I am new to ROS and currently working on Pioneer 3-DX mobile robot. I am currently trying to implement SLAM in the mobile robot. Everything is working fine when I operating the robot manually by:

roscore

rosrun rosaria RosAria _port:=/dev/ttyS0

rosrun rosaria_client teleop

But when I am trying to run the robot using cmdvel, the bot runs for 0.6 seconds and then stops! First of all, the motorstate is enabled. I tried the following things:

1. RosAria cmd_vel

roscore

rosrun rosaria RosAria _port:=/dev/ttyS0

rostopic pub /RosAria/cmdvel geometrymsgs/Twist

(and then changing the linear and angular speed)

1. rosaria_client >roscore

rosrun rosaria RosAria _port:=/dev/ttyS0

rosrun rosaria_client interface (and then doing various operations like spinning anticlockwise and moving for 3 seconds)

1. RosAria.cpp Location:
   

/home/catkin_ws/src/rosaria/RosAria.cpp

In the file, I commented all the part of code which had something to do with timeout (for e.g. commenting the timeout_watchdog function)

Still, the robot stops after 0.6 seconds. Can anyone help me out? Thanks!