controllers loaded but the robots falls

[peakyquest]

I am using humble with gazebo ignition. I am able to spawn the robot in the ignition env, and I all the controllers are active, still my robot falls on the ground, and when I am publishing something on the topic the robot doesnt move

[christophfroehlich]

Please give more information to be able to help you.

Which controllers are you using?
For example, add output of ros2 control list_controllers and ros2 control list_hardware_components

[peakyquest]

I have added damping and fiction in my urdf, which makes my robot stand, but I am not sure is this a correct way. Further more I was unable to move the robot with the trajectory topics, should I have to use ign_bridge but there is no ign_bridge used in the ros2 control demos videos. A bit confused.

[christophfroehlich]

As you are using joint_trajectory_controller, you have to send topics to the /<controller_name>/joint_trajectory topics or use its action interface.

Please don't post screenshots, better copy the log as txt in a code fraction or upload a txt file if it is too long.

Which command interfaces are you using? As I already asked for: ros2 control list_hardware_components

[peakyquest]

Hardware Component 1
name: IgnitionSystem
type:
plugin name:
state: id=3 label=active
command interfaces
joint_1/position [available] [claimed]
joint_2/position [available] [claimed]
joint_3/position [available] [claimed]
joint_4/position [available] [claimed]
joint_5/position [available] [claimed]
joint_6/position [available] [claimed]

[christophfroehlich]

Have you tried to send something to the controllers with the mentioned topics, e.g., via rqt_joint_trajectory_controller?
Falling robots could also be a result from wrong masses/inertias of the links -> the solver explodes.

[peakyquest]

urdf.txt
controller.txt
launch.txt

well I use rqt_joint_trajectory_controller but the robot doesnt move either.
and I have use mu old urdf, which worked fine on gazebo classic, so I am sure that it isnt about masses and inertia, however this was the link which I get my urdf frrom
https://github.com/ros-industrial/kuka_experimental/blob/melodic-devel/kuka_kr210_support/urdf/kr210l150.urdf