Re: Turtlebot on Jade

[Daniel Stonier]

On Wed, Sep 9, 2015 at 5:39 AM, Nicholas Sweet <nck...@gmail.com> wrote:

Hi Daniel,

My lab’s really hoping to do some Turtlebot simulations using Gazebo 5 and the Turtlebot simulator. Any word on when Turtlebot will make it to Jade?

Thanks!

Nick Sweet

Hi Nicholas,

We unfortunately don't have the human resources here at Yujin to commit to the short term releases so we aren't planning on updating code ourselves to work on jade. 

If you, or someone else other people manage to get the turtlebot working - and I think even just the gazebo 5 turtlebots is a good subgoal, I'll certainly make sure to get their changes in and that part released.

Daniel.

[Stephan Opfer]

Hi Daniel and Nicholas,

I also tried to bring the TurtleBot2 Simulation (roslaunch turtlebot_gazebo turtlebot_world.launch) to run under Jade. At the moment I have partial success: I can start the gazebo simulation, but the robot does not drive - no matter which teleop or rostopic pub <topic> I try.

I could need some help in debugging the problem.

For the simulation to run, I basically downloaded all necessary Repositories and compiled them with "catkin build" (python-catkin-tools):

1. clone turtlebot_simulator

2. clone turtlebot

3. installed ros-jade-joy

4. clone kobuki

5. clone kobuki_msgs

6. clone ecl_core

7. clone ecl_lite

8. clone ecl_tools

9. clone yujin_ocs

10. clone yocs_msgs

11. install ros-jade-ar-track-alvar-msgs

12. install ros-jade-move-base-msgs

13. install libusb-dev

14. install libftdi-dev

15. clone ecl_navigation

16. clone ros-jade-detphimage-to-laserscan

17. comment out the create_description line in the turtlebot_library.urdf.xacro file in the turtlebot repository, because I have the Kobuki base:
    <!--<xacro:include filename="$(find create_description)/urdf/create.urdf.xacro"/>-->
    

I only have found three minor hints to the problem, why the robot is not driving:

• when I visualize the robot model in rviz, with the global fixed frame set to base_link it says:
  No transform from [wheel_left_link] to [base_link]
  No transform from [wheel_right_link] to [base_link]
• the command "roslaunch turtlebot_gazebo turtlebot_world.launch" says:
  Error [SDF.cc:789] Missing element description for [pointCloudCutoffMax]
• during the command "roslaunch turtlebot_gazebo turtlebot_world.launch" the process "[spawn_turtlebot_model-4]" finishes
  

Any help is appreciated. :)

Kind regards,

  Stephan Opfer

[Stephan Opfer]

Hi again,

I have done some further investigation with different ROS and Gazebo Setups I found the reason for the TurtleBot not moving under Jade.

In ROS Indigo with Gazebo 2 the rqt_graph shows a connection between mobile_base_manager and gazebo over the topic "/mobile_base/commands/velocity". See attached screenshot.

That is not the case for ROS Jade with Gazebo 5 and neither it is for ROS Indigo with Gazebo 5 wrapper (ros-indigo-gazebo5-ros-pkgs). See other attached screenshot.

So if someone can show me how to have the same subscriptions for Gazebo5 as for Gazebo2, we are fine.

In the meantime I try to fix it myself.

Kind regards,
  Stephan Opfer

[Tully Foote]

Hi Stephan, 

Thanks for looking into this. It looks to me like some plugins are not loading as gazebo does not have as many input topics in your second graph. 

Tully

--
You received this message because you are subscribed to the Google Groups "ROS TurtleBot Special Interest Group" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-turtle...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-turtlebot/017eeecb-f919-4466-b08c-059769878b08%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

[Daniel Stonier]

On 31 October 2015 at 04:19, Tully Foote <tfo...@osrfoundation.org> wrote:

Hi Stephan, 

Thanks for looking into this. It looks to me like some plugins are not loading as gazebo does not have as many input topics in your second graph. 

Tully

Another breadcrumb I noticed... you wrote

  "comment out the create_description line in the turtlebot_library.urdf.xacro file in the turtlebot repository, because I have the Kobuki base:

<!--<xacro:include filename="$(find create_description)/urdf/create.urdf.xacro"/>-->"

On indigo you don't need to do this - the environment variables do the selection job of choosing whether to launch a kobuki based turtlebot or a create based turtlebot. So, perhaps you don't have these environment variables set, and that's causing many things (e.g. as Tully mentioned, the gazebo-ros turtlebot plugins) to not be loaded/started.

Daniel.

On Fri, Oct 30, 2015 at 8:51 AM, Stephan Opfer <op...@vs.uni-kassel.de> wrote:

Hi again,

I have done some further investigation with different ROS and Gazebo Setups I found the reason for the TurtleBot not moving under Jade.

In ROS Indigo with Gazebo 2 the rqt_graph shows a connection between mobile_base_manager and gazebo over the topic "/mobile_base/commands/velocity". See attached screenshot.

That is not the case for ROS Jade with Gazebo 5 and neither it is for ROS Indigo with Gazebo 5 wrapper (ros-indigo-gazebo5-ros-pkgs). See other attached screenshot.

So if someone can show me how to have the same subscriptions for Gazebo5 as for Gazebo2, we are fine.

In the meantime I try to fix it myself.

Kind regards,
  Stephan Opfer

--
You received this message because you are subscribed to the Google Groups "ROS TurtleBot Special Interest Group" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-turtle...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-turtlebot/017eeecb-f919-4466-b08c-059769878b08%40googlegroups.com.

For more options, visit https://groups.google.com/d/optout.

--
You received this message because you are subscribed to the Google Groups "ROS TurtleBot Special Interest Group" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-sig-turtle...@googlegroups.com.
To post to this group, send email to ros-sig-...@googlegroups.com.

To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-turtlebot/CAM7qi7UB3CC0iS0ETo3mu3aDiWLT3XnNanprHT8nDWu%3Dh5t%3DuA%40mail.gmail.com.

For more options, visit https://groups.google.com/d/optout.

--

Phone : +82-10-5400-3296 (010-5400-3296)
Home: http://snorriheim.dnsdojo.com/

Yujin Inno: http://inno.yujinrobot.com/