Gen_Robotino's profile - activity

I am using a service client to move a robot around a world, and it successfully works for an empty world. The problem is when I launch a non empty world, the robot does not register any of the movements. Does anyone have anyone idea as to why the service client cannot communicate with the robot when not an empty world?

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "gazebo_msgs/SetModelState.h"
#include "gazebo_msgs/ModelState.h"

#include <sstream>

int main(int argc, char **argv)
{

  ros::init(argc, argv, "pose_publisher");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<gazebo_msgs::modelstate>("gazebo/set_model_state", 1000);
  ros::Rate loop_rate(10);
  int count = 0;
  bool alternate = true;
  while (ros::ok())
  {

    geometry_msgs::Pose pose;

    if(alternate){
        pose.position.x = 2.8;
        pose.position.y = 5.3;
        pose.position.z = 0.0;
        pose.orientation.x = 0.0;
        pose.orientation.y = 0.0;
        pose.orientation.z = 0.0;
        alternate = false;
    }
    else{
        pose.position.x = 1.68;
        pose.position.y = 1.68;
        pose.position.z = 0.0;
        pose.orientation.x = 0.0;
        pose.orientation.y = 0.0;
        pose.orientation.z = 0.0;
        alternate = true;
    }

    gazebo_msgs::ModelState modelstate_msg;
    modelstate_msg.model_name = "robo";
    modelstate_msg.pose = pose;

    gazebo_msgs::SetModelState setmodelstate_msg;

    // Publish robot pose
    ROS_INFO("New Pose:" );
    ROS_INFO("Pose x =%f", modelstate_msg.pose.position.x );
    ROS_INFO("Pose x =%f", modelstate_msg.pose.position.y );
    ROS_INFO("Pose x =%f", modelstate_msg.pose.position.z );

    chatter_pub.publish(modelstate_msg);
    //setmodelstate_msg.request.model_state = modelstate_msg;

    ros::spinOnce();

    loop_rate.sleep();
    ++count;
  }


  return 0;
}

I am working with the objects wihin gazebo_worlds, and whenever I try and spawn .model into gazebo using the command

rosrun gazebo spawn_model -file name.model -gazebo -model thing

My gazebo gets the error

[empty_world_server-1] process has died [pid 17337, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo /opt/ros/fuerte/stacks/simulator_gazebo/gazebo_worlds/worlds/empty.world __name:=empty_world_server __log:=/home/carol/.ros/log/715ceed4-bad5-11e1-9ffc-00268297df80/empty_world_server-1.log]. log file: /home/carol/.ros/log/715ceed4-bad5-11e1-9ffc-00268297df80/empty_world_server-1*.log

I am wondering if this is a common problem and if there is a fix to it by any chance.

Hello, I am currently working with erratic and was able to get the robot to spawn in Gazebo by launching the launch files provided from the ros website. http://www.ros.org/wiki/erratic_description

But, the package did not include teleop, which is required to move the robot. I downloaded the teleop, and ran

rosrun erratic_teleop erratic_teleop_key

The command runs, but I am not able to move the robot. I used rxgraph, and it seems that the teleop node is not affecting the robot because it is not connected to it.

How would you make it so that the teleop node affects the erratic robot?

Thank you

I used the command svn from the ROS website, which gave me all of the correct meshes.

I am using rosrun gazebo spawn_model -file robotino.urdf -urdf -model robotino