2D Nav Goal not working turtlebot3
Hello
I am trying to navigate the turtlebot3 with the instruction from e-robotis. The configuration is the same as the guideline: (TB3 is the short form of turtlebot3)
roscore in PC
roslaunch turtlebot3_bringup turtlebot3_robot.launch in TB3
Scan the field using slam methods in PC
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=frontier_exploration
After that save the map and start the navigation with the saved map in PC
roslaunch turtlebot3_navigation turtelbot3_navigation.launch map_file:=$HOME/map.yaml
RVIZ is opened and configure the position of the robot in the field using 2D estimated pose. Then to make the position accurate steer the robot with turtlebot3_teleop. After that, turn off the turtlebot3_teleop and set the goal (2D Nav Goal).
In this case the robot isn't moving and the goal position is received in rostopic /move_base_simple/goal
I am using turtlebot3 waffle pi and ros kinetic (Ubuntu 16.04).
The running rosnode:
/amcl
/map_server
/move_base
/robot_state_publisher
/rosout
/rviz
/turtlebot3_core
/turtlebot3_diagnostics
/turtlebot3_lds
The running rostopic:
/amcl/parameter_descriptions; /amcl/parameter_updates; /acml_pose
/battery_state; /cmd_vel; /cmd_vel_rc100; /diagnostics; /firmware_version
/imu; /initialpose; /joint_states; /magnetic_field
/map; /map_metadata; /map_updates; /motor_power
/move_base/.../... (total 31 topics)
/odom; /particlecloud; /reset; /rosout; /rosout_agg; /rpms; /scan
/sensor_state; /sound; /tf; /tf_static; /version_info
I read the old posts and have already tried the network configuration. It doesn't work somehow. Any idea why the robot can't move?
You need to provide more information. Please edit your description to show us the output of:
rosnode list
rostopic list
You edit your description using the "edit" button near the end of the text. Format the lists using the 101010 button.
Also describe your setup: are you using a laptop to run rviz? Are you communicating with the turtlebot over wifi?
I edited my post and look forward to the answer.
In the future, please provide the complete listing for rostopic because it provides valuable information about what features you have enabled; it is OK on this site if the description gets long.
It is suspicious that you have these two topics with similar names:
/cmd_vel
andcmd_vel_rc100
. What doesrostopic info
say about them?/cmd_vel has a publisher /move_base and a subscriber /turtlebot3_core. /cmd_vel_rc100 has a publisher /turtlebot3_core and no publisher. The different between 2 topics is /cmd_vel outputs the velocity from pc or rviz and /cmd_vel_rc100 from joystick only.