Turtlebot: Unstable
We recently started working with a turtlebot using the ros tutorials for the same.
We do not know when it is switched on in full mode and when in passive mode or safe mode. Immediately after we switch on the iRobot Create, the red light flashes and there is a small beep and the green light comes on. But in a few seconds the green light goes off with another beep. This doesn't happen all the time, but very often. Also, the moment we switch on the Create, the kinect cable's led is ON. But only when the red light flashes, the led is on. After the beep, after the green light comes on, this kinect cable's LED goes OFF. And sometimes the output from minimal.launch says, "check if the Create is plugged in and powered on", when the connections are perfect and after i have turned the create on.
Will minimal.launch get the turtlebot service on by default? Because if I start the service and then launch minimal.launch, it says "shutdown request: New node registered with the same name."
Dashboard doesn't always work from the workstation. Sometimes it works:Sometimes not. It works fine on the turtlebot. On the workstation it says POWER SYSTEM ERROR. Though we do not know what that means. This also happens only sometimes.
Sometimes starting up minimal.launch powers the kinect. (May be the bot is pushed to full-mode). Sometimes the same thing happens with teleop. We are not always able to push it to full mode from the dashboard, which should work.
We still managed to calibrate the bot and build a map. The map was nowhere near the real room. Later we found out that when the actual bot turned 90degrees the bot on the map turned very less (about 45degrees). We manipulated the parameters odom_angular_scale_correction and gyro_scale_correction, but to no luck.
What we know for sure. 1. The network connection is perfect. For teleop and ssh work great. 2. The env variables, ROS_MASTER_URI and ROS_HOSTNAME are correctly set. 3. All mechanical connections on the turtlebot are correct.
Please help us out.