erratic_gazebo tutorial not working

asked 2011-03-05 08:53:30 -0600

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hi, I am using cturtle 1.2.4 on ubuntu 10.04 lucid.So I am trying to understand gazebo and 2d navigation stackusing erratic_gazebo stack tutorial.the link of the tutorial is http://www.ros.org/wiki/simulator_gazebo/Tutorials/TeleopErraticSimulation.However i was unable to move to the required destination.In the rviz it showing that the robot model error.The transforms to the base_caster_support_link and so on.However the robot is moving.It is giving the following errors. WARN] [1299364675.734772614, 9.732000000]: No transmissions were specified in the robot description.

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Hi, can you tell me exactly what commands you are running? The tutorial you pointed to is outdated and is using the old erratic stack that doesn't exist anymore.

arebgun ( 2011-03-05 09:15:42 -0600 )edit

hi,I am using the following command roslaunch erratic_gazebo erratic_2dnav_demo.launch.My aim is to implement a 2d navigation stack on a rover similar to erratic mobile robot.So could you please help me what exactly should i look into to write the urdf of my rover and simulate the 2d navigation stack in gazebo.

avin111 ( 2011-03-05 09:33:49 -0600 )edit

Have a look => http://answers.ros.org/question/12636/slam-in-gazebo/

Arkapravo ( 2013-03-20 21:13:07 -0600 )edit

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answered 2011-03-05 09:41:00 -0600

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Hi,

Try installing erratic_robot stack with sudo apt-get install ros-cturtle-erratic-robot and running any of the navigation stack demos from erratic_navigation_apps package. For example, to run SLAM demo in simulation run:

roslaunch erratic_navigation_apps demo_2dnav_slam.launch

Erratic's URDF description is in erratic_description package, navigation stack configurations are in erratic_navigation and example launch files in erratic_navigation_apps.

To actually drive the robot we need to launch a keyboard teleoperation node in another terminal:

rosrun erratic_teleop erratic_keyboard_teleop

Make sure this terminal window has focus so that keyboard commands are properly captured by the teleoperation node.

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Thank you it worked..By the way how to remove wg_worlds parameter from the simulation..really thanks for the help..

avin111 ( 2011-03-05 15:26:56 -0600 )edit

What do you mean wg_worlds parameter? If you want to launch the simulation with a different map/world, there's a few examples available in gazebo_worlds package, or you can create your own. Also, if you are satisfied with an answer, please mark it as accepted. Thanks!

arebgun ( 2011-03-06 00:50:45 -0600 )edit

After the map is loaded the applications has stopped to work due to the following: Subscribed to Topics: base_scan base_scan_marking [ WARN] The /base_scan/marking observation buffer has not been updated for 0.34 seconds, and it should be updated every 0.20 seconds.

szokei ( 2011-03-08 22:17:17 -0600 )edit

This is just a warning, it usually appears when everything is starting up because the computer is too busy loading all the nodes and the update loops runs slower than expected.

arebgun ( 2011-03-09 00:19:42 -0600 )edit

Okay, but what should be the output of the program, because I can't do anything in Gazebo, can't move the robot etc.Thank you.

szokei ( 2011-03-09 00:23:22 -0600 )edit

roswtf resulted the following WARNING These nodes have died: * xml2factor_wg_walls-2 * spawn_robot-3 The following node subscriptions are unconnected: * /amcl: /initialpose * /move_base_node/local_costmap/voxel_grid_throttle: /move_base_node/local_costmap/voxel_grid * /move_base_node: /move_base_simple/goal, /move_base/cancel, /tf_message * /voxel_visualizer: /move_base_node/local_costmap/voxel_grid_throttled * /gazebo: /gazebo/set_model_state, /gazebo/set_link_state

szokei ( 2011-03-09 00:45:39 -0600 )edit

Tell me what version of ros you are using and what commands you are running?

arebgun ( 2011-03-09 00:58:54 -0600 )edit

rosversion: 1.2.4 and I'm running: roslaunch demo_2dnav_slam.launch

szokei ( 2011-03-09 01:09:56 -0600 )edit

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