I've just started to learn ROS, and I'm following the course: Programming for Robotics.
In Lecture 1, they asked to run Husky simulator package. I'm using ROS Lunar version, so I've had to compile it. In fact, I have had to compile all of these packages:
- geographic_info
- husky
- interactive_marker_twist_server
- lms1xx
- robot_localization
- ros_control
- teleop_twist_keyboard
- twist_mux
- unique_identifier
I have created this launch file:
<?xml version="1.0"?>
<launch>
<include file="$(find husky_gazebo)/launch/husky_empty_world.launch" >
<arg name="world_name" value="/usr/share/gazebo-7/worlds/robocup14_spl_field.world" />
</include>
<node name="teleop" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen" />
</launch>
Bur, when I try to move the robot with the keyboard, selecting the terminal where I have launched the launch file, it doesn't. It only appears this on terminal window:
SUMMARY
========
PARAMETERS
* /ekf_localization/base_link_frame: base_link
* /ekf_localization/frequency: 50
* /ekf_localization/imu0: imu/data
* /ekf_localization/imu0_config: [False, False, Fa...
* /ekf_localization/imu0_differential: True
* /ekf_localization/imu0_queue_size: 10
* /ekf_localization/imu0_remove_gravitational_acceleration: True
* /ekf_localization/odom0: husky_velocity_co...
* /ekf_localization/odom0_config: [False, False, Fa...
* /ekf_localization/odom0_differential: False
* /ekf_localization/odom0_queue_size: 10
* /ekf_localization/odom_frame: odom
* /ekf_localization/two_d_mode: True
* /ekf_localization/world_frame: odom
* /gazebo/enable_ros_network: True
* /husky_joint_publisher/publish_rate: 50
* /husky_joint_publisher/type: joint_state_contr...
* /husky_velocity_controller/angular/z/has_acceleration_limits: True
* /husky_velocity_controller/angular/z/has_velocity_limits: True
* /husky_velocity_controller/angular/z/max_acceleration: 6.0
* /husky_velocity_controller/angular/z/max_velocity: 2.0
* /husky_velocity_controller/base_frame_id: base_link
* /husky_velocity_controller/cmd_vel_timeout: 0.25
* /husky_velocity_controller/enable_odom_tf: False
* /husky_velocity_controller/estimate_velocity_from_position: False
* /husky_velocity_controller/left_wheel: ['front_left_whee...
* /husky_velocity_controller/linear/x/has_acceleration_limits: True
* /husky_velocity_controller/linear/x/has_velocity_limits: True
* /husky_velocity_controller/linear/x/max_acceleration: 3.0
* /husky_velocity_controller/linear/x/max_velocity: 1.0
* /husky_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /husky_velocity_controller/publish_rate: 50
* /husky_velocity_controller/right_wheel: ['front_right_whe...
* /husky_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /husky_velocity_controller/type: diff_drive_contro...
* /husky_velocity_controller/velocity_rolling_window_size: 2
* /husky_velocity_controller/wheel_radius_multiplier: 1.0
* /husky_velocity_controller/wheel_separation_multiplier: 1.875
* /robot_description: <?xml version="1....
* /rosdistro: lunar
* /rosversion: 1.13.6
* /twist_mux/locks: [{'topic': 'e_sto...
* /twist_mux/topics: [{'topic': 'joy_t...
* /use_sim_time: True
NODES
/
base_controller_spawner (controller_manager/spawner)
ekf_localization (robot_localization/ekf_localization_node)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_husky_model (gazebo_ros/spawn_model)
teleop (teleop_twist_keyboard/teleop_twist_keyboard.py)
twist_marker_server (interactive_marker_twist_server/marker_server)
twist_mux (twist_mux/twist_mux)
auto-starting new master
process[master]: started with pid [25984]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2bffeb0c-8126-11e8-bd69-fcaa149ccb50
process[rosout-1]: started with pid [25997]
started core service [/rosout]
process[gazebo-2]: started with pid [26015]
process[gazebo_gui-3]: started with pid [26026]
process[base_controller_spawner-4]: started with pid [26031]
process[ekf_localization-5]: started with pid [26032]
process[twist_marker_server-6]: started with pid [26033]
process[robot_state_publisher-7]: started with pid [26034]
process[twist_mux-8]: started with pid [26054]
process[spawn_husky_model-9]: started with pid [26072]
process[teleop-10]: started with pid [26106]
[ INFO] [1530886158.885034522]: [twist_marker_server] Initialized.
[ INFO] [1530886159.102619925]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1530886159.102823160]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1530886159.123702779]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1530886159.124722013]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
currently: speed 0.5 turn 1.0
The rqt_graph is:
With nodes and topics:
rosnode list is:
/ekf_localization
/gazebo
/gazebo_gui
/robot_state_publisher
/rosout
/teleop
/twist_marker_server
/twist_mux
rostopic list is:
/clock
/cmd_vel
/diagnostics
/e_stop
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/husky_velocity_controller/cmd_vel
/husky_velocity_controller/odom
/imu/data
/joint_states
/joy_teleop/cmd_vel
/odometry/filtered
/rosout
/rosout_agg
/scan
/set_pose
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full
What is wrong?
UPDATE:
I get this warning:
[WARN] [1530902387.083562, 14.437000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
I have tried this:
rosservice list | grep controller_manager
With no output.
Originally posted by Elric on ROS Answers with karma: 71 on 2018-07-06
Post score: 1
Original comments
Comment by Akash Purandare on 2018-07-06:
Can you go to the nodes only drop down, select Nodes and Topics and send the screenshot of that window?
Comment by Elric on 2018-07-06:
@AkashPurandare I have added the screenshot.