How to run other launch files with turtlebot's amcl_demo.launch file?

asked 2019-10-07 08:28:23 -0500

kane_choigo gravatar image

updated 2019-10-08 09:47:38 -0500

Hi, I'm using ROS kinetic on Ubuntu 16.04.

My current task is tracking people and I'm going to use the proper package (https://github.com/spencer-project/sp...) with the turtlebot's amcl_demo.launch simultaneously.

The fatal problem is that for tracking person, I have to launch a modified launch file (tracking_single_rgbd_sensor.launch) and it doesn't work when I launch amcl_demo.launch.

I think maybe this kind of query is not proper to this ANS page, but I want to get some advice wrt how to launch any other launch files while I launching amcl_demo.launch files.

If anyone who is very familiar with the kinds of turtlebot's amcl files is here, would you please happen to give me a very helpful advice?

[P.S.]

Below is my supposition. When I launched [tracking_single_rgbd_sensor.launch] with amcl_demo.launch simutanesly I got the following error,

[ INFO] [1570456050.161508822]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_device.cpp @ 75 : Device open failed
Could not open "1d27/0601@1/9": Failed to set USB interface!

To be honest, I used Asus Xtion pro instead of a Kinect sensor. And I guess, maybe amcl_demo.launch or something other launch files automatically operated openni driver for Kinect sensor (NOT openni2 driver for Asus which I'm currently using), but [tracking_single_rgbd_sensor.launch] also launch openni2 driver when it is launched, so eventually the error came from RGB-D sensor driver COLLISON.

[P.S.2]

No, I tried launching openni2 driver right before launch spencer package, right after launched amcl_demo launch file, spencer packages didn't work full.... so sad.. :(

Any way, Thanks in advance :)

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Comments

Is the launch file tracking_single_rgbd_sensor.launch running without errors at least ? Amcl doesn't launch the openni2 node so it cannot be related.

Delb gravatar imageDelb ( 2019-10-08 02:13:40 -0500 )edit

Thank you for the quick reply and sorry about my late response. To be honest, tracking_single_rgbd_sensor.launch contains openni2 driver's launch command, so when I launched just it only, the packages did work. But launched with AMCLpackage, it didn't work well... I guess, the tf relation between them could be the cause.

kane_choigo gravatar imagekane_choigo ( 2019-10-08 07:57:45 -0500 )edit

Why do you say it could be tf related ? Does the error point to this ? If the error is always the one you wrote in your post-scriptum 1 then it's only dirvers related. Unless there is also the drivers launched in the amcl file, have you modified it ?

Delb gravatar imageDelb ( 2019-10-08 08:37:38 -0500 )edit

Because there were two tf model in rviz when I launched tracking_single_rgbd_sensor.launch and amcl, so I thought there is no relation between turtlebot and spencer(related totracking_single_rgbd_sensor.launch) and the relationship could be tf. But after reading your re-comment, I agree with your opinion. I just modified from <arg name="scan_topic" value="scan" /> to <arg name="scan_topic" value="/spencer/sensors/laser_front/echo0" /> in amcl_demo.launch . Just so you know, /spencer/sensors/laser_front/echo0 is a laser scan topic from hokuyo lidar. But I also failed to use hokuyo lidar's laser scan topic in amcl and the urdf model I modified. It always displays the default turtlebot model and uses rgbd sensor's laser scan topic. Of course, I can just display hokuyo lidar sensor's laser topic..

kane_choigo gravatar imagekane_choigo ( 2019-10-08 09:04:51 -0500 )edit