Hi All,
I am fairly new to ROS, so forgive a rookie question. When I run amcl_demo.launch and view the output, I can see info such as "goal reached" and "got new plan", and I would like to publish these to a rostopic. Trouble is, I can't seem to find which file these info messages are originating from. I checked through the amcl_demo.launch file, the amcl.launch.xlm, etc. but can't find where the info logging is coming from. Any help would be appreciated.
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Question re ACML_demo rosout messages
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Include a rotation Axis to Turtlebot
Hi, I'm trying to modify the turtlebot model to add a rotation axis to the kinect camera to move it like a type of neck or something like that but I don't know exactly if I need to change the type of the joint of the kinect camera on turtlebot_description files
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Optimize Navigation Stack / Turtlebot drives circles
Hello Guys,
i am using Ros Kinetic on a Ubuntu 16.04 PC. I using Turtlebot package for simulation in Gazebo. A few weeks a go a posted a similar question with rtab map without an answer so i am back on the default navigation paket.
I created a map with gmapping and now i can start the map with :
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/user/turtlebot_custom_maps/tutorial.yaml
This works fine i see my robot in rviz and i could drive to specific point.
My problem now is that the robot drives in circles to reach a specific point. Even is there is no obstacle near him. So i am new in the planner configuration could u give me a tip which parameter i need to change that the robot don´t drive in circles to a point?
Here is my code for reaching a point:
class GoToPose():
def __init__(self):
self.goal_sent = False
# What to do if shut down (e.g. Ctrl-C or failure)
rospy.on_shutdown(self.shutdown)
# Tell the action client that we want to spin a thread by default
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
rospy.loginfo("Wait for the action server to come up")
# Allow up to 5 seconds for the action server to come up
self.move_base.wait_for_server(rospy.Duration(5))
def goto(self, pos, quat):
# Send a goal
self.goal_sent = True
goal = MoveBaseGoal()
goal.target_pose.header.frame_id = 'map'
goal.target_pose.header.stamp = rospy.Time.now()
goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))
# Start moving
self.move_base.send_goal(goal)
# Allow TurtleBot up to 60 seconds to complete task
success = self.move_base.wait_for_result(rospy.Duration(80))
state = self.move_base.get_state()
result = False
if success and state == GoalStatus.SUCCEEDED:
# We made it!
result = True
else:
self.move_base.cancel_goal()
self.goal_sent = False
return result
def shutdown(self):
if self.goal_sent:
self.move_base.cancel_goal()
rospy.loginfo("Stop")
rospy.sleep(1)
if __name__ == '__main__':
try:
rospy.init_node('nav_test', anonymous=False)
navigator = GoToPose()
# Customize the following values so they are appropriate for your location
position = {'x': 1.89, 'y' : 1.21}
quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
success = navigator.goto(position, quaternion)
if success:
rospy.loginfo("Hooray, reached the desired pose")
position = {'x': -2.76, 'y' : 2.68}
quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
success2 = navigator.goto(position, quaternion)
else:
rospy.loginfo("The base failed to reach the desired pose")
# Sleep to give the last log messages time to be sent
rospy.sleep(1)
except rospy.ROSInterruptException:
rospy.loginfo("Ctrl-C caught. Quitting")
In the code i let him drive to 2 points this works after some time he reaches the points but like i described the way to the point is not very straight it more like the robot rotates a bit drives forward rotates a bit and so on...
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Ros Escape Maze
I need to make a robot escape a Maze. The robot has a hokuyo sensor and it should be written in python.
Can someone please help me. I would really appreciate it .
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Nodelet error while running turtlebot gazebo on kinetic
i am not able to figure out how install nodelet separately, i tried to look in cmake file as well but got confused. PS i am new to ros.
Is there any one who can help? with some defined steps?
Please
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moveit cant control real robot(phantomx pincher)
Hi
I am using ros kinetic in ubuntu 16.04 lts.
I try to control phantomx_pincher robot arm.
I downloaded https://github.com/turtlebot/turtlebot_arm and also arbotix package
ı can control each servo also with arbotix_gui command but ı cannot control with moveit ?
after writing ,roslaunch turtlebot_arm_bringup arm.launch. What should ı do ?
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Turtlebot "minimal_launch" Interactions-13 error message:Unable to start rapp manager services
ubuntu 14.04 ROS Indigo
ross@copernicus:~$ env | grep ROS
ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/home/ross/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://copernicus.local:11311
ROS_HOSTNAME=copernicus.local
ROSLISP_PACKAGE_DIRECTORIES=/home/ross/catkin_ws/devel/share/common-lisp
ROS_DISTRO=indigo
ROS_IP=copernicus.local
ROS_ETC_DIR=/opt/ros/indigo/etc/ros
After minimal_launch sucessful connect to turtlebot, rapp manger error, which doesn't allow remo_con nor android Remocon and Teleop to work. This after verifying installation of remocon package. Turtlebot keyboard teleop and rviz view_model.launch works good.
Here are what I believe are correct network settings on RemotePc (copernicus) and Netbook(herschel)
RemotePC (roscore ros master)
....part of .bashrc
## ROS Master(roscore)/ROS_Host on Copernicus/Herschel
export ROS_MASTER_URI=http://copernicus.local:11311
export ROS_HOSTNAME=herschel.local
export ROS_IP=copernicus.local
ross@copernicus:~$ cat /etc/hosts
127.0.0.1 localhost
127.0.1.1 copernicus
192.168.2.132 ROS_IP
Netbook (turtlebot ros_host)
....part of .basic
## ROS Master (roscore) & Host on ross-Copernicus workstation (zeroconf)
export ROS_HOSTNAME=copernicus.local
export ROS_MASTER_URI=http://copernicus.local:11311
export ROS_IP=copernicus.local
turtlebot@herschel:~$ cat /etc/hosts
127.0.0.1 localhost
127.0.1.1 herschel
192.168.2.132 ROS_IP
NetbookPC (ROS_HOST) minimal.launch log after connection to base.
[ERROR] [WallTime: 1517262625.364694] Interactions : timed out trying to find the rapp manager start_rapp, stop_rapp services and status topic [unable to communicate with the master [no provider]]
Traceback (most recent call last):
File "/opt/ros/indigo/lib/rocon_interactions/interactions_manager.py", line 20, in
interactions_manager = rocon_interactions.InteractionsManager()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/manager.py", line 75, in __init__
self._rapp_handler = RappHandler(self._rapp_manager_status_update_callback)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/rapp_handler.py", line 74, in __init__
thread = threading.Thread(target=self._setup_rapp_manager_connections())
File "/opt/ros/indigo/lib/python2.7/dist-packages/rocon_interactions/rapp_handler.py", line 85, in _setup_rapp_manager_connections
self.start_rapp = rospy.ServiceProxy(start_rapp_service_name, rocon_app_manager_srvs.StartRapp)
UnboundLocalError: local variable 'start_rapp_service_name' referenced before assignment
[kinect_breaker_enabler-5] process has finished cleanly
log file: /home/turtlebot/.ros/log/4ad22d60-053e-11e8-ab0e-0023146ef6f0/kinect_breaker_enabler-5*.log
[interactions-13] process has died [pid 14154, exit code 1, cmd /opt/ros/indigo/lib/rocon_interactions/interactions_manager.py __name:=interactions __log:=/home/turtlebot/.ros/log/4ad22d60-053e-11e8-ab0e-0023146ef6f0/interactions-13.log].
log file: /home/turtlebot/.ros/log/4ad22d60-053e-11e8-ab0e-0023146ef6f0/interactions-13*.log
[WARN] [WallTime: 1517262629.658955] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
Other ansers.ros.org questions have referred to network settings-are these ok?
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360 Degrees Proximity Sensor?
Do 360 degree proximity sensors exist? The sensor not only needs to detect a flat circular plane but be able to detect a sphere around it so a lidar wouldn't cut it. Preferably using sonar that way it can look through glass windows.
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¿How to add a tilt movement to the Turtlebot's kinect?
Hi, I have been trying to add a tilt movement to the kinect of the turltbot model, but after been changing the diferent files of the URDF model and the launch files to add different nodes I can't add any type of movement.
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roslaunch turtlebot_bringup minimal.launch not working+anaconda+python3.6
The system is ubuntu14.04, I install the Anaconda 3, and I create an environment which belongs to python3.6. I install ros in anaconda python3.6 environment, I add the path like this:
export PATH="/home/ariel/anaconda3/bin:$PATH"
source /opt/ros/indigo/setup.bash
and I install turtlebot. I go into the python3.6 environment, and print like this:
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
however, when I use this instrction:roslaunch turtlebot_bringup minimal.launch
it has some error:
(python3) ariel@ariel-ThinkPad-T420:~$ roslaunch turtlebot_bringup minimal.launch
... logging to /home/ariel/.ros/log/6787eee4-0a21-11e8-a515-8c705a64ffd4/roslaunch-ariel-ThinkPad-T420-23885.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Traceback (most recent call last):
File "/opt/ros/indigo/share/xacro/xacro.py", line 60, in
import xacro
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 36, in
import glob
ModuleNotFoundError: No module named 'glob'
while processing /opt/ros/indigo/share/turtlebot_bringup/launch/includes/robot.launch.xml:
while processing /opt/ros/indigo/share/turtlebot_bringup/launch/includes/description.launch.xml:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/opt/ros/indigo/share/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro'] returned with code [1].
Param xml is
The traceback for the exception was written to the log file
I don't know how to do, can anyone give me some advive?
Thank you!
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roslaunch turtlebot_bringup minimal.launch+anaconda3+python3.6
My system is ubuntu14.04, and I install anaconda3. I create a new environment which belongs to python3.6. I install ros in the new environment, when I go in to the environment and print roscore, it looks well. However, when I install the turtlebot like this:
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
when I go into the the environment , and print:
roslaunch turtlebot_bringup minimal.launch
it has error, like this:
no module names glob
I don't know how to do, can anyone give me some advice?
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How to change Turtlebot velocity when sending 2D Nav Goal
I create the map with RTabMap, and I visualize it in RViz. The robot is able to reach its goal with succes, but I want to make it slower.
Is there a way to specify the velocity like in teleop keyboard?
Thank you
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How I can Install Turtlebot on ROS Lunar?
Only turtle bot is available for Indigo version of ROS. How I can get Turtlebot installed for ROS Lunar?
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Robot Thinks It's Stuck When It Isn't
Hi,
I've got an annoying problem here. I've trying to get the robot to un-dock from the charging station, navigate then come back.
In the screen-shot below you can see that there is free space round the robot, but in the planning output it wants to start recover procedures when there is no need. All it needs to do it reverse out (I've already set min_vel_x: -1.0 to achieve this). Still no luck. What else can I try tuning? I can't see anything else in dwa_local_planner_params.yaml, costmap_common_params.yaml, local_costmap_params.yaml or global_costmap_params.yaml which looks immediately obvious.
Thanks
Mark
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Unable to install turtlebot
Hello everyone,
I'm using Ubuntu 16.04 (Xenial) and installed ROS Lunar. I also installed gazebo7. Now, I want to install turtlebot and it's impossible. This is what I did:
I followed all the tutorials about the installation, but after running this:
roslaunch turtlebot_gazebo turtlebot_world.launch
I get the following error:
RLException: [turtlebot_world.launch] is neither a launch file in package [turtlebot_gazebo] nor is [turtlebot_gazebo] a launch file name
The traceback for the exception was written to the log file
Internet doesn't help. I did everything that says there and nothing works. I also did this:
source /opt/ros/indigo/setup.bash
before running the other command line. And it doesn't work.
What can I do? Maybe my problem is that I have ROS Lunar and I install kinetic packages, but the tutorials are (almost everyone) for indigo.
Thanks
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How to use Camera data for Tensorflow (Machine Learning)
Hello Guys,
Here my Setup: Linux 64 bit Ubuntu 16.04 Ros Kinetic with Gazebo 7.0
I have an environment with a Turtlebot in Gazebo . I want to use Tensorflow to identify objects which the turtlebot sees. Now my question how will i get my data from the Ros topics to Tensorflow?
If u need any further Information write me.
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importing a map for turtlebot
Hi all,
Currently, I have a floorplan/ real world map I want to recreate in the ros gazebo and then let turtlebot run in that environment. i have creating the .world file using Building Editor but it the turtlebot seem not to be able to go to a specific point when i run my script.
Anyone got any ideas?
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Pointcloud to pcd file with Timestamp in name
Hello Guys,
i use Ubuntu 16.04 with ros kinetic and gazebo 7.0. I have a Gazebo world with turtlebot in it.
I get some Pointcloud data from /camera/depth/points. Now i want to save this data in pcd files.
I use:
rosrun pcl_ros pointcloud_to_pcd input:=/camera/depth/points
That works well i get some pcd files. Now i want to add the timestamp to the file name is this somehow possible? Or is there something in pcl_ros that support this?
I know that most of the ros topics have a timestamp.
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turtlebot with stereo camera
hi, i am new in ros and gazebo. can i use the turtlebot in simulation (Gazebo) with stereo camera instead of Kinect ? how can apply this?
thanks
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Gazebo: Turtlebot dont drive straight forward/ Odometry wheel velocity
Hello Guys,
I have encountered the problem that my Turtlebot didn't drive really straight and he also have some problems with the rotation. After a short period the robot loose the straight path and he drifts away more and more. I use the turtlebot from the turtlebot package in gazebo.
I create a Twist msgs:
self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10)
and then i set a linear speed:
move_cmd = Twist()
move_cmd.linear.x = 0.1
move_cmd.angular.z = 0
Is there a way to drive straight with no deviation?
How can i publish the wheel velocity of my turtlebot maybe the wheels have a different velocity?
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