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turtlebot / turtlebot_simulator

Launchers for Gazebo simulation of the TurtleBot
http://www.ros.org/wiki/turtlebot_simulator
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Turtlebot sim not moving: [map] does not exist #74

Open DanielArnett opened 5 years ago

DanielArnett commented 5 years ago

I'm trying to drive the turtlebot in Gazebo. I've done this quite a few times, but now isn't working for some reason. I've done it before on Indigo, but struggling on Kinetic.

My installation procedure:

  1. Install ROS Kinetic on Ubuntu 16.04
  2. Install Catkin
  3. Install gazebo
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo7
sudo apt-get install libgazebo7-*

Now I try to run gazebo

  1. Run turtlebot gazebo roslaunch turtlebot_gazebo turtlebot_world.launch
  2. Run teleop roslaunch turtlebot_teleop keyboard_teleop.launch

Now I send teleop commands but see no movement. So I check the topics and see if there is any movement:

  1. /turtlebot_node/cmd_vel is responding to my teleop commands, the x velocity smoothly accelerates from 0.0 to 0.2 as expected.
  2. /cmd_vel_mux/input/teleop does the same. With both of these I believe that turtlebot should now be moving.

Here's my rqt_graph image

Here's my frames image

Notice that there is no /map frame.

When I open rviz I see image

and this continues for every frame. So I add a static transform to try to fix this. rosrun tf static_tf_publisher 0 0 0 0 0 0 map base_footprint 100

Now that error goes away but there's weirdness. The wheels still don't have the correct transformation? image

So that's essentially where I am. The tfs aren't working by default. I've tried uninstalling, reinstalling, using different installation instructions on fresh partitions but I keep running into this unmoving turtlebot. Any help would be appreciated.

tfoote commented 5 years ago

If you don't have a localization algorithm running the connectivity to the map frame is not expected. If you change the "Fixed Frame" in the rviz global options to something like base_link or base_footprint

image

DanielArnett commented 5 years ago

That's fine but it still can't drive. I've tried teleop and some of the standard autonomy packages with no luck. Again I had no issues on Indigo, not that I think Kinetic is necessarily the problem.

On Mon, Jan 28, 2019, 21:33 Tully Foote <notifications@github.com wrote:

If you don't have a localization algorithm running the connectivity to the map frame is not expected. If you change the "Fixed Frame" in the rviz global options to something like base_link or base_footprint

[image: image] https://user-images.githubusercontent.com/447804/51880172-1c7c8800-232b-11e9-8909-de4a0047c20e.png

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/turtlebot/turtlebot_simulator/issues/74#issuecomment-458384119, or mute the thread https://github.com/notifications/unsubscribe-auth/AC45_usSnT1wTdtQFbcnEE9UpHD3-FOwks5vH7LvgaJpZM4aUOVA .

tfoote commented 5 years ago

I tried to reproduce this but it seems to teleoperate fine. Here's what I did. https://gist.github.com/tfoote/432813cd6f654b7ac6504a65fd5f27c4

From this clean install there's likely things different about your environment that you will need to determine.

DanielArnett commented 5 years ago

@tfoote Fantastic, thank you! I'll purge everything ROS related and give this a go.