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Create not going forward

asked 2011-09-06 10:50:41 -0500

osuairt gravatar image

Hi guys,

I have a weird one. I have been searching for a bit to try and find the answer to this, but there doesn't seem to be anything on it here.

Basically, I have installed Turtlebot on Ubuntu 11.04, I have the standard netbook setup, diamondback. I have also used my desktop computer running Ubuntu 10.04, and installed it on a Debian device. In all three cases, the Create will not go forward, it will only turn left, right and backwards.

Is there some possibility that a flag is set? Something that doesn't allow it to go forward?

I would really appreciate your help on this. Thanks.

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Could you post the output from `rostopic echo cmd_vel` for a time when you're commanding it to go forward, but it isn't?
Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2011-09-06 10:58:30 -0500 )edit
I am commanding it to go forward, but nothing more than the following appears. rostopic echo cmd_vel WARNING: topic [/cmd_vel] does not appear to be published yet
osuairt gravatar image osuairt  ( 2011-09-06 11:12:55 -0500 )edit
the cmd_vel is in the turtlebot_node namespace. You need to rostopic echo turtlebot_node/cmd_vel to see the commands. what are you using to command the robot to go forward? joystick, keyboard?
mmwise gravatar image mmwise  ( 2011-09-06 15:38:57 -0500 )edit
Hi. I am using the keyboard. I used "rostopic echo turtlebot_node/cmd_vel". I am getting a linear vel of 0.5 when pressing forward, but still no signs of life.
osuairt gravatar image osuairt  ( 2011-09-13 00:23:27 -0500 )edit

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answered 2011-09-09 06:04:17 -0500

tfoote gravatar image

This sounds like the bumper might be depressed. Can you look in the diagnostics in the dashboard about whether the bumper is pressed. There's also a parameter to allow driving even when the bumper is pressed.

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Similarly, it could be the wheeldrop sensors. The parameter in question is `~stop_motors_on_bump`. It was missing from the docs; I've just added it (along with some other missing params): http://www.ros.org/wiki/turtlebot_node#Parameters.
Brian Gerkey gravatar image Brian Gerkey  ( 2011-09-09 09:16:52 -0500 )edit
Hi, can I ask how do you apply these parameters when using the turtlebot_bringup? Thanks.
osuairt gravatar image osuairt  ( 2011-09-13 00:24:52 -0500 )edit
Hi, there is a starter program that is on the Command Module that makes the robot just bump and drive. This goes forward without problem. Also, when I was performing the Calibration part of the Turtlebot setup, it was going forwards.
osuairt gravatar image osuairt  ( 2011-09-15 01:14:25 -0500 )edit
Was the case of a depressed bumper.
osuairt gravatar image osuairt  ( 2011-12-06 17:24:32 -0500 )edit

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Asked: 2011-09-06 10:50:41 -0500

Seen: 568 times

Last updated: Sep 09 '11