keyboard_teleop in TurtleBot fails with create.urdf.xacro robot description in multiagent simulation
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
<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="$(find xacro)/xacro.py '$(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"/>
</node>
<!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
<include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
<!-- All the stuff as from usual robot launch file -->
</launch> As it is possible to see from the arguments "base" "stacks" and "3d_sensors" I am spawning the robot description of a create robot with circles stacks and a kinect. The I spawned two robots under different name spaces using robots.launch
<launch>
<!-- BEGIN ROBOT 1-->
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<include file="$(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>
<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch" />
</group>
<!-- BEGIN ROBOT 2-->
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<include file="$(find two_turtlebot)/launch/one_robot.launch" >
<arg name="init_pose" value="-x -4 -y 1 -z 0" />
<arg name="robot_name" value="Robot2" />
</include>
</group>
<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
<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 ...