serdar's profile - activity

I am learning how to programming in ROS hydro for my master thesis. I want to use auto complete of rospy libraries in an editor. I can enter commands like catkin_make, roslaunch from terminal, it is not problem. I tried Sublime Text 2 with SublimeJEDI. I added "python_package_paths": ["/opt/ros/hydro/lib/python2.7/dist-packages"], line to sublime_jedi.sublime-settings. It didn't autocomplete but when I removed this line and added another folder that contains my own code it autocompletes statement like charm. After that, I tried PyDev. I added that path as a library folder. PyDev autocompletes but when I traverse in list, Eclipse freezes and stops working. Is there any way to use autocomplete when using rospy ?

I am using Hydro on Ubuntu 12.04. When I spawn create base turtlebot, turtlebot begins to navigate on its own. I suspect that in file create_gazebo.urdf.xacro under create_description package like in this code snippet alwaysOn parameter is causing this. Is there any way to change value of this parameter in launch file or only way is changing this file ?

....
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot_gazebo">
<xacro:macro name="sim_create">
  <gazebo>
    <plugin name="create_controller" filename="libgazebo_ros_create.so">
      <alwaysOn>true</alwaysOn>
      <node_namespace>turtlebot_node</node_namespace>
      <left_wheel_joint>left_wheel_joint</left_wheel_joint>
      <right_wheel_joint>right_wheel_joint</right_wheel_joint>
      <front_castor_joint>front_castor_joint</front_castor_joint>
      <rear_castor_joint>rear_castor_joint</rear_castor_joint>
      <wheel_separation>.260</wheel_separation>
      <wheel_diameter>0.066</wheel_diameter>
      <base_geom>base_footprint_collision_base_link</base_geom>
      <updateRate>40</updateRate>
      <torque>1.0</torque>
    </plugin>
  </gazebo>
.....

I am using ROS Hydro on Ubuntu 12.04. I downloaded hector_turtlebot package. When I run roslaunch hector_turtlebot_gazebo start_in_sick_robot_day_2014_world.launch, turtlebot begins to navigate autonomously. When it hits something rotates itself and try moving again also it doesn't accept commands from teleop package. But when I run roslaunch turtlebot_gazebo turtlebot_empty_world.launch It doesn't move autonomously and accepts commands from teleop pacakge. I inpects both launch files and difference between them is gazebo world and sensor. turtlebot_gazebo has kinect and hector_turtlebot has hokuyo laser. I get graph of two launch files. In graph of hector_turtlebot there is no connection between /gazebo and /cmd_vel_mux. How is it know that hit somewhere and have to try to turn ?

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

roslaunch hector_turtlebot_gazebo start_in_sick_robot_day_2014_world.launch

@bvbdort Turtlebot at this link worked. With laser it worked. But it moves autonomously. I am trying to figure out what is causing it. Teleop isn't working. After that I will post proper launch file. Thanks for your support.

Your turtlebot on github worked. Thanks.

@Stefan Kohlbrecher Thanks. I can try it with another robot. Do you have any suggestion for robot on gazebo ?

I updated rqt_graph and framed.pdf.

It didn't make any difference.

@bvbdort Thanks. I see some inaccurate map. Did you have any idea what is problem and why I cannot generate map from my launch file?

I don't know what problem is. First I run rosbag play hector_mapping_turtlebot.bag then roslaunch hector_slam_launch tutorial.launch. When rviz opens I add map from by topic section. There is no error but, there is no map.

I added bag file to question.

I added latest launch file to question. It is not working.

Now map rotates with movement but map is empty again.

I always change but it always shows light gray square, never draws map.

@bvbdort When I pass false to pub_map_odom_transform, in rviz Transform status section it prints No transform from [map] to [base_footprint].

@bvbdort frame id of scan is /camera_depth_frame.

@bvbdort I added rosrun tf view_frames output to question body.

@bvbdort Is it wrong that laserscan_nodelet_manager is publishing scan? In rviz I can see laser scan in /scan topic.

I use following launch file to run hector mapping on turtlebot. It don't gives any error also don't create any map. When I enter rosrun map_server map_saver -f ~/mymap mymap.pgm is light gray image.

Original launch file

<launch>
  <include file="$(find turtlebot_gazebo)/launch/turtlebot_empty_world.launch" />
  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="pub_map_odom_transform" value="true" />
    <arg name="base_frame" value="base_footprint" />
    <arg name="odom_frame" value="odom" />
  </include>
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_publish_rate" value="4" />
  </include>
  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" output="screen" />
  <include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch" />
</launch>

Graph of this launch file is like this. I couldn't find the problem. rqt_graph

tf view_frames

Latest launch file

<launch>
    <include file="$(find turtlebot_gazebo)/launch/turtlebot_empty_world.launch" />
    <include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch" />
    <include file="$(find hector_mapping)/launch/mapping_default.launch">
        <arg name="pub_map_odom_transform" value="false" />
    </include>
    <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
        <arg name="trajectory_publish_rate" value="4" />
    </include>
    <node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 0 0 /map /odom 100"/>
</launch>

Bag file with /scan and /tf topics

All of the sollutions are merged as a package at Github

No it didn't worked.