search

turtlebot / turtlebot_apps

A group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot.
http://www.ros.org/wiki/turtlebot_apps
196 stars 225 forks source link

Add simulation launch in turtlebot_follower #142

Closed nampi closed 8 years ago

nampi commented 8 years ago
  1. Launch nodes "follower_velocity_smoother" and "turtlebot_follower" as standalone node.
  2. Insert "velocity_smoother.launch.xml" file in simulation block.
  3. It works in gazebo_concert.
tfoote commented 8 years ago

Hi @nampi, this looks good overall. Thanks for putting it together and it looks like it will work. I've made some suggestions which will make it slightly more complicated. But my goal is that it will be more maintainable in the long run. For example I want to have the same parameters in both simulation and the real world. And if they are written in two places, every time you change one you need to change the other, and inevitably it will get out of sync eventually when someone makes a mistake.

nampi commented 8 years ago

@tfoote Thanks a lot! I agree with you.

  1. Added the "navigation_topic" argument, because the program didn't work in simulation with "/" at the beginning.

    <arg name="navigation_topic" value="/cmd_vel_mux/input/navi"/>
  2. Added node "nodelet manager" inside the simulation branch.
tfoote commented 8 years ago

Reading this over it looks good.

I want to test it on a real robot before adding it though. I'll try to get one together this week.