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Published version of ROS book stated to fire up the control node using:

./red_light_green_light.py cmd_vel:=cmd_vel_mux/input/teleop

Where cmd_vel_mux/input/teleop was to be the topic subscribed to the cmd_vel node. Later Gazebo versions after publication use a new cmd_vel topic needing to subscribe to the publisher also named cmd_vel.

Therefore:

roslaunch turtlebot3_gazebo turtlebot3_house.launch

And in a new terminal:

./red_light_green_light.py cmd_vel:=cmd_vel