No such file or directory amcl.launch.xml under turtlebot_navigation package!

[mzaiady]

I'm getting the following error

while processing /opt/ros/indigo/share/turtlebot_navigation/launch/includes/amcl.launch.xml: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/indigo/share/turtlebot_navigation/launch/includes/amcl.launch.xml' The traceback for the exception was written to the log file

While running command

roslaunch turtlebot_gazebo amcl_demo.launch

The amcl_demo.launch contains

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

While file locations changed in turtlebot_navigation:

...avigation/launch/includes/amcl.launch.xml → ...tion/launch/includes/amcl/amcl.launch.xml

[mzaiady]

I used the following workaround until turtlebot_gazebo get updates, by updating the

/opt/ros/indigo/share/turtlebot_gazebo/launch/amcl_demo.launch

To the following (same logic included in the updated turtlebot_navigation/launch/amcl_demo.launch ),

<launch>
      <!-- Map server -->
      <arg name="map_file" default="$(env TURTLEBOT_GAZEBO_MAP_FILE)"/>
      <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->

      <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

      <!-- Localization -->
      <arg name="initial_pose_x" default="0.0"/>
      <arg name="initial_pose_y" default="0.0"/>
      <arg name="initial_pose_a" default="0.0"/>
     <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 

      <include file="$(arg custom_amcl_launch_file)">
        <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
        <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
        <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
      </include>

      <!-- Move base -->
     <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>*
     <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
     <arg name="custom_param_file" value="$(arg custom_param_file)"/>
     </include>
    </launch>

Replaced

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">

With:

  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> 
    <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/$(arg 3d_sensor)_amcl.launch.xml"/> 
      <include file="$(arg custom_amcl_launch_file)">

also added <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/$(arg 3d_sensor)_costmap_params.yaml"/>* <arg name="custom_param_file" value="$(arg custom_param_file)"/>

[mzaiady]

The issue also exist if you creating a new map, so to make my answer complete, also gmapping-demo.launch need to be updated:

sudo gedit /opt/ros/indigo/share/turtlebot_gazebo/launch/gmapping_demo.launch

and replace the content with :

<launch>
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/$(arg 3d_sensor)_gmapping.launch.xml"/>
  <include file="$(arg custom_gmapping_launch_file)"/>
</launch>

[kevincwells]

Good catch -- yes, the turtlebot_gazebo launch files should be updated to point to the right location. Apologies for this oversight. If you've made the changes, can you submit them as a pull request?

[mzaiady]

I submitted one, 10 minutes ago.

[rohbotics]

This can be closed, @mzaiady 's PR was merged.

https://github.com/turtlebot/turtlebot_simulator/pull/61

[stonier]

Thanks for tracking some of these @rohbotics

[kevincwells]

Yeah, @rohbotics has been on a roll today. Thanks for testing so many of these issues and pull requests!

[rohbotics]

Thanks! :blush: I am interning at OSRF for my holiday break this week, so I started by going through pending PRs for turtlebot things.