Bump Sensors on Simulated TurtletBot in kinetic

asked 2016-10-08 06:04:36 -0600

RobB
31 ●4 ●8 ●7

updated 2021-09-28 07:08:50 -0600

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

Can anyone get a reading from the bump sensors on a simulated turtlebot in Gazebo on kinetic?

I have 4 terminals open.

1) $ roscore 

2) $ roslaunch turtlebot_gazebo turtlebot_world.launch   # run Gazebo simulation

3) $ rostopic pub -r 10 /mobile_base/commands/veloty geometry_msgs/Twist '{linear: {x:0.2}}'    # move the turtlebot forward

4) $ rostopic echo /mobile_base/events/bumper   # display any bumper messages

When the bot runs into an obstacle, and the bump sensor should be pressed, I'm getting no output in terminal 4. Can anyone confirm a different result or explain why there aren't any bumper messages?

I suspect this is not a problem on indigo.

Thanks a lot.

Rob

answered 2016-12-21 01:21:51 -0600

DamienJadeDuff
399 ●4 ●8 ●9

I have the same problem. I cannot seem to get anything published on the bumper topic (ROS Kinetic @ 16.04, everything from packages) I have given up for now but if you are interested in pursuing this further, here is some information.

The bumper messages are sent by a gazebo plugin called gazebo_ros_kobuki. You can find where it is included in the file kobuki_gazebo.urdf.xacro. Here is that file's source: https://github.com/yujinrobot/kobuki_description/blob/master/urdf/kobuki_gazebo.urdf.xacro
The source code for the plugin is here: https://github.com/yujinrobot/kobuki_desktop/tree/kinetic/kobuki_gazebo_plugins. Recent commit history: https://github.com/yujinrobot/kobuki_desktop/commits/kinetic/kobuki_gazebo_plugins
I cannot easily see the problem and don't have time to set this up this right now for debugging so my answer can be a bit unsatisfying.

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Might be relevant: https://github.com/yujinrobot/kobuki_...

DamienJadeDuff ( 2016-12-21 01:41:05 -0600 )edit

Might be relevant: https://github.com/yujinrobot/kobuki_...

DamienJadeDuff ( 2016-12-21 01:41:52 -0600 )edit

Yes, thanks. I've given up too - for the time being I'm using the laser sensor at close range to develop my algorithm. It seems to me that the biggest clue here is that others are reporting a bump sensor can be read straightforwardly in versions of ROS prior to kinetic. What could have changed?

RobB ( 2016-12-22 03:48:31 -0600 )edit

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