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Robot Control works in RViz but not in Gazebo #147
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Understanding the Issue with ROS2 Controllers and Controller ManagerI encountered a problem and here’s what I learned:
This method is not used in CHAMP packages, since gazebo is in charge of launching this as we will see in the following lines.
This change will introduce a delay, ensuring that the |
I used the champ_setup_assistant for a config for my own .urdf file of the Unitree Go1 Robot.
When I launch the config via
roslaunch go1_custom_config bringup.launch rviz:=true
everything seems to work fine and i can control the robot through
roslaunch champ_teleop teleop.launch
and my keyboard.
However, when launching the same config with
roslaunch go1_custom_config gazebo.launch
the robot just lays on its belly and does nothing. I also see that the transforms for all of the joints seem to be missing from
rviz
androsrun tf tf_monitor
.Any clues on why that is?
Thank you for your help!
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