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Problem running follower demo turtlebot

asked 2014-07-11 10:06:25 -0500

gerhenz gravatar image

updated 2014-07-14 03:39:40 -0500

I've just received a turtlebot and I'm having some trouble when I try to run the follower demo in the netbook that came along with the robot. The robot doesn't move when I run the command: $ roslaunch turtlebot_follower follower.launch

The output is:

[ INFO] [1405090576.551327448]: Number devices connected: 1
[ INFO] [1405090576.551600322]: 1. device on bus 003:24 is a SensorV2 (2ae) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1405090576.553242502]: Searching for device with index = 1
[ INFO] [1405090576.603033557]: Opened 'SensorV2' on bus 3:24 with serial number '0000000000000000'
[ INFO] [1405090577.265245722]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1405090577.265818846]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1405090577.280437487]: Camera calibration file /home/turtlebot/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1405090577.280986866]: Using default parameters for RGB camera calibration.
[ WARN] [1405090577.281605477]: Camera calibration file /home/turtlebot/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1405090577.281993724]: Using default parameters for IR camera calibration.

I think it should have shown 2 devices connected (kinect and kobuki base). I tried disconnecting each one of them and running the code again and I discovered that the problem is that it is only considering the kinect as a connected device. Do I need to do anything else than connecting the provided usb cable between the base and the netbook? Using the command $lsusb it looks like the usb port is working properly.

Thanks in advance

EDIT: Thanks for the answer Devon, I've tried what you suggested but unfortunately it didn't work. I didn't find the topic cmd_vel, so I used the other command you suggest and the output was:

$ rostopic list | grep cmd_vel

I assumed the topic I would like to verify is the last one. So I ran the follower application again while monitoring the topic, and I could check that it's not sending any velocity commands (assuming the topic I chose is the right one). The output was a bunch of:

  x: 0.0
  y: 0.0
  z: 0.0
  x: 0.0
  y: 0.0
  z: 0.0

Cheers, gerhenz

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answered 2014-07-13 03:57:15 -0500

DevonW gravatar image

Has the turtlebot core been started? The follower is the application that runs on the turtlebot. The turtlebot core may need to be started:

roslaunch turtlebot_bringup minimal.launch

and you can verify that it is sending velocity commands by

rostopic echo cmd_vel

if you don't see cmd_vel, try:

rostopic list | grep cmd_vel

and retry the rostopic echo with the output from the above command.

Cheers, Devon

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Devon, I've edited the question regarding the results of your suggestions. Cheers

gerhenz gravatar image gerhenz  ( 2014-07-14 03:36:47 -0500 )edit

Thanks. Did you try standing in-front of the robot when the follower.launch is played? There is a dead-zone, so make sure that is out of the way as well. If that's not the case: please after plugging in the usb to the turtlebot show me the output of cat /var/log/syslog

DevonW gravatar image DevonW  ( 2014-07-14 04:53:32 -0500 )edit

I was trying to stand too close to the kinect (probably inside the dead-zone). Everything works now. Thanks Devon!

gerhenz gravatar image gerhenz  ( 2014-07-14 06:52:47 -0500 )edit

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Asked: 2014-07-11 10:06:25 -0500

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Last updated: Jul 14 '14