what's the startup launch file of KOBUKI?

[David Xiong]

I bought the book of "ROS BY EXAMPLE(for GROOVY)", and tried to bring up my turtlebot. The book told me that I can use command "roslaunch rbx1_bringup turtlebot_minimal_create.launch" for icreate base, however, the base of my turtlebot is KOBUKI, so I want to know how to do now.
I tried two ways:1. use command "roslaunch turtlebot_bringup minimal.launch" instead of the command mentioned above, but no use.
                        2. I changed the sentense of " <arg name="base"       default="$(optenv TURTLEBOT_BASE icreate)"/> "to "<arg name="base"       default="$(optenv TURTLEBOT_BASE kobuki)"/>"in the launch file of "turtlebot_minimal_create.launch"(I found that the sentence in minimal.launch is "<arg name="base"       default="$(optenv TURTLEBOT_BASE kobuki)"/>", so I changed the contents in "turtlebot_minimal_create.launch"), unfortunately, no use.
Anybody could help me? thanks!
I'm not a native English speaker, and I'm sorry for my grammar mistakes if has.
 

[Patrick Goebel]

Hi David,

I don' have a Kobuki and so I could not include Kobuki-specific code in the book.  However, you can start with the TurtleBot Tutorials page on the ROS Wiki.  Specifically, look at the TurtleBot Bringup tutorial.  You should be able to use the default bringup command like this:

$ roslaunch turtlebot_bringup minimal.launch

The model and appearance of the TurtleBot is controlled by three environment variables which you can read about on the Wiki page.  However, the defaults should work for the Kobuki without having to set any variables.

--patrick

--
You received this message because you are subscribed to the Google Groups "ros-by-example" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-by-exampl...@googlegroups.com.
For more options, visit https://groups.google.com/groups/opt_out.
 
 

[David Xiong]

HI patrick,
   Thanks for Ur reply, and I appreciate a lot for Ur kindness, but as I mentioned above, I tried the command  $ roslaunch turtlebot_bringup minimal.launch, but it seems no use. When I move the turtlebot manually, the simulator turtlebot moves too in the screen, however, it can not moves automatically, I also tried to change the contents in the launch file, and also no use. The question is puzzling me now. 
在 2013年4月11日星期四UTC+8上午2时40分26秒，Pi Robot写道：

[David Xiong]

在 2013年4月10日星期三UTC+8下午8时44分48秒，David Xiong写道：

[Patrick Goebel]

Hi David,

OK, I see--sorry I read your first post too fast.

The Kobuki uses a new nodelet called cmd_vel_mux which allows for multiplexing various cmd_vel input sources such as teleop versus the navigation stack.  I haven't explored using this since I don't have a Kobuki.  However, the problem is that this new setup means the Kobuki no longer responds to simple Twist commands published on the /cmd_vel topic.  To get around this for now, you can make a copy of the TurtleBot minimal.launch file and add the following line near the top:

  <remap from="mobile_base/commands/velocity" to="cmd_vel" />

If you have the rbx1 stack from the Github repository, then you can see that I did this in the file rbx1_bringup/launch/turtlebot_minimal_create.launch.

--patrick

[KM6VV]

So does that use the mux node?

http://ros.org/wiki/topic_tools/mux

I was thinking of using it to implement behaviors, switching between different velocity drives as well.
Not sure what a nodelet is.

Alan  KM6VV

[Patrick Goebel]

Hi Alan,

Looking briefly at the cmd_vel_mux source code, it appears to be a standalone nodelet.  While it functions in a manner similar to the more generic mux tool, it adds the ability to define priorities for each of the input sources so that, for example, a joystick teleop node could be given higher priority than move_base when running the navigation stack.

--patrick

[KM6VV]

Hi Patrick,

Thanks, I'll take a look at the code. Maybe I can use it directly. I
can use the priorities as I want to implement behaviors.

Alan KM6VV

On 4/13/2013 6:02 AM, Patrick Goebel wrote:
> Hi Alan,
>

> Looking briefly at the cmd_vel_mux <http://ros.org/wiki/cmd_vel_mux>

> source code, it appears to be a standalone nodelet. While it functions
> in a manner similar to the more generic mux

> <http://ros.org/wiki/topic_tools/mux> tool, it adds the ability to