Problem launching the robotino-node

asked 2014-08-19 07:53:12 -0500

Missing gravatar image

updated 2014-08-19 08:11:53 -0500

gvdhoorn gravatar image


i'm trying to follow this tutorial to start the robotino_node. When i try to roslaunch robotino_node robotino_node.launch I get:

started roslaunch server


 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 20.0
 * /robotino_camera_node/cameraNumber: 0
 * /robotino_camera_node/hostname:
 * /robotino_laserrangefinder_node/hostname:
 * /robotino_laserrangefinder_node/laserRangeFinderNumber: 0
 * /robotino_mapping_node/hostname:
 * /robotino_node/downsample_kinect: True
 * /robotino_node/hostname:
 * /robotino_node/leaf_size_kinect: 0.04
 * /robotino_node/max_angular_vel: 3.0
 * /robotino_node/max_linear_vel: 0.5
 * /robotino_node/min_angular_vel: 0.1
 * /robotino_node/min_linear_vel: 0.05
 * /robotino_odometry_node/hostname:
 * /rosdistro: indigo
 * /rosversion: 1.11.6

    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_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)

core service [/rosout] found
process[robotino_node-1]: started with pid [28677]
process[robotino_odometry_node-2]: started with pid [28724]
process[robotino_laserrangefinder_node-3]: started with pid [28762]
process[robotino_camera_node-4]: started with pid [28779]
process[robot_state_publisher-5]: started with pid [28791]
[ WARN] [1408451808.297901827]: 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.
process[joint_state_publisher-6]: started with pid [28822]
process[robotino_mapping_node-7]: started with pid [28828]
/opt/ros/indigo/lib/joint_state_publisher/joint_state_publisher:116: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see for more information. = rospy.Publisher('joint_states', JointState)
[ INFO] [1408451809.894495528]: RobotinoNode disconnected from Robotino.
[ INFO] [1408451809.924317754]: Odometry disconnected from Robotino.
[ INFO] [1408451810.056334532]: LaserRangeFinder0 disconnected from Robotino.
[ INFO] [1408451810.704858577]: Mapping disconnected from Robotino.
[ INFO] [1408451811.013952051]: Camera0 disconnected from Robotino.

When i then start rviz i get an Robot Model error with the messages:

No transform from [...] to [/map]

But i'm confused about all the ... disconnected from Robotino messages at the end.

I am working with Ubuntu 14.04 and ROS Indigo. Any idea what i am missing here?

Best regards.

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Little easier to read like this. Please use 4 spaces as indentation for code, console output etc.

gvdhoorn gravatar image gvdhoorn  ( 2014-08-19 08:12:33 -0500 )edit