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turtlebot3_teleop turtlebot3_teleop_key.launch doesn't move

asked 2020-01-28 12:39:55 -0600

xinxinxin gravatar image

Hi, I am following the turtlebot3 tutorial.

In remote-PC, run

roscore

In turtlebot terminal, run

roslaunch turtlebot3_bringup turtlebot3_robot.launch

then, back to remote-PC, run

export TURTLEBOT3_MODEL=buerger

rosrun rviz rviz -d rospack find turtlebot3_description /rviz/model.rviz

can see the rviz GUI and the scan points.

then run,

rqt

can see the topics like odom, scan, battery, cm_vel_rc100, imu ....... then run,

roslaunch turtlstrong textebot3_teleop turtlebot3_teleop_key.launch

no error, see the wasd instructions. typing w, can see the acc refreshing with new speed.

currently: linear vel 0.09 angular vel 0.0

currently: linear vel 0.01 angular vel 0.0

but the robot doesn't move. In topic "cmd_vel" is updated with new speed, but in topic "cmd_vel_rc100 " the speed is still 0.

thank you

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answered 2020-01-29 02:30:32 -0600

Joe28965 gravatar image

if you type rostopic info cmd_vel in the terminal, do you see anything subscribed to it? same for rostopic info cmd_vel_rc100 is anything publishing to it?

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Thank you, Joe. I run the demo again, it worked. Check the topic cmd_vel and cmd_vel_rc100. the keyborad_tele node is publisher, and the ros_core is subscriber under the topic cmd_vel. in the topic cmd_vel_rc100 only one publisher --- ros_core, no subscriber.

the topic of cmd_vel can be found with rqt_graph command.

Thank you again, I will check with these commands next time.

xinxinxin gravatar imagexinxinxin ( 2020-01-30 10:34:07 -0600 )edit

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Asked: 2020-01-28 12:39:55 -0600

Seen: 33 times

Last updated: Jan 29