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State of Turtlebot simulation using Gazebo in fuerte and groovy

asked 2013-01-21 23:58:54 -0500

updated 2013-01-22 00:04:39 -0500

Note: This post could both be posted to ROS or Gazebo Q/A, but it is mainly related to the state of a ROS package (turtlebot_gazebo), so I figured it makes sense to post it here.

We successfully used Turtlebot simulation using Gazebo in electric for a some projects a few months ago. Coming back to try it using fuerte and groovy, it seems that the turtlebot_simulator package is in a sad state for both releases. In fuerte, spamming the console with

Warning [RaySensor.cc:206] ranges not constructed yet (zero sized)

still persists since more than half a year (see for example here and here). Also, when I try to spawn the robot into a world, using robot.launch, only the wheels are visible. OTOH, with turtlebot_empty_world.launch the whole robot appears.

On groovy, it doesn't even start with the output attached below.

My questions are:

  • What is the recommended ROS distro to use for Turtlebot simulation with right now?
  • Is anyone else using it with fuerte or groovy right now?
  • Will simulation for the Kobuki robot be available for groovy (Thus serving as a replacement for the Turtlebot simulator)?

Groovy output:

kohlbrecher@opstation:~$ roslaunch turtlebot_gazebo  turtlebot_empty_world.launch 
... logging to /home/kohlbrecher/.ros/log/c267fb44-6489-11e2-967d-f0bf97da25e7/roslaunch-opstation-32659.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://opstation:53565/

SUMMARY
========

PARAMETERS
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/nodes/contains
 * /diagnostic_aggregator/analyzers/nodes/path
 * /diagnostic_aggregator/analyzers/nodes/timeout
 * /diagnostic_aggregator/analyzers/nodes/type
 * /diagnostic_aggregator/analyzers/power/path
 * /diagnostic_aggregator/analyzers/power/startswith
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /diagnostic_aggregator/analyzers/sensors/path
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/base_path
 * /diagnostic_aggregator/pub_rate
 * /kinect_laser/max_height
 * /kinect_laser/min_height
 * /kinect_laser/output_frame_id
 * /kinect_laser_narrow/max_height
 * /kinect_laser_narrow/min_height
 * /kinect_laser_narrow/output_frame_id
 * /pointcloud_throttle/max_rate
 * /robot_description
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/publish_tf
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /robot_state_publisher/publish_frequency
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    gazebo (gazebo/debug)
    gazebo_gui (gazebo/gui)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/state_publisher)
    spawn_turtlebot_model (gazebo/spawn_model)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [32687]
process[gazebo_gui-2]: started with pid [32697]
process[spawn_turtlebot_model-3]: started with pid [32701]
process[diagnostic_aggregator-4]: started with pid [32702]
process[robot_state_publisher-5]: started with pid [32723]
process[robot_pose_ekf-6]: started with pid [32734]
process[pointcloud_throttle-7]: started with pid [32735]
process[kinect_laser-8]: started with pid [32736]
process[kinect_laser_narrow-9]: started with pid [332]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law ...
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answered 2013-01-22 10:22:58 -0500

Ryan gravatar image

What is the recommended ROS distro to use for Turtlebot simulation with right now?

Electric or Fuerte, depending on which version of Gazebo you want (if you want v1.0 or greater, you need Fuerte)

Is anyone else using it with fuerte or groovy right now?

We use it occasionally with Fuerte, never with Groovy (it hasn't been ported to Groovy yet due to another set of major Gazebo changes)

Will simulation for the Kobuki robot be available for groovy (Thus serving as a replacement for the Turtlebot simulator)?

Yes, it will be made available, but it's not ported yet

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As also evidenced by this question: http://answers.ros.org/question/55697/turtlebot-gazebo-simulator-available-in-groovy/ it probably would make sense to not release .debs if it is known that stuff hasn't been ported yet. The current situation is very frustrating for anyone trying it.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2013-02-20 19:03:38 -0500 )edit

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Asked: 2013-01-21 23:58:54 -0500

Seen: 1,113 times

Last updated: Jan 22 '13