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Gazeboでhardware_interface/PositionJointInterfaceが使えない

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position_controllersを使う場合、
URDFで、

  <joint name="RevXXX">
    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  </joint>

を指定して
yamlで

Rev_position_controller:
  type: "position_controllers/JointTrajectoryController"
  joints:
    - RevXXX

のような指定をします(詳細は省略)。

コントローラ起動時に、次のようなエラーメッセージがでて起動できませんでした。

[ERROR] [1550369007.446440766]: Could not load controller 'Rev_position_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1550369007.446630192]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1550369008.448219, 0.000000]: Failed to load Rev_position_controller

joint-trajectory-controllerをインストールすることで解決しました。

sudo apt-get install ros-melodic-joint-trajectory-controller

masa-tu
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