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answered 2016-12-07 13:42:14 -0500

MZAIADY gravatar image

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/> 
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg **<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
-->**

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg **<arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/> 3d_sensor)_costmap_params.yaml"/>** 
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg **<arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</include>**
</launch>

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  **<arg <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->**
-->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 **<arg <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>** 
3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 **<arg <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>**
</include>
</launch>

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg **<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
-->**

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  **<arg <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->**
-->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Solved by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Replaced 

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
  <include file="$(arg custom_amcl_launch_file)">

Solved (Work around until turtlebot_gazebo get updates) by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Replaced 

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
  <include file="$(arg custom_amcl_launch_file)">

Solved (Work around until turtlebot_gazebo get updates) by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Replaced 

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
  <include file="$(arg custom_amcl_launch_file)">

The issue also if you creating a new map, so to make my answer complete, also gmapping-demo.launch need to be updated:

 sudo gedit /opt/ros/indigo/share/turtlebot_gazebo/launch/gmapping_demo.launch

To:

<launch>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg 3d_sensor)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>
</launch>

Solved (Work around until turtlebot_gazebo get updates) by updating the 

 /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Replaced 

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
  <include file="$(arg custom_amcl_launch_file)">

The issue also if you creating a new map, so to make my answer complete, also gmapping-demo.launch need to be updated:

 sudo gedit /opt/ros/indigo/share/turtlebot_gazebo/launch/gmapping_demo.launch

To:and replace the content with :

<launch>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg 3d_sensor)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>
</launch>

Solved (Work around until turtlebot_gazebo get updates) by updating the 

sudo gedit  /opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ), 

    <launch>
  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- Localization -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
 <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move base -->
 <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
 <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
 <arg name="custom_param_file" value="$(arg custom_param_file)"/>
 </include>
</launch>

Replaced 

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
<arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
  <include file="$(arg custom_amcl_launch_file)">

The issue also if you creating a new map, so to make my answer complete, also gmapping-demo.launch need to be updated:

 sudo gedit /opt/ros/indigo/share/turtlebot_gazebo/launch/gmapping_demo.launch

and replace the content with :

<launch>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg 3d_sensor)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>
</launch>
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