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gaunthan / Turtlebot2-On-Melodic

Make your Turtlebot2 runs on ROS Melodic (Ubuntu 18.04).
GNU Lesser General Public License v3.0
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wheel_left_joint and wheel_right_joint are not in tf tree #7

Open willzoe opened 4 years ago

willzoe commented 4 years ago

When I use command roslaunch turtlebot_bringup minimal.launch to launch turtlebot, the terminal prints the following information:

... logging to /home/scuimg/.ros/log/6dadad54-9b92-11ea-98f7-4a0c02312ac9/roslaunch-scuimg-nano-18492.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
Deprecated: xacro tag 'kobuki' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/scuimg/turtlebot_ws/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://192.168.0.115:46097/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/scuimg/turt...
 * /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
 * /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
 * /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
 * /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
 * /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
 * /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
 * /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
 * /diagnostic_aggregator/analyzers/power/path: Power System
 * /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/power/timeout: 5.0
 * /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
 * /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
 * /diagnostic_aggregator/analyzers/sensors/path: Sensors
 * /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
 * /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
 * /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
 * /diagnostic_aggregator/base_path: 
 * /diagnostic_aggregator/pub_rate: 1.0
 * /mobile_base/base_frame: base_footprint
 * /mobile_base/battery_capacity: 16.5
 * /mobile_base/battery_dangerous: 13.2
 * /mobile_base/battery_low: 14.0
 * /mobile_base/cmd_vel_timeout: 0.6
 * /mobile_base/device_port: /dev/kobuki
 * /mobile_base/odom_frame: odom
 * /mobile_base/publish_tf: True
 * /mobile_base/use_imu_heading: True
 * /mobile_base/wheel_left_joint_name: wheel_left_joint
 * /mobile_base/wheel_right_joint_name: wheel_right_joint
 * /robot/name: turtlebot
 * /robot/type: turtlebot
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 5.0
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /turtlebot_laptop_battery/acpi_path: /sys/class/power_...
 * /use_sim_time: False

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    mobile_base (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

auto-starting new master
process[master]: started with pid [18505]
ROS_MASTER_URI=http://192.168.0.115:11311

setting /run_id to 6dadad54-9b92-11ea-98f7-4a0c02312ac9
process[rosout-1]: started with pid [18516]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [18523]
process[diagnostic_aggregator-3]: started with pid [18524]
process[mobile_base_nodelet_manager-4]: started with pid [18525]
process[mobile_base-5]: started with pid [18531]
process[bumper2pointcloud-6]: started with pid [18536]
process[cmd_vel_mux-7]: started with pid [18539]
ERROR: cannot launch node of type [laptop_battery_monitor/laptop_battery.py]: laptop_battery_monitor
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/scuimg/myrobot/src
ROS path [2]=/home/scuimg/turtlebot_ws/src
ROS path [3]=/home/scuimg/catkin_ws/src
ROS path [4]=/opt/ros/melodic/share
[ WARN] [1590086387.478923809]: Kobuki : Robot firmware is outdated; we suggest you to upgrade it to benefit from the latest features. Consult how-to on: http://kobuki.yujinrobot.com/home-en/documentation/howtos/upgrading-firmware
[ WARN] [1590086387.479120531]: Kobuki : Robot firmware version is 1.1.4; latest version is 1.2.x

When I checked the tf tree, I did not find wheel_left_joint and wheel_right_joint in it. frames

Is this the same for yours?

marvinferber commented 4 years ago

I can confirm the issue and I think this problem is related to this #2. I described a possible solution here. When installing all necessary kobuki packages wheel_left_link and wheel_right_link appear in the tf tree.