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usarsim_inf not working with teleop_twist_keyboard [closed]

asked 2014-09-28 12:52:58 -0500

Aarif gravatar image

updated 2014-10-11 12:13:32 -0500

hello, I am trying to navigate a robot(P3AT) spawned in usarsim environment using keyboard from another computer where ros is installed, but its not working, please help me out, i tried a lot but can't figure out the mistake.

I am following these steps given below:-

  1. In one terminal Run $roscore
  2. Spawn a Robot in usarsim, for this i am following these steps:-

    A. Start usarsim, which is in another windows machine.

    B. In another ros terminal Run the the following command:

    $roslaunch usarsim_inf usarsim.launch

    This spawns a P3AT robot in usarsim environment. and following output appears:-

    ... logging to /home/cr-lab-tu/.ros/log/e3f28b38-4729-11e4-959a-2c27d7efa01b/roslaunch-crlabtu-HP-Z800-Workstation-3277.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://crlabtu-HP-Z800-Workstation:39055/
       * /rosdistro
       * /rosversion
       * /usarsim/hostname
       * /usarsim/odomSensor
       * /usarsim/port
       * /usarsim/robotType
       * /usarsim/startPosition
        RosSim (usarsim_inf/usarsim_node)
    core service [/rosout] found
    process[RosSim-1]: started with pid [3297]
    [ERROR] [1411920693.631497443]: Unknown conf type Camera
  3. Then i run teleop_twist_keyboard using the following command:-

    $ rosrun teleop_twist_keyboard
  4. Run the slam_gmapping node, using the following command:-

    $ rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom
  5. Now i can press the keyboard keys to navigate the Robot in usarsim environment, but when i do it nothing happens and following error gets added each time when i press the keyboard keys to navigate the robot, on the terminal where i launch the usarsim.launch file. errors are given below:-

    [ERROR] [1411920792.568087748]: usarsimInf::peerMsg: not handling type SW_SEN_ENCODER
  6. I have run $rosrun rqt_graph rqt_graph and i found the following rqt_graph-click to view
  7. Then i've run the follownig command:

    $ rostopic echo /cmd_vel

    This generated following graph click to view

    Please help me to figure out the error if any or correct way to navigate through Keyboard.

    Note: I am using ROS-Fuerte on UBUNTU 10.04 LTS

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Closed for the following reason the question is answered, right answer was accepted by Aarif
close date 2014-10-14 12:50:34.859271


You've already asked this before. Please update your old question instead of asking a new question.

ahendrix gravatar image ahendrix  ( 2014-10-06 10:43:15 -0500 )edit

hello @ahendrix, in the old question i asked regarding teleop_twist_keyboard's issue with executive_usarsim package,

but in this question i asked that usarsim_inf not working with teleop_twist_keyboard.

so they are not the same question because they are dealing with different package.

Aarif gravatar image Aarif  ( 2014-10-06 11:46:18 -0500 )edit

1 Answer

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answered 2014-10-13 07:29:24 -0500

updated 2016-10-04 11:33:57 -0500

ahendrix gravatar image

Please type following commands on the terminal window of PC2.

    $ echo “source /opt/ros/fuerte/setup.bash” >> ~/.bashrc
    $ . ~/.bashrc
    $ sudo apt-get install python-rosinstall python-rosdep ros-fuerte-brown-remotelab ros-fuerte-control ros-fuerte-common-msgs ros-fuerte-slam-gmapping ros-fuerte-hector-slam
    $ rosws init ~/fuerte_workspace /opt/ros/fuerte
    $ echo “source ~/fuerte_workspace/setup.bash” >> ~/.bashrc
    $ mkdir ~/fuerte_workspace/sandbox
    $ source ~/fuerte_workspace/setup.bash
    $ rosws set ~/fuerte_workspace/sandbox
    $ source ~/fuerte_workspace/setup.bash
    $ roscd
    $ cd sandbox
    $ git clone git://
        (Under the proxy, try “git clone")
    $ rosmake usarsim_inf

    At this point if making usarsim_inf is successful, then use these steps,

    terminal-1: $ roscore
    terminal-2: $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`
                    $ roslaunch usarsim_inf usarsim.launch
    terminal-3: $ rosrun teleop_twist_keyboard

now navigate using key. It works.

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I think 'PWD' should use backticks instead of single quotes.

gvdhoorn gravatar image gvdhoorn  ( 2014-10-13 08:45:45 -0500 )edit

Thank you sooo much @sumant it worked... :)

Aarif gravatar image Aarif  ( 2014-10-14 12:45:21 -0500 )edit

yes @gvdhoorn it is

sumant gravatar image sumant  ( 2014-10-18 05:45:34 -0500 )edit

Now one year later, i on a new PC , i am facing the same problem.

 [ERROR] [1475649575.941420195]: Unknown conf type Camera

please help. The above answer do not work for me.

I would like to know the reason behind.

sumant gravatar image sumant  ( 2016-10-05 01:41:26 -0500 )edit

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Asked: 2014-09-28 12:52:58 -0500

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Last updated: Oct 04 '16