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