fjp
commented
3 years ago Hi, thanks for trying the diffbot packages. The diffbot_base.launch from the diffbot_gazebo package isn't well tested and is intended to run together with the real robot hardware.
So just to clarify, you should run diffbot_base/launch/diffbot.launch on the real robot hardware and diffbot_gazebo/launch/diffbot_base.launch on your development PC.
If you don't have the robot hardware, it is only possible to work with the simulated robot and the ros control gazebo plugin. For this I suggest you follow the examples in the readme, here in this section.
It is unfortunately not possible to simulate the encoder ticks in gazebo.
I hope this helps, otherwise just let me know. Thanks.
Hi, I am trying to get the diffbot controller working in simulation. When I run the diffbot_base.launch file I see the following error:
RLException: roslaunch file contains multiple nodes named [/diffbot/robot_state_publisher]. Please check all <node> 'name' attributes to make sure they are unique. Also check that $(anon id) use different ids. The traceback for the exception was written to the log fileI can get it to run if change the name of diffbot/robot_state_publisher/ to something else such as diffbot_2/robot_state_publisher. However, I can't see the controller working in simulation. If I try to do a rostopic of encoder ticks or mesured joint states, I don't see any message being published. I see the following warning message:WARNING: no messages received and simulated time is active. Is /clock being published?My steps are:
roslaunch diffbot_base diffbot.launch roslaunch diffbot_gazebo diffbot_base.launchCould you please guide me, what am I doing wrong. Thank you!