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Basically what you are trying to do is publish velocity messages on /cmd_vel_mux/input/navi
, then have the turtlebot listen to them and obey the commands. This requires that the messages are actually being published, and that they are being published under a name the turtlebot knows to listen for, which should be /cmd_vel_mux/input/navi
.
So, first step is to check if your script is actually publishing those velocity command messages. While your script is running, run rostopic list
, and you should see your topic /cmd_vel_mux/input/navi
in the list. If not, then you need to revisit your script to find the issue.
Then, run rostopic echo /cmd_vel_mux/input/navi
and watched the published messages, you should see the values hard coded in your script. If you do, then your script is publishing messages properly.
If you are using the default turtlebot launcher minimal.launch
then the velocity mux should be running and listening to /cmd_vel_mux/input/navi
, so I don't suspect the problem is there.
Between using rosnode info <node_name>
and the rostopic
commands you should be able to follow the messages between nodes to make sure everything is connected.