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0.0 won't work for sure, I'd put 0.01 and the max at 1, then if it detects, you can adjust the values.

It might be because of the laserscan transformation to the robot base, in the yaml file, put min_obstacle_height lower and the max higher.

Yes, this is a very nice one, the inputs are laserscan msg descrived in the launch file, so you have to convert point_cloud to laser scan first, and i think you can adjust the relative angle by dynamic config, you should be able to output one single laserscan topic

i'm using indigo

ros::NodeHandle  nh;

Servo servo;

void servo_cb( const std_msgs::UInt16& cmd_msg){
  servo.write(cmd_msg.data); //set servo angle, should be from 0-180  
  digitalWrite(13, HIGH-digitalRead(13));  //toggle led  
}


ros::Subscriber<std_msgs::UInt16> sub("servo", servo_cb);

void setup(){
  pinMode(13, OUTPUT);

  nh.initNode();
  nh.subscribe(sub);

  servo.attach(8); //attach it to pin 8
}

void loop(){
  nh.spinOnce();
  delay(1);
}

this is a typical rosserial subscriber function, based on this model, you can publish your physical control to the same topic with the adequate message type.

transform both pointclouds to laserscan1 and laserscan2, in a script, subscribe to both laserscans and make another one which is -PI to PI, fill the angle with both laserscans data and infinity for blind zone angle.

and then in your 3rd terminal if you see stuffs, it means your callback function is working

obviously if you put a sphere in front of turtlebot if won't work, i tested with a cube. Another to see if the bumper is working or not, do the same 3 terminals you did, in the 4th:

rostopic pub -r 1 /mobile_base/events/bumper kobuki_msgs/BumperEvent "bumper: 1"

it will trigger the bump at 1hz.

I tested on a real one. I just tested in the simulation, it is working as well with turtlebot_gazebo turtlebot_world.launch

It is possible but messy using terminal command:

rosrun navigation waypoints
sleep 45
rosnode kill waypoints
rosrun navigation waypoints
sleep 45
rosnode kill waypoints

if you put those line of code in a terminal file, you can run it and it will perform your node every 45 seconds.

• mkdir ~/bin
• put your line of code inside a simple file, let's say waypoint
• chmod +x waypoint
• export PATH=$PATH:~/bin in your ~/.bashrc
• then in another terminal just type waypoint

i tried your code, and when i push the bumper, I can see the 'bump' message, maybe your bumper is not working, try to rostopic echo the bumper to see if it is working or not.

Hello Rob, the callback function is working, the problem is what do you do when the bump occurs, it is only outputting informations.

nano~/.bashrc and add this at the end

export ROS_MASTER_URI="http://192.168.10.101:11311"` 
#export ROS_MASTER_URI="http://192.168.10.102:11311"
#export ROS_MASTER_URI="http://192.168.10.103:11311"

comment the lines you want, save and open another terminal, this is the case when your robot is the master, and you are operating only one robot, if you want to operate multiple robots, you can check the turtlebot concert, basically your pc is the master and the robots are the slaves.

I am using a turtlebot with amcl demo, is it possible to plan a cercle and to make the robot following this cercle in autonomous mode ?

Hi everyone, I am on a project that i use 8 laser sensors, when i use the laser scan matcher node, it shows:

Invalid number of rays: 8

I searched for this error and i ended up with http://docs.ros.org/indigo/api/csm_ro... How can i find this file and modify this file please?