Turtlebot_Teleop not Working Properly

asked 2012-03-19 14:17:41 -0500

uncc_student
1 ● 1 ● 1 ● 2

updated 2012-04-16 09:51:45 -0500

We are having trouble getting turtlebot_teleop node to work.

After we ssh into the turtlebot and roslaunch turtlebot_teleop keyboard_teleop.launch the program begins working, but when we press the keys, the turtlebot does not respond. It displays changes in velocity, so we know that it is registering our key presses, but the robot remains stationary.

We even borrowed another turtlebot from someone else working in the lab to make sure it wasn't our robot, but could not get it to work on his either.

Log File:

[rospy.client][INFO] 2012-03-21 11:15:15,572: init_node, name[/turtlebot_teleop_keyboard], pid[9624]
[xmlrpc][INFO] 2012-03-21 11:15:15,573: XML-RPC server binding to 0.0.0.0
[xmlrpc][INFO] 2012-03-21 11:15:15,575: Started XML-RPC server [http://192.168.1.101:42373/]
[rospy.init][INFO] 2012-03-21 11:15:15,575: ROS Slave URI: [http://192.168.1.101:42373/]
[rospy.impl.masterslave][INFO] 2012-03-21 11:15:15,576: _ready: http://192.168.1.101:42373/
[rospy.registration][INFO] 2012-03-21 11:15:15,580: Registering with master node http://192.168.1.101:11311
[xmlrpc][INFO] 2012-03-21 11:15:15,580: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2012-03-21 11:15:15,581: Registering publisher topic [/cmd_vel] type [geometry_msgs/Twist] with master
[rospy.init][INFO] 2012-03-21 11:15:15,677: registered with master
[rospy.rosout][INFO] 2012-03-21 11:15:15,808: initializing /rosout core topic
[rospy.rosout][INFO] 2012-03-21 11:15:15,814: connected to core topic /rosout
[rospy.simtime][INFO] 2012-03-21 11:15:15,821: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rospy.core][INFO] 2012-03-21 11:15:55,983: signal_shutdown [atexit]
[rospy.impl.masterslave][INFO] 2012-03-21 11:15:55,995: atexit

When I echo /cmd_vel it displays linear and angular coordinates, so the information is definitely being published, but when I look at the rxgraph of everything, the /turtlebot_teleop_keyboard is only linked to /rosout.

Shouldn't it also be communicating with something else in order to send its messages to the robot?

Karthik,

I will try this out later today and let you know how it goes. Thank you again for your help!

March 26 Update

I tested all the network connections and everything is fine, but turtlesim is not installed on the laptop, so I could not test that.

So I believe my problem stems from the nodes not correctly publishing or subscribing. In my rxgraph, the turtlebot_teleop_keyboard node is publishing a cmd_vel topic but the turtlebot_node is not subscribing to it. When I click on the turtlebot_node it says "Subscriptions: none". When I do rosnode info turtlebot_node it says

Subscriptions: 
 * /turtlebot_node/cmd_vel [unknown type]

so it looks like there is conflicting info. I am unsure what to do to fix this.

March 28

So I found this post which might explain some of the problem: here

but I followed the proposed solutions and it still does not work.

I downloaded Brown university's teleop package - teleop_twist_keyboard and it almost mimics the teleop_keyboard one, but with the same problem - it publishes cmd_vel while the turtlebot_node subscribes to /turtlebot_node/cmd_vel. I even went into the python code and changed the name of the published topic to "/turtlebot_node/cmd_vel" and it still does not work.

April 16 - PROBLEM FIXED

Sorry for the late response, but we managed to fix this a few weeks ago by doing the following:

roscd turtlebot_bringup/upstart
sudo ./install.bash

For some reason both diamondback and electric were installed and this fixed the issue of it trying to use old stuff.