Turtlebot4 Simulation turtlebot fails to respond to commands despite /cmv_vel published

JHPHELAN commented 9 months ago

Robot Model

applied to both Standard and Lite simulations

ROS distro

Humble

Networking Configuration

Not relevant. Simulation.

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

Package: ros-humble-turtlebot4-simulator Status: install ok installed Priority: optional Section: misc Installed-Size: 41 Maintainer: rkreinin rkreinin@clearpathrobotics.com Architecture: amd64 Version: 1.0.1-1jammy.20240126.090637

Type of issue

Other

Expected behaviour

Upon "ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py" or "ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true" expected Gazebo to launch and robot to respond to on-screen or keyboard movement commands.

Actual behaviour

The simulated robot failed to respond to movement commands even though $ ros2 topic echo /cmd_vel demonstrated published commands responding to GUI or keyboard commands. Sending UNDOCK command via GUI did not solve problem. Computer reboot and software re-install failed to solve problem.

Error messages

NO error messages.

To Reproduce

ubuntu@LinuxBox:~ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py In Gazebo select BUTTONS. Click buttons. No response. Select KEYBOARD. Press keys as instructed. No response. Select Turtlebot4 HMI button (4) [undock]. Try commands above again. No response.

Other notes

"ros2 topic info /cmd_vel" Type: geometry_msgs/msg/Twist Publisher count: 1 Subscription count: 2

"ros2 topic echo /cmd_vel" linear: x: 1.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0

linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0

linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: -0.5

kfu02 commented 9 months ago

Note: I have a similar problem, but on hardware. I am publishing messages to /cmd_vel manually from the command line, ros is correctly receiving them (confirmed with an ros2 topic echo), but the turtlebot does not move.

RustyCPR commented 8 months ago

@JHPHELAN Can you please confirm you pressed play? Located bottom left of the Gazebo screen.

ignition

JHPHELAN commented 8 months ago

Tried both ways. Play / Pause. Keyboard / Buttons / Sliders. No movement. ros2 topic echo /cmd_vel shows commands are being published. Just no movement of the virtual robot.

RustyCPR commented 8 months ago

HI @JHPHELAN Can you please run only: ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py Please share the terminal outputs after you press play and drive.

RustyCPR commented 7 months ago

Hi @JHPHELAN - are you still experiencing issues? If yes, can you please run only: ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py Please share the terminal outputs after you press play and drive. Regards, Rusty

RustyCPR commented 7 months ago

Closing due to inactivity.

JHPHELAN commented 7 months ago

I thought I had responded twice with this info, but guess it didn't go through. Turtlebot4Errors.txt Attached is output of ubuntu@linuxbox:~$ ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py When it became clear it wasn't going anywhere, was stopped with ^C. Additional shutdown output follows. In this case Gazebo didn't even open but kept requesting world names. Followed directions from https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html Into a FRESH INSTALL of Ubuntu 22.04 and ROS2 Humble. Did not install -Common nor -Robot prior as I don't have a physical Turtlebot. I tried following down the rabbit hole of the deprecation warning and changed fuel.ignitionrobotics.org to fuel.gazebosim.org where I could find them, but that didn't help, so backed out. Suggestions? Link to upgraded, non-depricated code? Thanks! JHP

turtlebot / turtlebot4