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mobile_base topics don't apper on turtlebot_gazebo

When I tried to run turtlebotplayground.launch in turtlebotgazebo, gazebo window with turtlebot with some objects appeard, but turtlebot kept rotating and some topics to control turtlebot couldn't be found such as /mobilebase/commands/motorpower and /mobile_base/commands/velocity. How to fix it?


On ros-hydro

roslaunch turtlebotgazebo turtlebotplayground.launch ... logging to /home/*****/.ros/log/624dfffa-6334-11e4-b3da-0022fbb250b4/roslaunch-IMI-T400s-19011.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://IMI-T400s:41653/

SUMMARY

PARAMETERS * /cmdvelmux/yamlcfgfile * /depthimagetolaserscan/outputframeid * /depthimagetolaserscan/rangemin * /depthimagetolaserscan/scanheight * /robotdescription * /robotposeekf/freq * /robotposeekf/imuused * /robotposeekf/odomused * /robotposeekf/outputframe * /robotposeekf/sensortimeout * /robotposeekf/voused * /robotstatepublisher/publishfrequency * /rosdistro * /rosversion * /usesim_time

NODES / cmdvelmux (nodelet/nodelet) depthimagetolaserscan (nodelet/nodelet) gazebo (gazeboros/gzserver) gazebogui (gazeboros/gzclient) laserscannodeletmanager (nodelet/nodelet) mobilebasenodeletmanager (nodelet/nodelet) robotposeekf (robotposeekf/robotposeekf) robotstatepublisher (robotstatepublisher/robotstatepublisher) spawnturtlebotmodel (gazeboros/spawnmodel)

ROSMASTERURI=http://localhost:11311

core service [/rosout] found process[gazebo-1]: started with pid [19032] process[gazebogui-2]: started with pid [19038] process[spawnturtlebot_model-3]: started with pid [19043] Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 1.9.6 Copyright (C) 2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

process[robotposeekf-4]: started with pid [19049] process[mobilebasenodeletmanager-5]: started with pid [19086] process[cmdvelmux-6]: started with pid [19089] Msg Waiting for master.process[robotstatepublisher-7]: started with pid [19124] process[laserscannodeletmanager-8]: started with pid [19147] [ INFO] [1415005772.017155767]: Finished loading Gazebo ROS API Plugin. Msg Waiting for master [ INFO] [1415005772.020089308]: waitForService: Service [/gazebo/setphysicsproperties] has not been advertised, waiting... Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.103 process[depthimageto_laserscan-9]: started with pid [19179]

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 192.168.2.103 [ INFO] [1415005774.902019546, 0.010000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' Dbg plugin model name: turtlebot Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) [ INFO] [1415005774.946177185, 0.030000000]: waitForService: Service [/gazebo/setphysicsproperties] is now available. Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) [ INFO] [1415005775.078372420, 0.110000000]: Physics dynamic reconfigure ready. [spawnturtlebotmodel-3] process has finished cleanly log file: /home/**/.ros/log/624dfffa-6334-11e4-b3da-0022fbb250b4/spawnturtlebotmodel-3.log [ INFO] [1415005775 .345814670, 0.340000000]: Camera Plugin (ns = /) , set to "" [gazebo_gui-2] process has finished cleanly log file: /home/**/.ros/log/624dfffa-6334-11e4-b3da-0022fbb250b4/gazebo_gui-2.log


active topic list

{{{ rostopic list /camera/depth/camerainfo /camera/depth/imageraw /camera/depth/points /camera/parameterdescriptions /camera/parameterupdates /camera/rgb/camerainfo /camera/rgb/imageraw /camera/rgb/imageraw/compressed /camera/rgb/imageraw/compressed/parameterdescriptions /camera/rgb/imageraw/compressed/parameterupdates /clock /cmdvelmux/active /cmdvelmux/input/navi /cmdvelmux/input/safetycontroller /cmdvelmux/input/teleop /cmdvelmux/parameterdescriptions /cmdvelmux/parameterupdates /depthimagetolaserscan/parameterdescriptions /depthimagetolaserscan/parameterupdates /gazebo/linkstates /gazebo/modelstates /gazebo/parameterdescriptions /gazebo/parameterupdates /gazebo/setlinkstate /gazebo/setmodelstate /imu/data /jointstates /laserscannodeletmanager/bond /mobilebasenodeletmanager/bond /odom /odomcombined /rosout /rosoutagg /scan /tf /tfstatic /turtlebotnode/cmdvel /turtlebotnode/imu/data /turtlebotnode/sensorstate }}}

Asked by Shintaro Hori on 2014-11-03 04:49:00 UTC

Comments

Can you run kobuki_playground.launch of the kobuki_gazebo package?

Asked by slivingston on 2014-11-06 18:20:43 UTC

Answers