Use Robotino in ArbotiX and rviz

asked 2015-02-11 04:03:23 -0500

Missing gravatar image

updated 2015-02-11 04:27:46 -0500


i am currently working with this book ros by example. In this book the author uses the arbotix simulator to simulate the programs with the turtlebot, which is a differential wheeled robot. I have a robotino (omnidrive wheeled robot) and want to do the same things with it, but i get stuck at launching it. When i open rviz the Robot Model is corrupted (No Transform from [...] to [odom]. I know that these are tf-problems, but i really have no idea where to look and what to do.

In my launch-file i have the following;

  <param name="/use_sim_time" value="false" />

  <!-- Load the URDF/Xacro model of our robot -->
  <arg name="urdf_file" default="$(find xacro)/ '$(find robotino_description)/urdf/robotino.urdf.xacro'" />

  <param name="robot_description" command="$(arg urdf_file)" />

  <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen" clear_params="true">
      <rosparam file="$(find rbx1_bringup)/config/fake_robotino_arbotix.yaml" command="load" />
      <param name="sim" value="true"/>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
     <!-- <param name="publish_frequency" type="double" value="20.0" /> -->

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

  <node name="state_publisher" pkg="robotino" type="state_publisher" />


And the yaml-file looks like this: (i took it from the turtlebot-example and choosed omni-controller insted of diff-controller but this doesn't work either)

port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20

controllers: {
   base_controller: {type: omni_controller, base_frame_id: base_footprint, base_width: 0.26, ticks_meter: 4100, Kp: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }

Any suggestions for me?

I added the tf trees as an image, as you can see there are two different trees, which is the problem... tf trees

Best regards Daniel

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