Discussion - Running ros2_control on a real robot (Making a Mobile Robot Pt 13)

Articulated Robotics Content Discussions
#126

which the Motor and encoder you have use? why did you set 17280 (enc_counts_per_rev">17280 )

#127

having the same issue. please let me know if you were able to fix it

#128

try out this repo it works fine

#129

Hi Josh, thank you very much for these amazing tutorials.

I am just beginning to learn robotics by following your videos step by step exactly, and fortunately, I am now coming to No.14- Using ros2_control to drive our robot with success. (I use ros2 humble and ubuntu 22.04 with almost the same hardware)

However, I met a problem with “Command: ros2 param get --hide-type /robot_state_publisher robot_description”. I must run the command twice “ros2 launch articubot_one launch_robot.launch.py” to start “controller manager”.

Description:

When running the command for the first time, the error is as follows:

:~/robot_ws$ ros2 launch articubot_one launch_robot.launch.py

[INFO] [launch]: All log files can be found below /home/nancy/.ros/log/2025-05-04-19-36-30-846515-nancy-105311

[INFO] [launch]: Default logging verbosity is set to INFO

[INFO] [robot_state_publisher-1]: process started with pid [105521]

[INFO] [twist_mux-2]: process started with pid [105526]

[twist_mux-2] [INFO] [1746401795.826832534] [twist_mux]: Topic handler ‘topics.joystick’ subscribed to topic ‘cmd_vel_joy’: timeout = 0.500000s , priority = 100.

[twist_mux-2] [INFO] [1746401795.840677602] [twist_mux]: Topic handler ‘topics.navigation’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 10.

[twist_mux-2] [INFO] [1746401795.861248252] [twist_mux]: Topic handler ‘topics.tracker’ subscribed to topic ‘cmd_vel_tracker’: timeout = 0.500000s , priority = 20.

[robot_state_publisher-1] [INFO] [1746401795.941471115] [robot_state_publisher]: got segment base_footprint

[robot_state_publisher-1] [INFO] [1746401795.942107794] [robot_state_publisher]: got segment base_link

[robot_state_publisher-1] [INFO] [1746401795.942220515] [robot_state_publisher]: got segment camera_link

[robot_state_publisher-1] [INFO] [1746401795.942261144] [robot_state_publisher]: got segment camera_link_optical

[robot_state_publisher-1] [INFO] [1746401795.942295292] [robot_state_publisher]: got segment caster_wheel

[robot_state_publisher-1] [INFO] [1746401795.942322995] [robot_state_publisher]: got segment chassis

[robot_state_publisher-1] [INFO] [1746401795.942349958] [robot_state_publisher]: got segment face_link

[robot_state_publisher-1] [INFO] [1746401795.942376050] [robot_state_publisher]: got segment laser_frame

[robot_state_publisher-1] [INFO] [1746401795.942402365] [robot_state_publisher]: got segment left_wheel

[robot_state_publisher-1] [INFO] [1746401795.942427439] [robot_state_publisher]: got segment right_wheel

[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: ros2 param get --hide-type /robot_state_publisher robot_description

Captured stderr output: Node not found

[INFO] [twist_mux-2]: sending signal ‘SIGINT’ to process[twist_mux-2]

[INFO] [robot_state_publisher-1]: sending signal ‘SIGINT’ to process[robot_state_publisher-1]

[twist_mux-2] [INFO] [1746401809.157362573] [rclcpp]: signal_handler(signum=2)

[robot_state_publisher-1] [INFO] [1746401809.183252579] [rclcpp]: signal_handler(signum=2)

[INFO] [twist_mux-2]: process has finished cleanly [pid 105526]

[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 105521]

:~/robot_ws$

When running the same command again, the Controller Manager is loaded successfully, and everything is OK, which is very weird.

Would you please tell me how to solve this problem? Thank you.