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1 | initial version |
Hello @pitosalas,
My guess is that you forgot to add the listener node tag to the launch file.
After the instruction:
2. Running the listener With your text editor, open the launch file called start_demo.launch, and add the following lines:
It must to be like that:
<launch>
<!-- Turtlesim Node-->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
<node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle1" />
</node>
<node name="turtle2_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle2" />
</node>
<node pkg="learning_tf" type="turtle_tf_listener.py" name="listener" />
</launch>
Hope it can help you!
Cheers
2 | No.2 Revision |
Hello @pitosalas,
My guess is that you forgot to add the listener node tag to the launch file.
After the instruction:
2. Running the listener With your text editor, open the launch file called start_demo.launch, and add the following lines:
It must to be like that:
<launch>
<!-- Turtlesim Node-->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
<node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle1" />
</node>
<node name="turtle2_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
<param name="turtle" type="string" value="turtle2" />
</node>
<node pkg="learning_tf" type="turtle_tf_listener.py" name="listener" />
</launch>
The turtle_tf_listener
is the node that spawns the second turtle (lines 16 and 17)
16 spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
17 spawner(4, 2, 0, 'turtle2')
Hope it can help you!
Cheers