turtlebot2 teleop problem
Hi, I'm new to ROS and I'm having some trouble when running the teleop application in the turtlebot2. I'm trying to run it directly on the netbook that came along with the turtlebot. Therefore, I'm not using SSH. ROS Hydro and the turtlebot_teleop package were already installed in the netbook. I'm running "turtlebot_bringup minimal.launch" in one terminal and "turtlebot_teleop keyboard_teleop.launch" in another one. When I press one of the assigned letters I can see that the velocities are being changed, however the robot doesn't move.
the output of 'roswtf' was 1 warning:
WARNING The following node subscriptions are unconnected:
* /mobile_base_nodelet_manager:
* /mobile_base/commands/controller_info
* /mobile_base/commands/external_power
* /mobile_base/commands/reset_odometry
* /mobile_base/commands/sound
* /cmd_vel_mux/input/safety_controller
* /cmd_vel_mux/input/navi
* /mobile_base/commands/digital_output
* /mobile_base/commands/led1
* /mobile_base/commands/led2
* /mobile_base/commands/motor_power
Furthermore, I used rqt_graph to take a look in the nodes connection. The rqt_graph can be seen here: http://oi59.tinypic.com/2r21z0w.jpg and http://oi61.tinypic.com/n5q9vb.jpg
This graph looks weird to me. Why are there so many topics named /mobile_base_nodelet_manager/bond?
I've read other threads of people with a similar problem and it seems that the problem was either with the turtlebot_teleop package or that the person was running codes of different release versions. However, I'm not sure if this is my case too because I didn't have to install anything. Everything I'm using came already installed in the netbook that came along with the robot.
EDIT: the log for 'roslaunch turtlebot_bringup minimal.launch --screen' is:
turtlebot@turtlebot-X200CA:~$ roslaunch turtlebot_bringup minimal.launch --screen... logging to /home/turtlebot/.ros/log/917cdfc6-0cc2-11e4-9663-48d22479773d/roslaunch-turtlebot-X200CA-2196.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.85.254.209:54459/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius
* /cmd_vel_mux/yaml_cfg_file
* /diagnostic_aggregator/analyzers/input_ports/contains
* /diagnostic_aggregator/analyzers/input_ports/path
* /diagnostic_aggregator/analyzers/input_ports/remove_prefix
* /diagnostic_aggregator/analyzers/input_ports/timeout
* /diagnostic_aggregator/analyzers/input_ports/type
* /diagnostic_aggregator/analyzers/kobuki/contains
* /diagnostic_aggregator/analyzers/kobuki/path
* /diagnostic_aggregator/analyzers/kobuki/remove_prefix
* /diagnostic_aggregator/analyzers/kobuki/timeout
* /diagnostic_aggregator/analyzers/kobuki/type
* /diagnostic_aggregator/analyzers/power/contains
* /diagnostic_aggregator/analyzers/power/path
* /diagnostic_aggregator/analyzers/power/remove_prefix
* /diagnostic_aggregator/analyzers/power/timeout
* /diagnostic_aggregator/analyzers/power/type
* /diagnostic_aggregator/analyzers/sensors/contains
* /diagnostic_aggregator/analyzers/sensors/path
* /diagnostic_aggregator/analyzers/sensors/remove_prefix
* /diagnostic_aggregator/analyzers/sensors/timeout
* /diagnostic_aggregator/analyzers/sensors/type
* /diagnostic_aggregator/base_path
* /diagnostic_aggregator/pub_rate
* /mobile_base/base_frame
* /mobile_base/battery_capacity
* /mobile_base/battery_dangerous
* /mobile_base/battery_low
* /mobile_base/cmd_vel_timeout
* /mobile_base/device_port
* /mobile_base/odom_frame
* /mobile_base/publish_tf
* /mobile_base/use_imu_heading
* /mobile_base/wheel_left_joint_name
* /mobile_base/wheel_right_joint_name
* /robot/name
* /robot/type
* /robot_description
* /robot_state_publisher/publish_frequency
* /rosdistro
* /rosversion
* /turtlebot_laptop_battery/acpi_path
* /use_sim_time
NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
turtlebot_laptop_battery (linux_hardware/laptop_battery.py)
auto-starting new master
process[master]: started with pid [2213]
ROS_MASTER_URI=http://10.85.254.209:11311
setting /run_id to 917cdfc6-0cc2-11e4-9663-48d22479773d
process[rosout-1]: started with pid [2226]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2229]
process[diagnostic_aggregator-3]: started with pid [2230 ...
Can you attach the log of minimal.launch terminal? You should see some logs if you start turtlebot using roslaunch turtlebot_bringup minimal.launch --screen
Hi jihoonl, I've added the log you requested in the question. Thanks
I don't see any problem here. Try rostopic echo on /mobile_base/commands/velocity and /cmd_vel_mux/input/teleop to see if there is any data stream. /cmd_vel_mux/input/teleop is a command from teleop_keyboard node and /mobile_base/commands/velocity is actual topic which kobuki_driver listens.
Both topics aren't receiving the commands. When I use the keyboard to try to move the robot, the teleop terminal displays the 'speed' and 'turn' parameters changing, however both topics that you mentioned display only zeroes. I also ran the kobuki dashboard and everything is fine (green mark)
What keys did you press to move the robot?
W,E,Q,C,X,Z. But I don't think this is the problem, since I could see the velocity parameters changing in the terminal as I pressed the keys. Anyway, I managed to make it work using a different command (see comments on the other answer)
Yeah it was the problem.. You should have used u,i,o,j,k,l,m ... keys to move robot. weqcxz are to configure speed of robots.