Having trouble with step "2.3 Gazebo Simulation Setup" / Turtlebot3 not moving in GAZEBO and missing some nodes in RQT GRAPH

[HieskarSG]

• [ YES ] I am at the right place and my issue is directly related to ROS#. General technical questions I would post e.g. at ROS Answers or Stack Overflow. For library-specific questions I would look for help in the corresponding library forums.
• [ YES ] I have thoroughly read the Contributing Guideline and writing this issue is the right thing to do in my case.

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I have a question!

• [ YES ] I searched the Wiki, open and closed issues for an answer. I tried my best to find the answer by myself without success. I believe that the discussion we will have in this issue, and the solutions we might find, will help me, and likely other community members who have a similar problem.

Here is my question: I'm using ubuntu 18.04.5, ROS Melodic, Gazebo 9, Unity 2021.3.24f1 and turtlebot3.

I followed all the tutorials and videos. I'm using a xbox controller to move my robot here's my code if it helps for context:

using UnityEngine;

public class ControlDeRobot : MonoBehaviour
{

    public float moveSpeed = 1.0f; // Velocidad de movimiento del objeto
    public float rotationSpeed = 100.0f; // Velocidad de rotación del objeto

    private bool DeadmanPressed = false;
    private bool PlusVelInput = false;
    private bool MinVelInput = false;
    private float VariadorVel = 0.0f;

    void Update()
    {

        //Verificar si el botón de hombre muerto está presionado
        //El botón "DeadmanButton" está configurado como "LT" en el mando Xbox en Input Manager
        DeadmanPressed = Input.GetButton("DeadmanButton"); 

        if (DeadmanPressed)
        {
            // Captura la entrada de los ejes horizontal y vertical
        float horizontalInput = Input.GetAxis("MoverHorizontal");
        float verticalInput = Input.GetAxis("MoverVertical");

           //Captura la entrada de los botones de subir y bajar velocidad
         PlusVelInput = Input.GetButton("PlusVel");
         MinVelInput = Input.GetButton("MinVel");

            // Calcula el desplazamiento en función de la entrada
            Vector3 moveDirection = new Vector3(horizontalInput, 0, verticalInput).normalized;

            //Aumenta el valor del variador de velocidad en 0.2 cada que se presione botón PlusVel
            if (PlusVelInput)
            {
                VariadorVel = VariadorVel + 0.1f;            
            }

            //Disminuye el valor del variador de velocidad en 0.2 cada que se presione el botón MinVel
            if (MinVelInput)
            {
                VariadorVel = VariadorVel - 0.1f;
                 }

            moveSpeed = moveSpeed + VariadorVel;
            moveSpeed = Mathf.Clamp(moveSpeed, 0.0f, 6.0f); // Limita la velocidad a un rango de 0 a 5 

            // Mueve el objeto en la dirección calculada
            transform.Translate(moveDirection * moveSpeed * Time.deltaTime);

        // Captura la entrada de los ejes de rotación (joysticks del control de Xbox)
        float rotationInput = Input.GetAxis("Xbox360RightStickX");

        // Calcula la rotación en función de la entrada
        Vector3 rotation = new Vector3(0, rotationInput, 0) * rotationSpeed * Time.deltaTime;

        // Rota el objeto en la dirección calculada
        transform.Rotate(rotation);
    }
}
}

First I use: roslaunch file_server ros_sharp_communication.launch , then I play my scene in UNITY, after that I run: roslaunch file_server visualize_robot.launch model:=$(rospack find x_1)/turtlebot3_burger.urdf.urdf (I've done the steps in unity transfer URDF to ROS). Finally y use: roslaunch gazebo_simulation_scene gazebo_simulation_scene.launch

In MY rqt GRAPH it show this:

instead of this that is shown in the video:

I've researched a lot, but haven't figured out what is wrong and why my turtlebot 3 is not moving in gazebo along with the one in Unity.

Thank you so much for your help.

• My OS is: Windows 10
• My Unity Version is: 2021.3.24f1
• My ROS Distribution is: Melodic
• My Build Target Platform is: Gazebo 9

[MartinBischoff]

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