error executing minimal.launch: Create : robot not connected yet, sci not available
Hello,
when I execute roslaunch turtlebot_bringup minimal.launch I get the following warning:
turtlebot@turtlebot:~$ sudo service turtlebot status
turtlebot stop/waiting
turtlebot@turtlebot:~$ roslaunch turtlebot_bringup minimal.launch
... logging to /home/turtlebot/.ros/log/fc655c5c-4709-11e3-b5a3-94dbc938ebd4/roslaunch-turtlebot-18937.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 //192.168.187.116:54204/
SUMMARY
PARAMETERS
- /app_manager/interface_master
- /cmd_vel_mux/yaml_cfg_file
- /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
- /robot/name
- /robot/type
- /robot_description
- /robot_pose_ekf/freq
- /robot_pose_ekf/imu_used
- /robot_pose_ekf/odom_used
- /robot_pose_ekf/output_frame
- /robot_pose_ekf/publish_tf
- /robot_pose_ekf/sensor_timeout
- /robot_pose_ekf/vo_used
- /robot_state_publisher/publish_frequency
- /rosdistro
- /rosversion
- /turtlebot_laptop_battery/acpi_path
- /turtlebot_node/bonus
- /turtlebot_node/port
- /turtlebot_node/update_rate
- /use_sim_time
- /zeroconf/zeroconf_avahi/services
NODES
/zeroconf/ zeroconf_avahi (zeroconf_avahi/zeroconf) /
app_manager (turtlebot_app_manager/app_manager)
appmaster (turtlebot_app_manager/appmaster)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
turtlebot_laptop_battery (linux_hardware/laptop_battery.py)
turtlebot_node (create_node/turtlebot_node.py)
auto-starting new master process[master]: started with pid [18955] ROS_MASTER_URI=//192.168.187.116:11311
setting /run_id to fc655c5c-4709-11e3-b5a3-94dbc938ebd4
process[rosout-1]: started with pid [18968]
started core service [/rosout]
process[zeroconf/zeroconf_avahi-2]: started with pid [18981]
process[robot_state_publisher-3]: started with pid [19003]
process[diagnostic_aggregator-4]: started with pid [19022]
process[turtlebot_node-5]: started with pid [19042]
process[kinect_breaker_enabler-6]: started with pid [19106]
process[robot_pose_ekf-7]: started with pid [19107]
process[mobile_base_nodelet_manager-8]: started with pid [19147]
process[cmd_vel_mux-9]: started with pid [19167]
process[turtlebot_laptop_battery-10]: started with pid [19207]
process[appmaster-11]: started with pid [19225]
process[app_manager-12]: started with pid [19237]
[WARN] [WallTime: 1383759408.626836] Create : robot not connected yet, sci not available
[WARN] [WallTime: 1383759411.647325] Create : robot not connected yet, sci not available
[kinect_breaker_enabler-6] process has finished cleanly
log file: /home/turtlebot/.ros/log/fc655c5c-4709-11e3-b5a3-94dbc938ebd4/kinect_breaker_enabler-6*.log
I execute turtlebot_dashboard.launch and all is ok,but when I try to probe the executable "gira.cpp", the turtlebot doesn't move. This is the executable gira.cpp:
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "gira");
ros::NodeHandle n;
ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
geometry_msgs::Twist vel;
ros::Rate loop_rate(10);
while (ros::ok())
{
vel.linear.x = 0.1;
vel.angular.z = 0.3;
vel_pub_.publish(vel);
loop_rate.sleep();
}
return 0;
}
I also check that /cmd_vel changes its value:
rostopic echo /cmd_vel
and the output is:
linear
x:0.1
y:
z:
angular
x
y
z:0.3
does anyone know that I'm doing wrong or that I can review?
(I'm working with groovy on turtlebot 1 ...