M.Ahmed's profile - activity

hi Adolfo Rodriguez T .. i already use diff_drive_controller in my simulation it works good. But now i want to implement it on real robot.i don't know how i use it with real robot because i want to publish cmd_vel to real robot and i don't know how to makr driver for this.please help me. on ros wiki

hi Adolfo Rodriguez T .. i already use diff_drive_controller in my simulation it works good. But now i want to implement it on real robot.i don't know how i use it with real robot because i want to publish cmd_vel to real robot and i don't know how to makr driver for this.please help me. on ros wiki tutorials are missing.

hi i am following the book "Learning ROS for Robotics Programming - Second Edition" and in chapter 9 i make navigation stack.and send simple goal.the path planning is good but the robot don't follow the path.just move backward and some rotate.plz help me.this is my university project i need urgent help.

i also use skid steer driver.

Thanxx. the launch files are given below.

Move_base

<?xml version="1.0"?>
<launch>


<!-- Run the map server -->
<param name="/use_sim_time" value="true"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(find se2)/maps/map.yaml" output="screen"/>

<include file="$(find amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find se2)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find se2)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find se2)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find se2)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find se2)/launch/base_local_planner_params.yaml" command="load" />
</node>


</launch>

Configuration launch file

<?xml version="1.0"?>
<launch>

    <param name="/use_sim_time" value="true" />

    <remap from="robot/laser/scan" to="/scan" />  
    <!-- start up wg world -->
    <include file="$(find gazebo_ros)/launch/willowgarage_world.launch">
    </include>
    <arg name="model" default="$(find se2)/urdf/robot1_base_03.xacro"/>
    <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <!-- start robot state publisher -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />

    <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" />

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find se2)/launch/navigation.rviz" />

</launch>

i folloed book "learn ros for robotics programming second edition".and i use slam gmapping to build map.i move my robot in gazebo with skidsteer plugnin and no odometry and map received at RVIZ.and there is also no tf between base_link and odom.where is issue. here is my launch file and skid steer plugin code..plz help me

launch File <launch>

<include file="$(find gazebo_ros)/launch/willowgarage_world.launch"/> <arg name="model" default="$(find se2)/urdf/robot1_base_03.xacro"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" &gt;<="" node=""> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" &gt;="" <param="" name="publish_frequency" type="double" value="50.0"/> </node>

<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find se2)/launch/mapping.rviz"/> <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping"> <remap from="scan" to="/robot/laser/scan"/>

<param name="base_link" value="base_footprint"/>

</node>

</launch>

Skid Steer plugin in my xacro file

<gazebo> <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so"> <updaterate>100.0</updaterate> <robotnamespace>/</robotnamespace> <leftfrontjoint>base_to_wheel1</leftfrontjoint> <rightfrontjoint>base_to_wheel3</rightfrontjoint> <leftrearjoint>base_to_wheel2</leftrearjoint> <rightrearjoint>base_to_wheel4</rightrearjoint> <wheelseparation>4</wheelseparation> <wheeldiameter>0.1</wheeldiameter> <robotbaseframe>base_link</robotbaseframe> <torque>1</torque> <commandtopic>nav_msgs</commandtopic> <odometryframe>base_footprint</odometryframe> <odometrytopic>odom</odometrytopic> <topicname>cmd_vel</topicname> <broadcasttf>0</broadcasttf> </plugin> </gazebo>