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2021-11-18 03:06:15 -0600 received badge  Notable Question (source)
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2021-08-17 09:01:13 -0600 asked a question Takeoff service not working in simulation

Takeoff service not working in simulation I'm simulating Iris quad sing px4+mavros+gazebo. I'm trying to get my drone to

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2021-03-16 03:02:39 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

I have published a static transform.

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2021-02-02 07:41:24 -0600 commented question Offboard PX4 with T265 and ROS / Does not Take off

I think it would be better to post a query on the px4 forum and analyze the flight logs. They can be of more help.

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2021-02-01 09:55:13 -0600 commented question Offboard PX4 with T265 and ROS / Does not Take off

You can configure QGroundControl Takeoff altitude. When you issue ReturnToHome from QGC the drone moves to a height of 2

2021-02-01 09:44:15 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

Thank You so much. I will look into them :).

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2021-02-01 09:03:29 -0600 commented question Offboard PX4 with T265 and ROS / Does not Take off

Did you try arming and taking off using QGroundControl ? I think you need to use an TAKEOFF service and then publish a s

2021-02-01 05:44:13 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

Is there anyway that I can link all these transforms to /base_link and can visualize all robots at once. Now I need to h

2021-02-01 05:33:50 -0600 edited question Multi-Agent simulation causing trouble in Rviz

Multi-Agent simulation causing trouble in Rviz I'm trying multi-agent simulations using ROSBOT 2.0 by husarion. I'm comf

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2021-02-01 05:31:40 -0600 marked best answer Multi-Agent simulation causing trouble in Rviz

I'm trying multi-agent simulations using ROSBOT 2.0 by husarion. I'm comfortable with single agent but when it comes to multiple agents I'm able to spawn them and control them independently but the problem comes with Rviz. I'm unable to visualize the robot in Rviz. It spwans upside down, i'm unable to see the camera feed and lidar output but the topics are present in the rostopic list.

The below is the launch file which I run.

<launch>
  <arg name="world_name" default="worlds/empty.world"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="true"/>
    <arg name="verbose" value="true"/>
  </include>
  <include file="$(find rosbot_gazebo)/launch/multi_rosbot.launch"/>

</launch>

Below is multi_rosbot.launch file.

<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find rosbot_description)/urdf/rosbot.xacro'"/>

  <!-- BEGIN ROBOT 1-->
  <group ns="rover1">
    <param name="tf_prefix" value="rover1" />
    <include file="$(find rosbot_gazebo)/launch/rosbot_empty_world.launch" >
      <arg name="init_pose" value="-x 0 -y 0 -z 0" />
      <arg name="robot_name"  value="rover1" />
    </include>
  </group>

  <!-- BEGIN ROBOT 2-->
  <group ns="rover2">
    <param name="tf_prefix" value="rover2" />
    <include file="$(find rosbot_gazebo)/launch/rosbot_empty_world.launch" >
      <arg name="init_pose" value="-x -2 -y 0 -z 0" />
      <arg name="robot_name"  value="rover2" />
    </include>
  </group>

  <!-- BEGIN ROBOT 3 -->
  <group ns="rover3">
    <param name="tf_prefix" value="rover3" />
    <include file="$(find rosbot_gazebo)/launch/rosbot_empty_world.launch" >
      <arg name="init_pose" value="-x -4 -y 0 -z 0" />
      <arg name="robot_name"  value="rover3" />
    </include>
  </group>
</launch>

Below is the rosbot_empty_world.launch

<launch>

  <arg name="init_pose"/>
  <arg name="robot_name"/>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find rosbot_description)/urdf/rosbot.xacro'"/>
  <arg name="model" default="$(find xacro)/xacro.py '$(find rosbot_description)/urdf/rosbot.xacro'"/>

  <node name="rosbot_spawn" pkg="gazebo_ros" type="spawn_model" ns="/$(arg robot_name)"
        args="$(arg init_pose) -unpause -urdf -model $(arg robot_name) -param /robot_description " respawn="false" output="screen"/>

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher" ns="/$(arg robot_name)" args="--namespace=/$(arg robot_name)">
    <param name="publish_frequency" type="double" value="30.0" />
    <param name="tf_prefix" value="/$(arg robot_name)" type="str"/>
  </node> 
  <rosparam command="load" file="$(find joint_state_controller)/joint_state_controller.yaml" ns="/$(arg robot_name)"/>

  <node name="controller_spawner_$(arg robot_name)" pkg="controller_manager" type="spawner" ns="/$(arg robot_name)" 
        respawn="false" args=" joint_state_controller --namespace=/$(arg robot_name)" output="screen"/>

</launch>

I cannot visualize anything in Rviz. Therobot spawns upside down, the camera is blank. image description

Here's the rostopic list output.

wally1002@wally:~$ rostopic list
    /clock
    /gazebo/link_states
    /gazebo/model_states
    /gazebo/parameter_descriptions
    /gazebo/parameter_updates
    /gazebo/set_link_state
    /gazebo/set_model_state
    /rosout
    /rosout_agg
    /rover1/camera/depth/camera_info
    /rover1/camera/depth/image_raw
    /rover1 ...
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2021-02-01 05:31:37 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

I have resolved the problem. All I was missing was tf_prefix at the bottom. From all this what I have understood about t

2021-02-01 00:08:54 -0600 edited question Multi-Agent simulation causing trouble in Rviz

Multi-Agent simulation causing trouble in Rviz I'm trying multi-agent simulations using ROSBOT 2.0 by husarion. I'm comf

2021-02-01 00:02:46 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

When I change the fixed frame to /rover1/base_link I get the camera output for that rover. but when i change it to /base

2021-01-31 23:58:00 -0600 commented answer Multi-Agent simulation causing trouble in Rviz

When I change the fixed frame to /rover1/base_link I get the camera output for that rover. but when i change it to /base

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2021-01-30 06:48:46 -0600 asked a question Multi-Agent simulation causing trouble in Rviz

Multi-Agent simulation causing trouble in Rviz I'm trying multi-agent simulations using ROSBOT 2.0 by husarion. I'm comf

2021-01-20 11:08:19 -0600 commented answer kobuki installation error (Unable to locate package)

any updates?

2021-01-20 08:50:04 -0600 marked best answer Tried to advertise a service that is already advertised in this node [/leo/controller_manager/list_controllers]

I'm trying to do a multi agent simulation using leo_rover which is open source. I'm comfortable with single system, but when I add a second robot using namespaces i get the second robot spawned in the gazebo exactly where i want, but the controllers for the two agents try to get published at the same node location. In the end neither of the controller spawns and I'm left with rovers without controllers.

This is the rover.launch file.

<launch>
   <arg name="init_pose"/>
   <arg name="robot_name"/>
   <param name="robot_description" command="$(find xacro)/xacro $(find leo_description)/urdf/new.urdf.xacro" />

   <!-- push robot_description to factory and spawn robot in gazebo -->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
    args="$(arg init_pose) -unpause -urdf -model $(arg robot_name) -param /robot_description" respawn="false" output="screen"/>

  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher" ns="leo">
      <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <include file="$(find leo_control)/launch/control.launch">
   <!-- TODO: add possible arguments for depth camera, etc.-->
  </include>

</launch>

This is the control.launch used in the rover.launch

<launch>


  <arg name="use_tf_static" default="false"/>
  <arg name="model" default="$(find leo_description)/urdf/new.urdf.xacro"/>

  <!-- Load controller configuration />-->
  <rosparam command="load" file="$(find leo_control)/config/control.yaml" />

  <node name="controller_spawner" pkg="controller_manager" type="spawner"
    respawn="false" args="leo_velocity_controller leo_joint_publisher" output="screen" ns="leo"/>

</launch>

Below launch file tries to add 2rovers into the simulation using namespaces.

<launch>
  <!-- No namespace here as we will share this description. 
      Access with slash at the beginning -->
  <param name="robot_description" command="$(find xacro)/xacro $(find leo_description)/urdf/new.urdf.xacro" />

  <!-- BEGIN ROBOT 1-->
  <group ns="rover1">
    <param name="tf_prefix" value="rover1_tf" />
    <include file="$(find btp)/launch/rover.launch" >
      <arg name="init_pose" value="-x 0 -y 0 -z 0" />
      <arg name="robot_name"  value="Robot1" />
    </include>
  </group>

  <!-- BEGIN ROBOT 2-->
  <group ns="rover2">
    <param name="tf_prefix" value="rover2_tf" />
    <include file="$(find btp)/launch/rover.launch" >
      <arg name="init_pose" value="-x -2 -y 0 -z 0" />
      <arg name="robot_name"  value="Robot2" />
    </include>
  </group>
</launch>

Below multisim.launch file combines all these launches.

<launch>
   <arg name="world_name" default="worlds/empty.world"/>

   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(arg world_name)"/> <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
     <arg name="gui" value="true"/>
     <arg name="headless" value="false"/>
     <arg name="debug" value="true"/>
     <arg name="verbose" value="true"/>
   </include>
   <!-- start gui -->
   <!-- <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/> -->

   <!-- include our robots -->
   <include file="$(find btp)/launch/multi_rover.launch"/>
</launch>

Now the error why I launch this multisim.launch file.

[ERROR] [1611075925.200755903, 0 ...
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2021-01-20 08:50:04 -0600 received badge  Scholar (source)
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2021-01-20 08:49:56 -0600 answered a question Tried to advertise a service that is already advertised in this node [/leo/controller_manager/list_controllers]

I have resolved the problem. It was about conflicting namespaces for the controller manager. I have removed the control.

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2021-01-19 14:05:22 -0600 asked a question Tried to advertise a service that is already advertised in this node [/leo/controller_manager/list_controllers]

Tried to advertise a service that is already advertised in this node [/leo/controller_manager/list_controllers] I'm tryi

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