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Sphero robot don't move when I publish in cmd_vel topic

asked 2019-10-07 02:54:00 -0500

oovidiustr gravatar image

updated 2019-10-07 03:13:01 -0500

Hello!

I try to make a project using sphero robot simulation(gazebo) from this source: Sphero-ROS.

I run the command: roslaunch sphero_gazebo main.launch to start gazebo.

After that I tried to move the robot by keyboard, running the next command in other terminal: roslaunch sphero_gazebo keyboard_teleop.launch. But when I pres the control keys, the robot do not respond.

I tried also to move the robot by terminal running:

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 10.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

But did't work. I do not receive any error in console. How can I solve this?

I am using ROS Kinetic.

edit:

I tried to echo the /cmd_vel topic in one terminal and in the second one I published using the command above and everything looks like working but the robot don't move.

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answered 2019-10-07 03:21:02 -0500

Delb gravatar image

updated 2019-10-07 03:21:27 -0500

Within your main.launch there is the argument pause defined like this :

  <arg name="pause" default="true"/>

That means that you are launching Gazebo in mode pause. You can either modify this in the launch file or launch it with specifying the argument pause in command line :

roslaunch sphero_gazebo main.launch pause:=false
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Comments

(face palm)

oovidiustr gravatar imageoovidiustr ( 2019-10-07 03:22:48 -0500 )edit

thank you :)))

oovidiustr gravatar imageoovidiustr ( 2019-10-07 03:22:55 -0500 )edit

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Asked: 2019-10-07 02:54:00 -0500

Seen: 9 times

Last updated: Oct 07