I am settting up covariance matrices and don't understand some of the entries used for turtlebot.
from:
/opt/ros/groovy/stacks/turtlebot_create/create_node/src/create_node/covariances.py
first, we have :
> ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, > 0, 1e-3, 0, 0, 0, 0,> 0, 0, 1e6, 0, 0, 0,> 0, 0, 0, 1e6, 0, 0,> 0, 0, 0, 0, 1e6, 0,> 0, 0, 0, 0, 0, 1e3]
Why is the covariance on z axis (last row) rotation = 1e3? This is large considering the gyro accuracy. Seems like it should be more like 1e-3.
next, we have the covariance used when the robot is stopped, so we know some parameters much more accurately:
ODOM_POSE_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
I don't understand the entries here for covariance y (second row). Seems like the diagonal entry should be the same as x (1e-9 instead of 1e-3) and I don't understand why there is an off-diagonal nonzero (but close, at 1e-9) entry for y-z. Are those axes coupled somehow?
Next, we have the twist ones:
ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
Since odom twist is reported in the child (robot, typically base_footprint) frame, for a turtlebot, there is no y or z velocity, only x. So why does the y velocity covariance (second row) = 1e-3 instead of 1e6? And again, why is the z rotation (last row) covariance (1e3) so large?
Finally, for twist when stopped:
ODOM_TWIST_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
Again, I don't understand why the y twist covariance (2nd row) is 1e-3 instead of 1e6 and also why there is an off-diagonal entry (1e-9) y-z coupling instead of just 0 there.
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are the turtlebot covariance matrices right?
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[Turtlebot] [Kobuki base] Increasing the publish frequency of sensor messages
Hi, I’m using a Turtlebot 2, Kobuki base. I replaced the cliff sensors in order to be able to detect the narrow darker spaces between floor tiles. It works at low speed but, at higher speeds, the transitions are not always detected because the traveled distance between two sensor updates is too long.
Is there a way to increase the frequency of publication of the sensor state message?
Thanks for any input.
Regards.
G. Garcia
↧
↧
Node is subscribed to a topic but not receiving the message
My hardware is Romi32U4. My serial node is a subscriber to cmd_vel topic and there's a method converts Twist to the left and right speeds. I can move the robot by manually publish Twist message.
Now, I want to use turtlebot3_teleop to publish Twist messages. I've followed e-manual tutorial to setup remote PC. According to rqt_graph, teleop is publishing to cmd_vel and serial node is subscribing to cmd_vel too. When I echo cmd_vel, I can get the values. However, serial node is not responding. The call back function is not called. I don't know why. The serial node should execute call back function when it gets a Twist message, which it is published by teleop.
This is my call back function:
> void msgTwist(const> geometry_msgs::Twist& twist_msg){ > float wheel_dist = 13;>> float linear_vel => twist_msg.linear.x * 2000; float> angle_vel = twist_msg.angular.z * 15; >> float right_sp => (angle_vel*wheel_dist)/2 + linear_vel;> float left_sp = linear_vel*2 -> right_sp;>> left_msg.data = left_sp; > left_vel_pub.publish( &left_msg );>> right_msg.data = right_sp; > right_vel_pub.publish( &right_msg );>> motors.setSpeeds(left_sp, right_sp);> delay(1000); }
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Publisher/Subscriber Error with /cmd_vel
Hi,
I'm using ROS Kinetic on a virtualbox running Ubuntu 16.04.
When I run the bringup packages there are no errors and the turtlebot3_robot.launch says that it has set up the subscriber for the /cmd_vel topic from geometry_msgs.msgs/Twist.
When I go back to my Remote PC and run turtlebot3_teleop_key, data is published to /cmd_vel according to echo rostopic /cmd_vel. However, the robot does not move. When I run rqt_graph, it does not show a subscriber for /cmd_vel.
So I have conflicting information, with both parts (publisher and subscriber) claiming they're doing their job, but the robot is unable to move.
I'm new to ROS and TurtleBot operation so I apologize if this is a simple fix but I can't find a solution.
↧
Invoking "make -j4 -l4" failed error
Im new here. I was trying to install turtlebot by following source installation as suggested in http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation on rosdistro:kinetic,rosversion: 1.12.12,Ubuntu 16.04.3 LTS, however with catkin make command execution I got the following error
Base path: /home/uma/rocon
Source space: /home/uma/rocon/src
Build space: /home/uma/rocon/build
Devel space: /home/uma/rocon/devel
Install space: /home/uma/rocon/install
####
#### Running command: "make cmake_check_build_system" in "/home/uma/rocon/build"
####
####
#### Running command: "make -j4 -l4" in "/home/uma/rocon/build"
####
/bin/sh: 1: pyrcc5: not found
rocon_qt_gui/rocon_remocon/CMakeFiles/resources_rocon_remocon.dir/build.make:57: recipe for target 'rocon_qt_gui/rocon_remocon/CMakeFiles/resources_rocon_remocon' failed
make[2]: *** [rocon_qt_gui/rocon_remocon/CMakeFiles/resources_rocon_remocon] Error 127
CMakeFiles/Makefile2:693: recipe for target 'rocon_qt_gui/rocon_remocon/CMakeFiles/resources_rocon_remocon.dir/all' failed
make[1]: *** [rocon_qt_gui/rocon_remocon/CMakeFiles/resources_rocon_remocon.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target _concert_workflow_engine_msgs_generate_messages_check_deps_WorkflowsStatus
[ 0%] Built target _concert_workflow_engine_msgs_generate_messages_check_deps_EnableWorkflows
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
I looked up different forums for this problem, but could not find a proper solution.
Urgent help required.
Thanks in advance!
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↧
move_base avoids dynamic obstacles with kinect but does not avoid with hokuyo lidar
Hello! I am beginner to ROS. I am using Ubuntu 14 and ROS Indigo. I searched for the same problem but cannot find the answer. I appreciate if anyone knows the answer.
I am using one Turtlebot2 with Kinect and one with Hokuyo lidar. I run the gmapping and amcl packages. When navigating with move_base in the map, Turtlebot with Kinect avoids dynamic obstacles but Turtlebot with Hokuyo does not avoid dynamic obstacles and hits them. What is the reason and what should I do to make the Hokuyo one to also avoid dynamic obstacles?
Thanks in advance
↧
Question about TURTLEBOT and localization
hi,
i have a turtlebot 2 with asus axtion pro and everything is working good with the navigation , but i have a question about the localization , i have tried to turn the camera by some angles to the left form it's initial position so that it's not aligned with robot and i'm suprised that the localization is still giving a good position , how is that ? i thought that amcl depend on the laser scan ? so how do the turtlebot to localize it self despite a bad alignement of the camera ?
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When launching simulator Error:Invalid tag: turtlebot_description
Hi guys I'm trying to run turtlebot with Gazebo(empty_world) but none of them were working
Need help!!!
this is Output when i run this command
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
... logging to /home/ss/.ros/log/576cd2c2-8ef2-11e2-9158-00e04c534458/roslaunch-ubuntu-9864.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.
while processing /home/ss/workspace/sandbox/turtlebot_simulator/turtlebot_gazebo/launch/_kobuki.launch:
Invalid tag: turtlebot_description
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/ss/workspace/sandbox
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks.
Arg xml is
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Troubles to move turtlebot_gazebo
I started a small project where I wanted to move the turtlebot in gazebo. I launched: roslaunch turtlebot_gazebo turtlebot_world.launch
I wrote a code to move it:
#include "ros/ros.h"
#include "geometry_msgs/TwistWithCovariance.h"
#include "nav_msgs/Odometry.h"
#include "gazebo_msgs/LinkState.h"
#include "geometry_msgs/Twist.h"
int main(int argc, char **argv){
ros::init(argc,argv,"move");
ros::NodeHandle n;
ros::Publisher move_pub = n.advertise("moving",1000);
ros::Rate loop_rate(10);
geometry_msgs::Twist msg;
while(ros::ok()){
msg.linear.x = 0.0;
msg.linear.y = 0.0;
msg.linear.z = 20.0;
move_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
This doesn't work. As you can see i included other msgs and tried it with them but I got the same result. I also tried to find the node turtlebot_teleop_keyboard to find out how it is done by inputs. But i couldn't find the path to it. So what do I have to do to move it? And how can I find the path to the node?
Thank you in advance
↧
↧
rviz imported map resize for navigation
Hello,
I'm beginner !
I have a homemade 2d map in png file format. I didn't build this map with Rplidar or something.
I can import the file into rviz, but it seems that the size of my map is way too big (in dimension) compared to what my turtlebot is watching.
So when I run some navigation, my robot moving very little on my map (in rviz), it looks like the map is bigger than it should be.
How can I resize this or configure the projection ? I couldn't find anything about this issue.
Run command:
$ roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/Maps/office_bitmap.yaml
The yaml file:
image: /home/turtlebot/Maps/office_bitmap.png
resolution: 0.05
origin: [-25.624998, -25.624998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
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gyro calibration not working
Hello, I followed instructions from [here](http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro).
I place my turtlebot infront of a wall and run "roslaunch turtlebot_calibration calibrate.launch"
I get the following output:
turtlebot@turtlebot:~$ roslaunch turtlebot_calibration calibrate.launch
... logging to /home/turtlebot/.ros/log/18910bfa-aae8-11e8-8d61-c45444f1a99a/roslaunch-turtlebot-23672.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.
started roslaunch server http://10.227.227.134:49248/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/disparity_depth/max_range: 4.0
* /camera/disparity_depth/min_range: 0.5
* /camera/disparity_registered_sw/max_range: 4.0
* /camera/disparity_registered_sw/min_range: 0.5
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/bootorder: 0
* /camera/driver/color_depth_synchronization: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/devnums: 1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /rosdistro: indigo
* /rosversion: 1.11.10
* /scan_to_angle/max_angle: 0.3
* /scan_to_angle/min_angle: -0.3
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
depthimage_to_laserscan (nodelet/nodelet)
scan_to_angle (turtlebot_calibration/scan_to_angle.py)
turtlebot_calibration (turtlebot_calibration/calibrate.py)
ROS_MASTER_URI=http://10.227.227.134:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [23698]
[ INFO] [1535483897.185425398]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [23720]
process[camera/rectify_ir-3]: started with pid [23738]
[ INFO] [1535483897.443592198]: Device "2bc5/0401@1/8" found.
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/register_depth_rgb-4]: started with pid [23800]
process[camera/points_xyzrgb_sw_registered-5]: started with pid [23842]
process[camera/disparity_depth-6]: started with pid [23857]
process[camera/disparity_registered_sw-7]: started with pid [23872]
process[depthimage_to_laserscan-8]: started with pid [23889]
process[scan_to_angle-9]: started with pid [23923]
process[turtlebot_calibration-10]: started with pid [23939]
/opt/ros/indigo/lib/turtlebot_calibration/scan_to_angle.py:52: SyntaxWarning: The publisher should be created with an explicit
keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.pub = rospy.Publisher('scan_angle', ScanAngle)
[INFO] [WallTime: 1535483900.189991] has_gyro True
/opt/ros/indigo/lib/turtlebot_calibration/calibrate.py:80: SyntaxWarning: The publisher should be created with an explicit
keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.cmd_pub = rospy.Publisher('cmd_vel', Twist)
Waiting for service /turtlebot_node/set_parameters...
[ INFO] [1535483905.161233538]: Starting color stream.
[ INFO] [1535483905.427477833]: Starting depth stream.
[ INFO] [1535483905.597403243]: using default calibration URL
[ INFO] [1535483905.597638469]: camera calibration URL: file:///home/turtlebot/.ros/camera_info/rgb_Astra_Orbbec.yaml
[ INFO] [1535483905.622643726]: using default calibration URL
[ INFO] [1535483905.622838547]: camera calibration URL: file:///home/turtlebot/.ros/camera_info/depth_Astra_Orbbec.yaml
And, that's it. nothing happens. The turtlebot doesn't rotate.
Any help is appreciated. Thank you
↧
I am getting an error while using Cartographer with Turtlebot
I am following this article:
https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/
I am using ROS-Kinetic. When I use "catkin_make_isolated --install --use-ninja" command, I get the following error:
FAILED: cd /home/prateek/catkin_ws/build_isolated/cartographer/install && /usr/bin/protoc --cpp_out /home/prateek/catkin_ws/build_isolated/cartographer/install -I /home/prateek/catkin_ws/src/cartographer /home/prateek/catkin_ws/src/cartographer/cartographer/mapping/proto/trajectory_builder_options.proto
cartographer/mapping/proto/trajectory_builder_options.proto:15:10: Unrecognized syntax identifier "proto3". This parser only recognizes "proto2".
ninja: build stopped: subcommand failed.<== Failed to process package 'cartographer':
Command '['/home/prateek/catkin_ws/install_isolated/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1
Please help!
↧
How can I publish Twist messages to /gazebo node(amcl_demo.launch)
Hello! I'm runnning TurtleBot on rviz, and I want to publish Twist messages to the "/gazebo" node in order to control robot's velocity.
I wrote a publisher as below but it didn't work.
How can I solve this ploblem? Could you tell me please? my code↓↓ #!/usr/bin/env python import rospy from geometry_msgs.msg import Twist def callback(data): pub=rospy.Publisher("/gazebo",Twist,queue_size=10) vel_msg=Twist() print(data.linear.x,data.angular.z) vel_msg.linear.x=0 vel_msg.angular.z=0 pub.publish(vel_msg) def main(): rospy.init_node("GetVelocity") sub=rospy.Subscriber("/mobile_base/commands/velocity",Twist,callback) rospy.spin() if __name__== "__main__": try: main() except rospy.ROSInterruptException: pass rqt_graph Image↓↓(while running "amcl_demo.launch"&"rviz"&"turtlebot_world.launch"&"above code")
[rqt_graph](https://imgur.com/a/43dCkc1)(red arrow in this picture shows what I want to do)
I wrote a publisher as below but it didn't work.
How can I solve this ploblem? Could you tell me please? my code↓↓ #!/usr/bin/env python import rospy from geometry_msgs.msg import Twist def callback(data): pub=rospy.Publisher("/gazebo",Twist,queue_size=10) vel_msg=Twist() print(data.linear.x,data.angular.z) vel_msg.linear.x=0 vel_msg.angular.z=0 pub.publish(vel_msg) def main(): rospy.init_node("GetVelocity") sub=rospy.Subscriber("/mobile_base/commands/velocity",Twist,callback) rospy.spin() if __name__== "__main__": try: main() except rospy.ROSInterruptException: pass rqt_graph Image↓↓(while running "amcl_demo.launch"&"rviz"&"turtlebot_world.launch"&"above code")
[rqt_graph](https://imgur.com/a/43dCkc1)(red arrow in this picture shows what I want to do)
↧
↧
Kobuki: malformed sub-payload detected
Hello,
I am using turtlebot2 with the Kobuki base. I was following the step by step tutorial from http://learn.turtlebot.com/2015/02/01/6/
Upon entering the command roslaunch turtlebot_bringup minimal.launch, the error
[ERROR] [1536297846.893166146]: Kobuki : malformed sub-payload detected. [239][170][EF AA 55 4D 01 0F ]
keeps coming out line after line.
No other errors appeared. i am running ubuntu16.04 and ROS kinetic.
Any advice will be greatly appreciated. Thank you.
↧
How to react with Models listed in Gazebo
Hello,
My System: Ubuntu 18.04 and ROS melodic
I am new with gazebo_ros. I have opened gazebo using `rosrun gazebo_ros gazebo` and inserted turtlebot. the gazebo looks like this.
Then I saved the world file and using the launch file below I can run it again:
`follower` is the name of the package.
↧
rospy.get_time() returns 0 when using gazebo
Hi,
When I run my code, I run into two problems. First, when I call `rospy.get_time()`, it returns 0. Secondly, in my while loop, perhaps due to the first issue, it only iterates once. Here is my code:
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
topicName = "cmd_vel_mux/teleop"
pub = rospy.Publisher("cmd_vel_mux/input/teleop", Twist, queue_size=10)
rospy.init_node('drive_time')
b_time = rospy.get_time()
print b_time
n = 0
while rospy.get_time() < b_time + 5:
n+=1
t = Twist()
t.linear.x = 0.1
pub.publish(t)
rospy.sleep(0.1)
print n
print "done"
t = Twist()
t.linear.x = 0.1
pub.publish(t)
I am running a turtlebot in gazebo using `turtlebot_world.launch`. I tried changing the param `use_sim_time` to false and to true and it didn't work either way. When I initialize a node by typing it into the interpreter, `rospy.get_time()` works fine. Any ideas as to why this is happening?
↧
In Gazebo, my robot can't see AR tag
OS : Ubuntu 16.04
ROS : Kinetic
Simulator : Gazebo
I made an AR tag model using Blender. (.dae)
And make a SDF file for Gazebo. I can see the AR tag in Gazebo.
----------
4 0 0 0 0 0 true 2 0 0 0 0 0 model://ar_tags_for_turtlebot3_exp_house/meshes/ar_tag_00.dae
↧
↧
openai_ros example in local computer does not work.
Hello. I'm trying to this [openai_ros gym tutorials](http://wiki.ros.org/openai_ros/TurtleBot2%20with%20openai_ros), **not using ROS Development Studio(RDS)**.
I already checked that it does work in RDS following step by step. There was not problem at all.
**BUT**, I couldn't do this same tutorial in my local computer. It was troubled on the just first step.
If I type the following on my local command terminal,
roslaunch gym_construct main.launch
then it shows that
[ INFO] [1537961641.295151763, 0.348000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1537961641.295818023, 0.348000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1537961641.298928159, 0.348000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1537961641.299555014, 0.348000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_turtlebot_model-2] process has finished cleanly
log file: /home/parkbj/.ros/log/043fb95e-c180-11e8-8ab1-7085c22a655c/spawn_turtlebot_model-2*.log
And then, there is nothing happened. **Gazebo** has to be loaded, but **NOT**.
This problem is not only for local computer. It does though for RDS.
If I just type the same command in the **Shell of RDS, instead of Simulations tap > Select a launch file > main.launch**,
then I get a exactly same result.
I want to try this tutorial in local computer to integrate a reinforcement learning part included in it with my own robot later.
However, **how to do this tutorial in the local computer, not using RDS is nowhere.**
Please let me know this.
**FIY**, the following is the **all step of my trials** on command terminal **in local computer** for doing this tutorial.
1. Download [Turtlebot2Maze](https://bitbucket.org/theconstructcore/turtlebot/src) pkgs, and set branch.
cd ~/catkin_ws/src
git clone https://bitbucket.org/theconstructcore/turtlebot.git
cd ~/catkin_ws/src/turtle
git fetch && git checkout kinetic
cd ~/catkin_ws
catkin_make
source devel/setup.bash
2. Download [openai_ros](https://bitbucket.org/theconstructcore/openai_ros/src/kinetic-devel/) pkgs, and set branch.
cd ~/catkin_ws/src
git clone https://bitbucket.org/theconstructcore/openai_ros.git
cd ~/catkin_ws/src/openai_ros
git fetch && git checkout kinetic-devel
cd ~/catkin_ws
catkin_make
source devel/setup.bash
3. Download [openai_examples_projects](https://bitbucket.org/theconstructcore/openai_examples_projects/src) pkgs, and set branch.
cd ~/catkin_ws/src
git clone https://bitbucket.org/theconstructcore/openai_examples_projects.git
cd ~/catkin_ws/src/openai_examples_projects
git fetch && git checkout tutorials
cd ~/catkin_ws
catkin_make
source devel/setup.bash
4. Download [open_ai_gym_construct](https://bitbucket.org/theconstructcore/open_ai_gym_construct/src) pkgs, and set branch.
cd ~/catkin_ws/src
git clone https://bitbucket.org/theconstructcore/open_ai_gym_construct.git
cd ~/catkin_ws/src/open_ai_gym_construct
git fetch && git checkout master
cd ~/catkin_ws
catkin_make
source devel/setup.bash
5. Launch **gym_construct main.launch** file in command terminal.
roslaunch gym_construct main.launch
6. Then, the command terminal shows this result. (This is exactly same with the result of shell in RDS)
parkbj@parkbj-desktop:~$ roslaunch gym_construct main.launch
... logging to /home/parkbj/.ros/log/043fb95e-c180-11e8-8ab1-7085c22a655c/roslaunch-parkbj-desktop-4063.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.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/parkbj/catkin_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro
xacro.py is deprecated; please use xacro instead
started roslaunch server http://161.122.112.91:35127/
SUMMARY
========
PARAMETERS
* /cmd_vel_mux/yaml_cfg_file: /home/parkbj/catk...
* /robot_description: , set to ""
[ INFO] [1537961641.192125663, 0.348000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1537961641.192238237, 0.348000000]: Starting GazeboRosLaser Plugin (ns = /)
[ INFO] [1537961641.193612622, 0.348000000]: GPU Laser Plugin (ns = /) , set to ""
[ INFO] [1537961641.194959259, 0.348000000]: LoadThread function completed
[ INFO] [1537961641.291780997, 0.348000000]: Starting plugin DiffDrive(ns = //)
[ WARN] [1537961641.291884756, 0.348000000]: DiffDrive(ns = //): missing default is na
[ INFO] [1537961641.293028751, 0.348000000]: DiffDrive(ns = //): =
[ WARN] [1537961641.293188294, 0.348000000]: DiffDrive(ns = //): missing default is false
[ WARN] [1537961641.293204831, 0.348000000]: DiffDrive(ns = //): missing default is ture
[ WARN] [1537961641.293446885, 0.348000000]: DiffDrive(ns = //): missing default is 0
[ WARN] [1537961641.293479654, 0.348000000]: DiffDrive(ns = //): missing default is 5
[ WARN] [1537961641.293972331, 0.348000000]: DiffDrive(ns = //): missing default is 1
[ WARN] [1537961641.294292592, 0.348000000]: GazeboRosDiffDrive Plugin (ns = ) missing , defaults to 1
[ INFO] [1537961641.295151763, 0.348000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1537961641.295818023, 0.348000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1537961641.298928159, 0.348000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1537961641.299555014, 0.348000000]: DiffDrive(ns = //): Advertise odom on odom
[spawn_turtlebot_model-2] process has finished cleanly
log file: /home/parkbj/.ros/log/043fb95e-c180-11e8-8ab1-7085c22a655c/spawn_turtlebot_model-2*.log
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How to make turtlebot rotate left and right ?
I am currently using Ubuntu 14.04, the only way I can move my turtlebot is by using "roslaunch turtlebot_bringup minimal.launch" and "roslaunch turtlebot_teleop keyboard_teleop.launch" to move my turtlebot via keyboard.
How should I make my turtlebot rotate left and right by its own by running the python(.py) file ?
Sorry for my poor english, please help me if you know the answer. Thanks.
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Some errors when running gmapping_demo on a turtlebot
Hello!
I have a turtlebot2. And my ros distro is kinetic.
And I just tried to use it to build a map with slam, following the tutorial on the website.
(http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM)
Everything was OK until I entered the command
`roslaunch turtlebot_navigation gmapping_demo.launch `
There was an error which was:
> [ERROR] [1525520327.760808073]: Failed to load nodelet [/depthimage_to_laserscan] of type [depthimage_to_laserscan/DepthImageToLaserScanNodelet] even after refreshing the cache: Failed to load library /opt/ros/kinetic/lib//libDepthImageToLaserScanNodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libopencv_core3.so.3.3: cannot open shared object file: No such file or directory) [ERROR] [1525520327.760876329]: The error before refreshing the cache was: Failed to load library /opt/ros/kinetic/lib//libDepthImageToLaserScanNodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libopencv_core3.so.3.3: cannot open shared object file: No such file or directory) [FATAL] [1525520327.761157035]: Failed to load nodelet '/depthimage_to_laserscanof typedepthimage_to_laserscan/DepthImageToLaserScanNodeletto managercamera/camera_nodelet_manager' [depthimage_to_laserscan-14] process has died [pid 6103, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera/camera_nodelet_manager image:=camera/depth/image_raw scan:=/scan camera/image:=camera/depth/image_raw camera/scan:=/scan __name:=depthimage_to_laserscan __log:=/home/ghw/.ros/log/d2db6dce-5058-11e8-99e4-2c6e85fea0ec/depthimage_to_laserscan-14.log]. log file: /home/ghw/.ros/log/d2db6dce-5058-11e8-99e4-2c6e85fea0ec/depthimage_to_laserscan-14*.log
****************************************************************************************************************************
That was weird because I've already installed the package *depthimage_to_laserscan*.
And when I entered `rosrun depthimage_to_laserscan depthimage_to_laserscan`
It said that:
> /opt/ros/kinetic/lib/depthimage_to_laserscan/depthimage_to_laserscan: error while loading shared libraries: libopencv_core3.so.3.3: cannot open shared object file: No such file or directory
Did this mean that there is something wrong in the OPENCV?
And I don't know how to deal with this now.
How can I sucessfully build a map with a turtlebot2 ?
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