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Turtlebot Navigation using simulated turtlebot in gazebo??

asked 2013-12-07 02:17:42 -0500

DPK27 gravatar image

updated 2014-04-20 14:09:43 -0500

ngrennan gravatar image

I am trying to navigate simulated Turtlebot in gazebo. All tutorials in ros are for real robot. I have already launched turtlebot using

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

Now, I am trying to launch 3Dsensors using

roslaunch turtlebot_bringup 3dsensor.launch

but its giving

started roslaunch server

SUMMARY

PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads * /camera/depth_rectify_depth/interpolation * /camera/depth_registered_rectify_depth/interpolation * /camera/disparity_depth/max_range * /camera/disparity_depth/min_range * /camera/disparity_registered_hw/max_range * /camera/disparity_registered_hw/min_range * /camera/disparity_registered_sw/max_range * /camera/disparity_registered_sw/min_range * /camera/driver/depth_camera_info_url * /camera/driver/depth_frame_id * /camera/driver/depth_registration * /camera/driver/device_id * /camera/driver/rgb_camera_info_url * /camera/driver/rgb_frame_id * /depthimage_to_laserscan/output_frame_id * /depthimage_to_laserscan/range_min * /depthimage_to_laserscan/scan_height * /rosdistro * /rosversion

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) debayer (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_ir (nodelet/nodelet) rectify_mono (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) / depthimage_to_laserscan (nodelet/nodelet)

ROS_MASTER_URI= http :// localhost:11311

core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [3976] process[camera/driver-2]: started with pid [3990] process[camera/debayer-3]: started with pid [4030] process[camera/rectify_mono-4]: started with pid [4046] process[camera/rectify_color-5]: started with pid [4062] process[camera/rectify_ir-6]: started with pid [4078] process[camera/depth_rectify_depth-7]: started with pid [4094] process[camera/depth_metric_rect-8]: started with pid [4110] process[camera/depth_metric-9]: started with pid [4126] process[camera/depth_points-10]: started with pid [4142] process[camera/register_depth_rgb-11]: started with pid [4158] process[camera/points_xyzrgb_sw_registered-12]: started with pid [4174] process[camera/depth_registered_rectify_depth-13]: started with pid [4190] process[camera/points_xyzrgb_hw_registered-14]: started with pid [4206] process[camera/disparity_depth-15]: started with pid [4222] process[camera/disparity_registered_sw-16]: started with pid [4238] process[camera/disparity_registered_hw-17]: started with pid [4254] process[depthimage_to_laserscan-18]: started with pid [4270] what should I do to connect it with simulated turtlebot?

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Comments

I am having the same problem. Did you find the solution?

RD gravatar image RD  ( 2013-12-13 08:13:11 -0500 )edit

without launching 3D sensor, by just launching the rviz after turtlebot using "roslaunch turtlebot_rviz_launchers view_robot.launch" and selecting laser or point cloud you can see the obstacle in front. So, as I think there is no need of 3dsensor.launch for me, see if it will help you

DPK27 gravatar image DPK27  ( 2013-12-14 03:11:59 -0500 )edit

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answered 2013-12-11 23:32:11 -0500

Vegeta gravatar image

updated 2013-12-11 23:33:34 -0500

The turtlebot simulator wont work on groovy. Some people have managed to get it work with tweaks. From the ros wiki only compatibility is with electric, fuerte and hydro at the moment. I would suggest looking into the hector_turtlebot package, that will work with the groovy. They have a hector_gazebo_simulation for running turtlebot with a hokuyo laser.

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I am using hydro only.

DPK27 gravatar image DPK27  ( 2013-12-14 03:13:55 -0500 )edit

Have you installed the turtlebot package along with the simulator?

Vegeta gravatar image Vegeta  ( 2013-12-14 21:48:31 -0500 )edit

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Asked: 2013-12-07 02:17:42 -0500

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Last updated: Dec 11 '13