Robotics StackExchange | Archived questions

teleop_twist_keyboard not working with executive_usarsim

hello,

i want to navigate P3AT robot spawned in usarsim through teleoptwistkeyboard package.

I have connected ros to usarsim using executiveusarsim package and spawned the P3AT robot in usarsim, but when i run teleoptwist_keyboard and presses keys to move the robot, nothing happens. please help me out.

i am following steps mentioned below:-

  1. Start USARSim

  2. Run $roscore

  3. run executive_usarsim package using the following command.

($rosrun executiveusarsim usarsimmanager.py)

this command opens a connect USARSIM UI through which i can connect ROS to the USARSim and can spawn a P3AT robot in USARSim

  1. Run the teleoptwistkey node

now you can press the navigation keys to move the Robot, but when i do this nothing happens.

  1. Then i run $rosrun rqtgraph rqtgraph, the following rqt graph appears: Click to view rqt_graph

  2. then i have run $ rostopic echo /executive_usarsim/status, following graph appeared: Click to view graph

  3. by running $ rostopic list, following output appeared:-

cr-lab-tu@crlabtu-HP-Z800-Workstation:~$ rostopic list

**/cmd_vel

/executive_usarsim/status

/rosout

/rosout_agg

cr-lab-tu@crlabtu-HP-Z800-Workstation:~$**

please help, i can't figure out how to fix it.

note:- I am using UBUNTU 12.04 LTS and ROS-Fuerte

Asked by Aarif on 2014-09-23 14:07:27 UTC

Comments

Can you run rqt_graph and confirm that the cmd_vel topic is connected?

Asked by ahendrix on 2014-09-23 14:09:11 UTC

hello @ahendrix

i have run the $rosrun rqt_graph rqt_graph and i found cmd_val is not connected

Click to view rqt_graph

-----> due to character limitation please Click Here to view full description.

Asked by Aarif on 2014-09-24 15:28:59 UTC

It looks like your simulator isn't subscribing to a command topic. I don't know anything about USARSim, so I can't say more.

P.S. - you can edit your question to add additional information instead of posting it on a 3rd-party site.

Asked by ahendrix on 2014-09-24 23:02:24 UTC

The /executive_usarsim/cmd_vel topic isn't published or subscribed to; why are you trying to echo it? You should be able to see if there are any subscribers to the /cmd_vel topic with rostopic info /cmd_vel

Asked by ahendrix on 2014-09-25 22:57:04 UTC

hello @ahendrix, thanks for the reply, but how can i make this package to subscribe to the cmd_vel topic. Thanks

Asked by Aarif on 2014-10-10 15:04:22 UTC

I don't know anything about USARSim, so I can't say more.

Asked by ahendrix on 2014-10-10 15:39:36 UTC

A short review of the executive_usarsim codebase suggests that it may not be able to do this. You may want to open an issue on their bugtracker or use a different usarsim package.

Asked by ahendrix on 2014-10-10 15:53:30 UTC

thanks @ahendrix, i will try... :)

Asked by Aarif on 2014-10-11 12:11:52 UTC

Answers