i do not get any Input from Bumper sensor and Kobuki robot

asked 2020-12-21 11:52:40 -0600

santiRey gravatar image

i have a small problem trying to get the input data from the bumper sensor. i do not know what exactly is producing this error. this is my launch file:

<launch>
<arg name="sensor" default="astra"/>  <!-- astra, d435 -->
<arg name="nav" default="true"/>  <!-- astra, d435 -->

<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="world_name" value="$(find ricbot_gazebo)/worlds/ricbot.world"/>
</include>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ricbot_gazebo)/launch/ricbot.rviz"/>

 <!-- Include the TurleBot -->
 <include file="$(find ricbot_gazebo)/launch/includes/kobuki.launch.xml">
  <arg name="base" value="kobuki"/>
  <arg name="stacks" value="hexagons"/>
  <arg name="3d_sensor" value="$(arg sensor)"/>
</include>

<!-- Publishes the joint states of the robot -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
  <param name="publish_frequency" type="double" value="30.0" />
</node>

<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
      args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
  <param name="scan_height" value="10"/>
  <param name="output_frame_id" value="camera_depth_frame"/>
  <param name="range_min" value="0.45"/>
  <remap from="image" to="/camera/depth/image_raw"/>
  <remap from="scan" to="/scan"/>
</node>

<!-- Gmapping -->
<!--arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg   3d_sensor)_gmapping.launch.xml"/>
<include file="$(arg custom_gmapping_launch_file)">
  <param name="map_update_interval" value="0.1" />
  <param name="minimumScore" value="600"/>
</include-->
<!-- Run the map server -->
<node pkg="map_server" type="map_server" name="map_server" args="$(find ricbot_gazebo)/maps/rh5_et1_map.yaml" />

<!-- Estimate position on map -->
<node pkg="amcl" type="amcl" name="amcl" respawn="true" output="screen"/>

<!-- Move base for navigation - only active when nav is true -->
<include if="$(arg nav)" file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

<!-- Keyboard Control - only active when nav is false -->
<include unless="$(arg nav)" file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"/>
</launch>

than in rviz it is all ok but when i try to get the input from this sensor i becomme this:

code: rostopic echo /mobile_base/sensors/bumper_pointcloud

what i get: WARNING: no messages received and simulated time is active. Is /clock being published?

I have try to read the documentation but i do not get where could be the problem any help will be welcome.

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Comments

Are you sure there's a node publishing bumper data on that topic? In a terminal, rosrun rqt_graph rqt_graph will plot the nodes and topic connections. If no node is publishing on the topic, then the warning makes sense. Also, it would help to post the included launch files (especially kobuki.launch.xml and its dependencies), and a link to the tutorial/documentation you are following.

tryan gravatar image tryan  ( 2020-12-22 09:12:11 -0600 )edit