keyboard_teleop in TurtleBot fails with create.urdf.xacro robot description in multiagent simulation

asked 2017-11-27 07:08:57 -0600

tommy gravatar image

Good morning to everybody! I was trying to launch a simulation with multiple Create robots when I figured out that the keyboard_teleop node under the turtlebot_teleop package doe not work with the create robot. To be more clear I paste my code. The following is the code which spawn every robot one_robot.launch

<arg name="robot_name"/>
<arg name="init_pose"/>

<arg name="base"      value="create"/> <!-- create, roomba-->
<arg name="battery"   value="/proc/acpi/battery/BAT0"/> <!-- /proc/acpi/battery/BAT0 --> 
<arg name="stacks"    value="circles"/>  <!-- circles, hexagons --> 
<arg name="3d_sensor" value="kinect"/>  <!-- kinect, asus_xtion_pro --> 

<arg name="urdf_file" default="$(find xacro)/ '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />

<!-- No namespace here as we will share this description. 
    Access with slash at the beginning -->
<param name="robot_description" command="$(arg urdf_file)" />

<!-- Gazebo model spawner -->
<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
args="$(arg init_pose) -unpause -urdf -param robot_description -model $(arg robot_name)" respawn="false" output="screen" />

<!-- Velocity muxer -->
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux"
    args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml" />
    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>

<!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
<include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />

<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
    args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.45"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>
<!-- All the stuff as from usual robot launch file -->

</launch> As it is possible to see from the arguments "base" "stacks" and "3d_sensors" I am spawning the robot description of a create robot with circles stacks and a kinect. The I spawned two robots under different name spaces using robots.launch

<!-- BEGIN ROBOT 1-->
<group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <include file="$(find two_turtlebot)/launch/one_robot.launch" >
        <arg name="init_pose" value="-x 1 -y 1 -z 0" />
        <arg name="robot_name"  value="Robot1" />
    <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch" />

<!-- BEGIN ROBOT 2-->
<group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <include file="$(find two_turtlebot)/launch/one_robot.launch" >
        <arg name="init_pose" value="-x -4 -y 1 -z 0" />
        <arg name="robot_name"  value="Robot2" />

<node pkg="tf" type="static_transform_publisher" name="odom_frames_connection" args="0 0 0 0 0 0 /robot1_tf/odom /robot2_tf/odom 100"/>

</launch> where in the fisrt robot tag I also included the keyboard_teleop node. Finally I launch the whole simulation using two_create.launch

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

<arg name="world_file"  default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

<!-- start world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="true"/>       <!-- graphic interface -->
    <arg name ...
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