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erratic_gazebo tutorial not working

asked 2011-03-05 08:53:30 -0500

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hi, I am using cturtle 1.2.4 on ubuntu 10.04 lucid.So I am trying to understand gazebo and 2d navigation stackusing erratic_gazebo stack tutorial.the link of the tutorial is http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation.However i was unable to move to the required destination.In the rviz it showing that the robot model error.The transforms to the base_caster_support_link and so on.However the robot is moving.It is giving the following errors. WARN] [1299364675.734772614, 9.732000000]: No transmissions were specified in the robot description.

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Hi, can you tell me exactly what commands you are running? The tutorial you pointed to is outdated and is using the old erratic stack that doesn't exist anymore.
arebgun gravatar imagearebgun ( 2011-03-05 09:15:42 -0500 )edit
hi,I am using the following command roslaunch erratic_gazebo erratic_2dnav_demo.launch.My aim is to implement a 2d navigation stack on a rover similar to erratic mobile robot.So could you please help me what exactly should i look into to write the urdf of my rover and simulate the 2d navigation stack in gazebo.
avin111 gravatar imageavin111 ( 2011-03-05 09:33:49 -0500 )edit
Arkapravo gravatar imageArkapravo ( 2013-03-20 21:13:07 -0500 )edit

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answered 2011-03-05 09:41:00 -0500

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Hi,

Try installing erratic_robot stack with sudo apt-get install ros-cturtle-erratic-robot and running any of the navigation stack demos from erratic_navigation_apps package. For example, to run SLAM demo in simulation run:

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

Erratic's URDF description is in erratic_description package, navigation stack configurations are in erratic_navigation and example launch files in erratic_navigation_apps.

To actually drive the robot we need to launch a keyboard teleoperation node in another terminal:

rosrun erratic_teleop erratic_keyboard_teleop

Make sure this terminal window has focus so that keyboard commands are properly captured by the teleoperation node.

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Thank you it worked..By the way how to remove wg_worlds parameter from the simulation..really thanks for the help..
avin111 gravatar imageavin111 ( 2011-03-05 15:26:56 -0500 )edit
What do you mean wg_worlds parameter? If you want to launch the simulation with a different map/world, there's a few examples available in gazebo_worlds package, or you can create your own. Also, if you are satisfied with an answer, please mark it as accepted. Thanks!
arebgun gravatar imagearebgun ( 2011-03-06 00:50:45 -0500 )edit
After the map is loaded the applications has stopped to work due to the following: Subscribed to Topics: base_scan base_scan_marking [ WARN] The /base_scan/marking observation buffer has not been updated for 0.34 seconds, and it should be updated every 0.20 seconds.
szokei gravatar imageszokei ( 2011-03-08 22:17:17 -0500 )edit
This is just a warning, it usually appears when everything is starting up because the computer is too busy loading all the nodes and the update loops runs slower than expected.
arebgun gravatar imagearebgun ( 2011-03-09 00:19:42 -0500 )edit
Okay, but what should be the output of the program, because I can't do anything in Gazebo, can't move the robot etc.Thank you.
szokei gravatar imageszokei ( 2011-03-09 00:23:22 -0500 )edit
roswtf resulted the following WARNING These nodes have died: * xml2factor_wg_walls-2 * spawn_robot-3 The following node subscriptions are unconnected: * /amcl: /initialpose * /move_base_node/local_costmap/voxel_grid_throttle: /move_base_node/local_costmap/voxel_grid * /move_base_node: /move_base_simple/goal, /move_base/cancel, /tf_message * /voxel_visualizer: /move_base_node/local_costmap/voxel_grid_throttled * /gazebo: /gazebo/set_model_state, /gazebo/set_link_state
szokei gravatar imageszokei ( 2011-03-09 00:45:39 -0500 )edit
Tell me what version of ros you are using and what commands you are running?
arebgun gravatar imagearebgun ( 2011-03-09 00:58:54 -0500 )edit
rosversion: 1.2.4 and I'm running: roslaunch demo_2dnav_slam.launch
szokei gravatar imageszokei ( 2011-03-09 01:09:56 -0500 )edit
Ok, that's a cturtle version. So when you launch that what do you see in gazebo, what do you mean when you say you can't move robot? Did you run the keyboard teleop node from erratic_teleop package?
arebgun gravatar imagearebgun ( 2011-03-09 01:23:03 -0500 )edit

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Asked: 2011-03-05 08:53:30 -0500

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Last updated: Mar 20 '13