Controlling Mira using rqt_gui

I am unable to actuate/control the actuator via rqt_gui. Although I am able to do the same using the web-shell by publishing to the control topic.

Could someone tell me where I am going wrong?

rostopic pub /mira/roll_joint_position_controller/command std_msgs/Float64 "data: 0.2"

Hello @arnab007,
I am following the solution for Exercise 2.3, and it seems that the problem is the rate 1.0 in combination with the expression sin(i/100).
Possible solutions:

  • Keep your rate at 1.0 but you have to change the expression to sin(i/10)
  • Set your rate to 100 and you can use the expression sin(i/100).

Like in the following image:

urdf_mira_rqt_publish_rate

Hope this helps,

Roberto