Cannot move Husky using joystick in gazebo

asked 2019-07-05 15:02:52 -0500

Saeed Arabi gravatar image

System info:

ROS: kinetic
Ubuntu: 16


I am following HUSKY OUTDOOR GPS WAYPOINT NAVIGATION tutorial.

When I run:
roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
Although there are some errors, but it seems that everything is working fine and gazebo and rviz open. This is the outpu in the terminal:

saeed@saeed-Alienware-Aurora-R7:~/Desktop/github/waypoint_nav/catkin_ws$ roslaunch outdoor_waypoint_nav outdoor_waypoint_nav_sim.launch
... logging to /home/saeed/.ros/log/38bb8736-9f5a-11e9-ae37-d89ef395998d/roslaunch-saeed-Alienware-Aurora-R7-11487.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.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://saeed-Alienware-Aurora-R7:45377/

SUMMARY
========

CLEAR PARAMETERS
 * /outdoor_waypoint_nav/ekf_se_map/
 * /outdoor_waypoint_nav/ekf_se_odom/
 * /outdoor_waypoint_nav/navsat_transform/

PARAMETERS
 * /husky_joint_publisher/publish_rate: 50
 * /husky_joint_publisher/type: joint_state_contr...
 * /husky_velocity_controller/angular/z/has_acceleration_limits: True
 * /husky_velocity_controller/angular/z/has_velocity_limits: True
 * /husky_velocity_controller/angular/z/max_acceleration: 6.0
 * /husky_velocity_controller/angular/z/max_velocity: 0.5
 * /husky_velocity_controller/base_frame_id: base_link
 * /husky_velocity_controller/cmd_vel_timeout: 0.25
 * /husky_velocity_controller/enable_odom_tf: False
 * /husky_velocity_controller/estimate_velocity_from_position: False
 * /husky_velocity_controller/left_wheel: ['front_left_whee...
 * /husky_velocity_controller/linear/x/has_acceleration_limits: True
 * /husky_velocity_controller/linear/x/has_velocity_limits: True
 * /husky_velocity_controller/linear/x/max_acceleration: 3.0
 * /husky_velocity_controller/linear/x/max_velocity: 1.0
 * /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/publish_rate: 50
 * /husky_velocity_controller/right_wheel: ['front_right_whe...
 * /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /husky_velocity_controller/type: diff_drive_contro...
 * /husky_velocity_controller/wheel_radius_multiplier: 1.0
 * /husky_velocity_controller/wheel_separation_multiplier: 1.875
 * /joy_teleop/joy_node/autorepeat_rate: 20
 * /joy_teleop/joy_node/deadzone: 0.1
 * /joy_teleop/joy_node/dev: /dev/input/js0
 * /joy_teleop/teleop_twist_joy/axis_angular: 0
 * /joy_teleop/teleop_twist_joy/axis_linear: 1
 * /joy_teleop/teleop_twist_joy/enable_button: 0
 * /joy_teleop/teleop_twist_joy/enable_turbo_button: 2
 * /joy_teleop/teleop_twist_joy/scale_angular: 0.6
 * /joy_teleop/teleop_twist_joy/scale_angular_turbo: 1.2
 * /joy_teleop/teleop_twist_joy/scale_linear: 0.4
 * /joy_teleop/teleop_twist_joy/scale_linear_turbo: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/controller_frequency: 1.0
 * /move_base/TrajectoryPlannerROS/dwa: True
 * /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1
 * /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1
 * /move_base/TrajectoryPlannerROS/escape_vel: -0.2
 * /move_base/TrajectoryPlannerROS/gdist_scale: 1.0
 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
 * /move_base/TrajectoryPlannerROS/heading_scoring: False
 * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.6
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.15
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.25
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.5
 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True
 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/sim_time: 2.0
 * /move_base/TrajectoryPlannerROS/simple_attractor: False
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 30
 * /move_base/TrajectoryPlannerROS/vx_samples: 10
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: base_local_planne...
 * /move_base/clearing_rotation_allowed: True
 * /move_base/controller_frequency: 20.0
 * /move_base/controller_patience: 15.0
 * /move_base/global_costmap/cost_scaling_factor: 1
 * /move_base/global_costmap/footprint: [[0.33, 0.43], [-...
 * /move_base/global_costmap/footprint_padding: 0.2
 * /move_base/global_costmap/global_frame: odom
 * /move_base/global_costmap/height: 30.0
 * /move_base/global_costmap/inflation_radius: 0.3
 * /move_base/global_costmap/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/laser_scan_sensor/marking: True
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser_link
 * /move_base/global_costmap/laser_scan_sensor/topic: scan
 * /move_base/global_costmap/map_type: costmap
 * /move_base/global_costmap/observation_sources: laser_scan_sensor
 * /move_base/global_costmap/obstacle_range: 2.5
 * /move_base/global_costmap ...
(more)
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Comments

Maybe, there is a deadman switch which you need to press?

pmuthu2s gravatar imagepmuthu2s ( 2019-07-08 09:30:43 -0500 )edit

I am facing the same problem with you. How do you solve it?

Daniel wan gravatar imageDaniel wan ( 2019-09-19 00:48:26 -0500 )edit