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ROBOTIS-GIT / turtlebot3_simulations

Simulations for TurtleBot3
http://turtlebot3.robotis.com/
Apache License 2.0
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ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py #204

Closed Hensbag closed 11 months ago

Hensbag commented 1 year ago

when I try to open turtlebot3_model = waffle the robot not shown in gazebo world but the scan is visible . I have changed the model.sdf files camera as a depth camera. Screenshot from 2023-10-02 21-31-55 launch.log

Hensbag commented 1 year ago

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [INFO] [launch]: All log files can be found below /home/hasan/.ros/log/2023-10-03-13-25-00-843416-hasan-TULPAR-T7-V20-2-21387 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf urdf_file_name : turtlebot3_waffle.urdf [INFO] [gzserver-1]: process started with pid [21391] [INFO] [gzclient-2]: process started with pid [21393] [INFO] [robot_state_publisher-3]: process started with pid [21395] [INFO] [spawn_entity.py-4]: process started with pid [21397] [robot_state_publisher-3] [INFO] [1696328702.095739897] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1696328702.095856757] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1696328702.095866587] [robot_state_publisher]: got segment base_scan [robot_state_publisher-3] [INFO] [1696328702.095871929] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-3] [INFO] [1696328702.095876800] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-3] [INFO] [1696328702.095881920] [robot_state_publisher]: got segment camera_link [robot_state_publisher-3] [INFO] [1696328702.095886540] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-3] [INFO] [1696328702.095891173] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-3] [INFO] [1696328702.095910251] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-3] [INFO] [1696328702.095914766] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-3] [INFO] [1696328702.095919118] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1696328702.095923376] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-3] [INFO] [1696328702.095927925] [robot_state_publisher]: got segment wheel_right_link [spawn_entity.py-4] [INFO] [1696328702.483233629] [spawn_entity]: Spawn Entity started [spawn_entity.py-4] [INFO] [1696328702.483520489] [spawn_entity]: Loading entity XML from file /home/hasan/pcl_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf [spawn_entity.py-4] [INFO] [1696328702.484128413] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30 [spawn_entity.py-4] [INFO] [1696328702.484388842] [spawn_entity]: Waiting for service /spawn_entity [spawn_entity.py-4] [INFO] [1696328702.987694323] [spawn_entity]: Calling service /spawn_entity [gzserver-1] [INFO] [1696328703.243750808] [turtlebot3_imu]: is unset, using default value of false to comply with REP 145 (world as orientation reference) [spawn_entity.py-4] [INFO] [1696328703.332019477] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [waffle] [INFO] [spawn_entity.py-4]: process has finished cleanly [pid 21397] [gzserver-1] [INFO] [1696328704.055513828] [camera_driver]: Publishing camera info to [/camera/camera_info] [gzserver-1] [INFO] [1696328704.056688060] [camera_driver]: Publishing depth camera info to [/camera/depth/camera_info] [gzserver-1] [INFO] [1696328704.056896104] [camera_driver]: Publishing pointcloud to [/camera/points] [gzserver-1] [INFO] [1696328704.147841488] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m] [gzserver-1] [INFO] [1696328704.147879273] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m] [gzserver-1] [INFO] [1696328704.148557932] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel] [gzserver-1] [INFO] [1696328704.149637805] [turtlebot3_diff_drive]: Advertise odometry on [/odom] [gzserver-1] [INFO] [1696328704.150997393] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint] [gzserver-1] [INFO] [1696328704.158385674] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint] [gzserver-1] [INFO] [1696328704.158412400] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]