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 ... (more)