Turtlebot3 not moving matlab

asked 2018-05-23 04:11:12 -0500

htwturtlestudent gravatar image

Hi there, I cannot make my turtlebot3 move.

I followed the Turtlebot3 emanual ( http://emanual.robotis.com/docs/en/pl... ), using Linux based on Raspbian for my turtlebot and the Matlab tutorial 'Getting started with a real turtlebot' ( https://de.mathworks.com/help/robotic... ).

I'm using ROS 1.12.12 on my Turtlebot3 Waffle Pi with OpenCR v1.1.2 and am communicating throught Matlab R2018a (with ROSTtoolbox) on a lenovo thinkpad x121e with win 7 ultimate x64 system. Using ethernet cable, all firewalls deactivated.

Turtlebot3 ip is 169.254.96.117, Matlab laptop uses 169.254.96.70, they ping each other.

I already checked https://answers.ros.org/question/2727... but this didn't solve my problem.

I am able to recieve compressed images from the pi camera.

What I do:

Starting terminal on Turtlebot3

pi@lane_assist:~ $ sudo nano ~/.bashrc

The last 3 lines of this file are

export ROS_MASTER_URI=http://169.254.96.117:11311
export ROS_HOSTNAME=169.254.96.117
export TURTLEBOT3_MODEL=waffle_pi

Then I'm launching ROS on Turtlebot3

pi@lane_assist:~ $ roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/pi/.ros/log/6b1f4796-5e5e-11e8-9737-b827eb81deb2/roslaunch-lane_assist-889.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.96.117:36215/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.12
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

auto-starting new master
process[master]: started with pid [900]
ROS_MASTER_URI=http://169.254.96.117:11311

setting /run_id to 6b1f4796-5e5e-11e8-9737-b827eb81deb2
process[rosout-1]: started with pid [913]
started core service [/rosout]
process[turtlebot3_core-2]: started with pid [916]
process[turtlebot3_lds-3]: started with pid [917]
process[turtlebot3_diagnostics-4]: started with pid [918]
[INFO] [1527062028.753037]: ROS Serial Python Node
[INFO] [1527062028.779238]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1527062031.090808]: Note: publish buffer size is 1024 bytes
[INFO] [1527062031.092832]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1527062031.104666]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo]
[INFO] [1527062031.117409]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1527062031.136734]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1527062031.196269]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1527062031.207955]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1527062031.220119]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1527062031.234520]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1527062035.993428]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1527062036.011202]: Note: subscribe buffer size is 1024 bytes
[INFO] [1527062036.013037]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1527062036.036048]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1527062036.054081]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1527062036.074894]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1527062036.103111]: ------turtlebot matla move--------------------
[INFO] [1527062036.108906]: Connected to OpenCR board!
[INFO] [1527062036.557876]: This core(v1.1.2) is compatible with TB3 Waffle or Waffle Pi
[INFO] [1527062036.561891]: --------------------------
[INFO] [1527062036.565490]: Start Calibration of Gyro
[INFO] [1527062036.569355]: Calibration ...
(more)
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