I am trying to follow this tutorial: http://library.isr.ist.utl.pt/docs/roswiki/nxt_teleop.html

I have changed all the parameters to match the names of my robot's motors.

This is my .yaml file:

• nxt_robot:
  • type: motor name: MotorB port: PORTB desired_frequency: 10.0
  • type: motor name: MotorC port: PORTC desired_frequency: 10.0
  • type: motor name: MotorA port: PORTA desired_frequency: 10.0
  • type: touch frameid: rtouchlink name: touchsensor port: PORT3 desiredfrequency: 10.0
  • type: ultrasonic frameid: rultrasoniclink name: ultrasonicsensor port: PORT2 spreadangle: 0.5 minrange: 0.01 maxrange: 2.55 desired_frequency: 10.0
  • type: color frameid: lcolorlink name: colorsensor port: PORT1 desiredfrequency: 5.0

I don't know why it's not working. Any help will be greatly appreciated, as I am new to ROS and don't know too much.