How to remove timeout

asked 2018-06-14 06:17:06 -0500

I am new to ROS and currently working on Pioneer 3-DX mobile robot. I am currently trying to implement SLAM in the mobile robot. Everything is working fine when I operating the robot manually by:

roscore

rosrun rosaria RosAria _port:=/dev/ttyS0

rosrun rosaria_client teleop

But when I am trying to run the robot using cmd_vel, the bot runs for 0.6 seconds and then stops! First of all, the motor_state is enabled. I tried the following things:

  1. RosAria cmd_vel

    roscore

    rosrun rosaria RosAria _port:=/dev/ttyS0

    rostopic pub /RosAria/cmd_vel geometry_msgs/Twist

    (and then changing the linear and angular speed)

  2. rosaria_client

    roscore

    rosrun rosaria RosAria _port:=/dev/ttyS0

    rosrun rosaria_client interface (and then doing various operations like spinning anticlockwise and moving for 3 seconds)

  3. RosAria.cpp Location:

    /home/catkin_ws/src/rosaria/RosAria.cpp

In the file, I commented all the part of code which had something to do with timeout (for e.g. commenting the timeout_watchdog function)

Still, the robot stops after 0.6 seconds. Can anyone help me out? Thanks!

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