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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Cannot move robot in Turtlebot3 Gazebo simulations #986

Open saadi-tech opened 9 months ago

saadi-tech commented 9 months ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger
    • [Yes] Waffle
    • [ ] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [ ] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [Yes] ROS 2 Foxy Fitzroy
    • [ ] etc (Please specify your ROS Version here)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [ Only simulation ] etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.04)
    • [ ] etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [Yes] Ubuntu 20.04 LTS (Focal Fossa)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [ ] etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    • After setting the proper env variables,
    • ros2 launch turtlebot3_gazebo empty_world.launch.py
    • But it does not launch the robot simulation properly. I cannot see any new published topics like /scan, /imu etc. The robot also doest not move while using keyboard_teleop (the commands are being sent to /cmd_Vel, but their is no subscriber).

  8. Copy and Paste the error messages on terminal.

    • [robot_state_publisher-4] [WARN] [1695018012.582064766] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.

    • I removed this warning by using: parameters=[{'use_sim_time': use_sim_time, 'robot_description': Command(['cat ', urdf])}],

      in robot_state_publisher.launch.py, now the warning is gone. But the robot does not work. I do not see any errors on the terminal or Gazebo logs.

  9. Please describe the issue in detail.

    • I want to launch turtlebot3 and move it around in Gazebo using teleop. But after setting everything according to the official guide, it still does not work. When I launch this robot 'waffle', it does not start topics like /odom, /scan etc. I try to move it using keyboard_teleop, but again it doest not work. The commands are sent into the /cmd_vel correctly, but there is no subscriber to this topic. First, it was showing a warning 'No robot_description parameter'. So I thought it could be the problem, so I changed the robot_state_publisher file. But again it does not start the required topics and the robot does not move. I do not see any error on Gazebo terminal or gazebo logs. Please help!!!!