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Problem with robotino_node (state_publisher & URDF)

asked 2014-07-15 07:10:21 -0600

BenediktHeck gravatar image


So I use the openrobotino catkin package and if I do:

roslaunch robotino_node robotino_node.launch hostname:=

I get:

... logging to /home/robotino/.ros/log/14d5aee0-0b63-11e4-a7b5-001377acf23d/roslaunch-tracking-R560-3803.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 [deleted because I can't publish links]


 * /robot_description
 * /robot_state_publisher/publish_frequency
 * /robotino_camera_node/cameraNumber
 * /robotino_camera_node/hostname
 * /robotino_laserrangefinder_node/hostname
 * /robotino_laserrangefinder_node/laserRangeFinderNumber
 * /robotino_mapping_node/hostname
 * /robotino_node/downsample_kinect
 * /robotino_node/hostname
 * /robotino_node/leaf_size_kinect
 * /robotino_node/max_angular_vel
 * /robotino_node/max_linear_vel
 * /robotino_node/min_angular_vel
 * /robotino_node/min_linear_vel
 * /robotino_odometry_node/hostname
 * /rosdistro
 * /rosversion

    robot_state_publisher (robot_state_publisher/state_publisher)
    robotino_camera_node (robotino_node/robotino_camera_node)
    robotino_laserrangefinder_node (robotino_node/robotino_laserrangefinder_node)
    robotino_mapping_node (robotino_node/robotino_mapping_node)
    robotino_node (robotino_node/robotino_node)
    robotino_odometry_node (robotino_node/robotino_odometry_node)

ROS_MASTER_URI=[link with localhost:11311]

core service [/rosout] found
process[robotino_node-1]: started with pid [3821]
process[robotino_odometry_node-2]: started with pid [3822]
process[robotino_laserrangefinder_node-3]: started with pid [3823]
process[robotino_camera_node-4]: started with pid [3824]
process[robot_state_publisher-5]: started with pid [3825]
process[robotino_mapping_node-6]: started with pid [3826]
[ INFO] [1405348121.106758117]: LaserRangeFinder0 connected to Robotino.
[ INFO] [1405348121.108033560]: Odometry connected to Robotino.
[ INFO] [1405348121.111381965]: Mapping connected to Robotino.
[ WARN] [1405348121.446816650]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1405348121.510280519]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1405348123.615750085]: Camera0 connected to Robotino.
[ INFO] [1405348123.663682500]: RobotinoNode connected to Robotino.

Now I have looked in the launch file:

  <arg name="hostname" default="" />

    <node name="robotino_node" pkg="robotino_node" type="robotino_node" output="screen">
        <param name="hostname" value="$(arg hostname)" />
        <param name="max_linear_vel" value="0.5" />
        <param name="min_linear_vel" value="0.05" />
        <param name="max_angular_vel" value="3.0" />
        <param name="min_angular_vel" value="0.1" />
<!--        <param name="downsample_kinect" value="true" />
        <param name="leaf_size_kinect" value="0.04" />  entfernt da KinectNode nicht aktualisiert-->
        <remap from="robotino_joint_states" to="joint_states" />
        <!--remap from="image_raw" to="image"/-->

  <node name="robotino_odometry_node" pkg="robotino_node" type="robotino_odometry_node" output="screen">
    <param name="hostname" value="$(arg hostname)" />
  <node name="robotino_laserrangefinder_node" pkg="robotino_node" type="robotino_laserrangefinder_node" output="screen">
    <param name="hostname" value="$(arg hostname)" />
    <param name="laserRangeFinderNumber" value="0" />

  <node name="robotino_camera_node" pkg="robotino_node" type="robotino_camera_node" output="screen">
    <param name="hostname" value="$(arg hostname)" />
    <param name="cameraNumber" value="0" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="20.0" />

  <node name="robotino_mapping_node" pkg="robotino_node" type="robotino_mapping_node" output="screen">
    <param name="hostname" value="$(arg hostname)" />


    <!--node pkg="tf" type="static_transform_publisher" name="laser_link_broadcaster" args="0.12 0 0.025 0 0 0 base_link laser_link 50" /-->

      <param name="robot_description" textfile="$(find robotino_description)/urdf/robotino.urdf" />

The robot_state_publisher is already used, so why the warning about the deprecated state_publisher?

I have already changed the URDF in the Catkin Workspace before, when I used a joystick to drive the Robotino around (and it worked, but I can't post how ... (more)

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1 Answer

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answered 2014-07-17 15:33:42 -0600

jensenb gravatar image

The issue was resolved, turns out there was another robotino_node package on the path that was resolved first, and this incorrect robotino_node package had an incorrect launch file. Take away lesson: always check the ROS_PACKAGE_PATH.

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Asked: 2014-07-15 07:10:21 -0600

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Last updated: Jul 17 '14