BH

I would like to implement a code that moves a turtlebot straightforward and see it on Gazebo. At first, I tried to paste the code i a Gazebo Plugin but it looks like when I run a launch file that sets the robot on a planned world, it doesn't respond.

This is the code(without implementation in a Gazebo plugin):

/* * * Hello World and Crash for Turtlebot * * Moves Turtlebot forward until you ctrl + c * * Tested using TurtleBot 2, ROS Indigo, Ubuntu 14.04 * */

include

include

include

int main(int argc, char** argv) { //init the ROS node // ROSINFOSTREAM("Hello World"); // ros::init(argc, argv, "robotdriver"); // ros::NodeHandle nh; // // //init publisher // ros::Publisher cmdvelpub; // cmdvelpub_ = nh.advertise("cmdvelmux/input/teleop", 1); //
// //init direction that turtlebot should go // geometrymsgs::Twist basecmd; // basecmd.linear.x = basecmd.linear.y = basecmd.angular.z = 0; // // //and let's go forward by setting X to a positive value // basecmd.linear.x = 0.25; // // ROSINFOSTREAM("And Crashing ... ctrl + c to stop me :)"); // // while(nh.ok()) { //have we ctrl + C? If no... keep going! // //"publish" sends the command to turtlebot to keep going // cmdvelpub.publish(basecmd); // } // } What should I do?

P.S By the way, how come I can't see the cmdvelmux topic by picking the topic visualization tab on Gazebo?