Hi,
I'm trying to add moving obstacles to the "turtlebot_stage". According to the tutorial (http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Customizing%20the%20Stage%20Simulator), moveable objects can be added to the map.
I tried to add velocity definition to the "myBlock.inc" and "maze.world" files, and I also referred to the model file definition (http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Customizing%20the%20Stage%20Simulator). But the obstacle only moves when it is dragged by the mouse. It doesn't move by itself.
Is it possible to add moving obstacles to the "turtlebot_stage"?
If so, what should I do?
I really appreciate your help. Thanks a lot!

Hi i'm trying to compile the indigo branch, but for some reason catkin doesn't even seem to try compiling turtlebot_simulator. When I do catkin_make --force-cmake, i do see turtlebot_simulator in the "traversing .. packages" list, however the package is not found when i try to roscd, or try to tab complete with catkin_make --pkg
Any ideas what to try?

Do something similar to amcl/gmapping demos on turtlebot_navigation and update wiki tutorials

The current version of turtlebot_stage available from debs is broken due to changes in the path to amcl. Looks like these bugs were already fixed in the from source code, but is still broken in the release version. A re-release should fix this.

For the turtlebot_dashboard it would be nice to have diagnostics output.

I'm sure it's in someone's todo list, and sorry if it's already WIP, but I open a ticket just because I didn't see it on buildfarm's status page.

There is one in the Turtlebot1 description. Shall we do the same for Turtlebot2?

_create.launch
_kobuki.launch

In the maze.world file it says 0.02 and in the maze.yaml it says 0.05.

My guess is that the resolution in the world file actually doesn't matter (as far as I remember the resolution is calculated from the size given in the map file, as I wrote here)

In that launch file we start some nodelets, but no manager. Those nodelets usually get load into openni's nodelet manager. Since this is not the case when simulating turtlebot, I added an extra nodelet manager.

Do I miss something here? If not, I would add this nodelet manager to the create launch files as well.

... to seperate create-specfic files from turtlebot ones.

This is just a heads up. For now we're removing turtlebot_simulator from the deb releases - it is not officially supported (there are a couple of blocks) and costing us time to keep an eye on the debs on the build farm.

If you're wanting to workaround the issues, feel free to play with the sources.

If the status quo should magically change, we'll update back here.

I'm using ROS Indigo on Ubuntu 14.04.

Whenever I reset the simulation on Gazebo (Edit - Reset World), all the movement stops and I've to relaunch the simulation on turtlebot_gazebo package again.

Is there a way to reset the simulation properly without relaunching it?

Mentioned here: http://answers.gazebosim.org/question/4399/turtlebot_gazebo-world-not-loading-models/
And already ticketed for Kobuki simulation here: yujinrobot/kobuki_desktop#21

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

Here's my frames

Notice that there is no /map frame.

When I open rviz I see

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?

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.

So rviz camera follows robot.

Before

roslaunch turtlebot_gazebo turtlebot_playground.launch

After

roslaunch turtlebot_gazebo turtlebot_world world_name:=playground // corridor, empty

Hello,
there is an issue with this tutorial: http://wiki.ros.org/turtlebot_stage/Tutorials/indigo/Bring%20up%20TurtleBot%20in%20stage

The height of the robot base is jumping all the time. This is aggravating due to the camera in rviz is fixed to the robot base by default.
This happens because stage_ros sends the identity transformation between base_footprint an base_link.
In kobuki_description base_link has a hight of 0.0102m.

We added a corridors world to turtlebot gazebo and a launcher rosarg for it, but it isn't very flexible as it requires the map to be in turtlebot_gazebo.

To be consistent too, we should follow what was done for turtlebot_stage with environment variables and catkin environment hooks for defaults.

We are facing troubles installing the turtlebot-simulator package via apt-get with
sudo apt-get install ros-hydro-turtlebot-simulator

The error we get is:
Depends: ros-hydro-turtlebot-gazebo but it is not going to be installed

If going on and trying to install ros-hydro-turtlebot-gazebo leads to other missing packages.

We also tried to install according to the gazebo website (http://gazebosim.org/wiki/1.9/install and http://gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages)
but then we faced some dependency issues with sdformat and libsdformat because the ros-hydro-turetlebot-gazebo wants to install gazebo-current and sdformat but gazebo-current install libsdformat which interferes with libsdformat.

Did anyone else face similar issues?

Remove if so

Hi i'm trying to compile the indigo branch, but for some reason catkin doesn't even seem to try compiling turtlebot_simulator. When I do catkin_make --force-cmake, i do see turtlebot_simulator in the "traversing .. packages" list, however the package is not found when i try to roscd, or try to tab complete with catkin_make --pkg
Any ideas what to try?

(sorry if this is a repost, my issue seem to have disappeared)

Not worrying about kobuki simulation for now - we'll do that for groovy. But we need the original gazebo working for fuerte.

Hello I am currently trying to fuse some sensors with IMU on the turtlebot to improve the readings. However I have noticed that the IMU has huge covariances in orientation and angular_velocity field( As shown below). Is there a way to fix this?
Thanks.

With the following error.

Error [Visual.cc:1697] Visual::InsertMesh no submeshes, this is an invalid mesh
Error [Visual.cc:418] Ogre Error:OGRE EXCEPTION(2:InvalidParametersException): Header chunk didn't match either endian: Corrupted stream? in Serializer::determineEndianness at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreSerializer.cpp (line 89)
Error [Visual.cc:419] Unable to create a mesh from /home/jihoonl/research/ros/turtlebot/src/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae
Error [Visual.cc:1697] Visual::InsertMesh no submeshes, this is an invalid mesh
Error [Visual.cc:418] Ogre Error:OGRE EXCEPTION(2:InvalidParametersException): Header chunk didn't match either endian: Corrupted stream? in Serializer::determineEndianness at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreSerializer.cpp (line 89)
Error [Visual.cc:419] Unable to create a mesh from /home/jihoonl/research/ros/turtlebot/src/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae
[ INFO] [1426482713.247649758, 1.030000000]: Kobuki(ns = //): <tf_prefix> = 
Dbg Plugin model name: mobile_base
[ INFO] [1426482713.247822892, 1.030000000]: Will publish tf. [mobile_base]
Error [Visual.cc:1697] Visual::InsertMesh no submeshes, this is an invalid mesh
Error [Visual.cc:418] Ogre Error:OGRE EXCEPTION(2:InvalidParametersException): Header chunk didn't match either endian: Corrupted stream? in Serializer::determineEndianness at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreSerializer.cpp (line 89)
Error [Visual.cc:419] Unable to create a mesh from /home/jihoonl/research/ros/turtlebot/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae

It seems like FBX collada exported model, sensor_polo.dae and xtion_pro_stack.dae, are not loadable in gazebo. Others dae files are open collada model

Hi

I'm teaching a robotics class that uses the turtlebot simulator. Unfortunately, the classroom was already upgraded to Ubuntu 14.04, requiring us to use ROS indigo. Can somebody please create an Indigo debian for the turtlebot simulator?

Thanks
Nikolaus

I know that the turtlebot packages for ROS Indigo are not yet supported/finished but I hope reporting this issue can help you find and fix the issue.

When launching the turtlebot gazebo simulator using

roslaunch turtlebot_gazebo turtlebot empty_world.launch

A segfault occurs, (I believe in the gzserver), and the gazebo-2 process dies.

The gazebo client window will remain open however none of the models are visible and while I can click on the models and place them in the gazebo window, they disappear as soon as I place them. The models list in the gzclient shows that no models are in the window.

Also running rostopic echo on any of the topics that do show in the rostopic list, reveal that none of the data is being published.

While I was able to run gdb on the nodes launched in the turtlebot_empty_world.launch file, I could not find the error and I am unsure how to run gdb on the entire launch sequence or individually on the gzserver or gzclient.

The reason I believe the segfault is occuring within gzserver process is because I have tried running the turtlebot simulator by opening three terminal windows and running the following commands:

roscore
rosrun gazebo_ros gzserver
roslaunch turtlebot_gazebo turtlebot_empty_world.launch

and the segfault error message will occur in the
rosrun gazebo_ros gzserver's terminal window.

Both methods of running the turtlebot simulator give the same results.
Method one: using just the roslaunch command
Method two: using the three commands listed above.

A full output of the command can be found on my post on ROS Answers.
http://answers.ros.org/question/174374/ros-indigo-turtlebot-gazebo-simulation/

The launch file calls find turtlebot_description.

http://answers.ros.org/question/58360/when-launching-simulator-errorinvalid-arg-tag-turtlebot_description/

When i catkin_make my workspace including turtlebot_simulator pkg, the problem happened:
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp: In member function ‘bool gazebo::GazeboRosApiPlugin::deleteLight(gazebo_msgs::DeleteLight::Request&, gazebo_msgs::DeleteLight::Response&)’:
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:783:3: error: ‘LightPtr’ is not a member of ‘gazebo::physics’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:783:3: note: suggested alternatives:
In file included from /usr/include/gazebo-2.2/gazebo/msgs/MessageTypes.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/msgs/msgs.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/Entity.hh:28,
from /usr/include/gazebo-2.2/gazebo/physics/Model.hh:33,
from /usr/include/gazebo-2.2/gazebo/physics/Actor.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/physics.hh:2,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:34,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/msgs/light.pb.h:746:48: note: ‘gazebo::msgs::LightPtr’
typedef boost::shared_ptrgazebo::msgs::Light LightPtr;
^
In file included from /usr/include/gazebo-2.2/gazebo/common/Plugin.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/common/common.hh:28,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:35,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/rendering/RenderTypes.hh:70:38: note: ‘gazebo::rendering::LightPtr’
typedef boost::shared_ptr LightPtr;
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:783:29: error: expected ‘;’ before ‘phy_light’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:785:7: error: ‘phy_light’ was not declared in this scope
if (phy_light == NULL)
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:799:27: error: ‘class gazebo::physics::World’ has no member named ‘Light’
phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp: In member function ‘bool gazebo::GazeboRosApiPlugin::getLightProperties(gazebo_msgs::GetLightProperties::Request&, gazebo_msgs::GetLightProperties::Response&)’:
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1131:3: error: ‘LightPtr’ is not a member of ‘gazebo::physics’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1131:3: note: suggested alternatives:
In file included from /usr/include/gazebo-2.2/gazebo/msgs/MessageTypes.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/msgs/msgs.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/Entity.hh:28,
from /usr/include/gazebo-2.2/gazebo/physics/Model.hh:33,
from /usr/include/gazebo-2.2/gazebo/physics/Actor.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/physics.hh:2,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:34,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/msgs/light.pb.h:746:48: note: ‘gazebo::msgs::LightPtr’
typedef boost::shared_ptrgazebo::msgs::Light LightPtr;
^
In file included from /usr/include/gazebo-2.2/gazebo/common/Plugin.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/common/common.hh:28,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:35,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/rendering/RenderTypes.hh:70:38: note: ‘gazebo::rendering::LightPtr’
typedef boost::shared_ptr LightPtr;
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1131:29: error: expected ‘;’ before ‘phy_light’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1133:7: error: ‘phy_light’ was not declared in this scope
if (phy_light == NULL)
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp: In member function ‘bool gazebo::GazeboRosApiPlugin::setLightProperties(gazebo_msgs::SetLightProperties::Request&, gazebo_msgs::SetLightProperties::Response&)’:
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1161:3: error: ‘LightPtr’ is not a member of ‘gazebo::physics’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1161:3: note: suggested alternatives:
In file included from /usr/include/gazebo-2.2/gazebo/msgs/MessageTypes.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/msgs/msgs.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/Entity.hh:28,
from /usr/include/gazebo-2.2/gazebo/physics/Model.hh:33,
from /usr/include/gazebo-2.2/gazebo/physics/Actor.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/physics.hh:2,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:34,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/msgs/light.pb.h:746:48: note: ‘gazebo::msgs::LightPtr’
typedef boost::shared_ptrgazebo::msgs::Light LightPtr;
^
In file included from /usr/include/gazebo-2.2/gazebo/common/Plugin.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/common/common.hh:28,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:35,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/rendering/RenderTypes.hh:70:38: note: ‘gazebo::rendering::LightPtr’
typedef boost::shared_ptr LightPtr;
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1161:29: error: expected ‘;’ before ‘phy_light’
gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:1163:7: error: ‘phy_light’ was not declared in this scope
if (phy_light == NULL)
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp: In member function ‘bool gazebo::GazeboRosApiPlugin::spawnAndConform(TiXmlDocument&, std::string, gazebo_msgs::SpawnModel::Response&)’:
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2407:3: error: ‘LightPtr’ is not a member of ‘gazebo::physics’
gazebo::physics::LightPtr light = world_->Light(model_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2407:3: note: suggested alternatives:
In file included from /usr/include/gazebo-2.2/gazebo/msgs/MessageTypes.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/msgs/msgs.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/Entity.hh:28,
from /usr/include/gazebo-2.2/gazebo/physics/Model.hh:33,
from /usr/include/gazebo-2.2/gazebo/physics/Actor.hh:24,
from /usr/include/gazebo-2.2/gazebo/physics/physics.hh:2,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:34,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/msgs/light.pb.h:746:48: note: ‘gazebo::msgs::LightPtr’
typedef boost::shared_ptrgazebo::msgs::Light LightPtr;
^
In file included from /usr/include/gazebo-2.2/gazebo/common/Plugin.hh:43:0,
from /usr/include/gazebo-2.2/gazebo/common/common.hh:28,
from /home/wangzhaodong/ros/src/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h:35,
from /home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:25:
/usr/include/gazebo-2.2/gazebo/rendering/RenderTypes.hh:70:38: note: ‘gazebo::rendering::LightPtr’
typedef boost::shared_ptr LightPtr;
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2407:29: error: expected ‘;’ before ‘light’
gazebo::physics::LightPtr light = world_->Light(model_name);
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2408:19: error: ‘light’ was not declared in this scope
if ((isLight && light != NULL) || (model != NULL))
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2422:68: error: ‘class sdf::SDF’ has no member named ‘Root’
gazebo::msgs::Light msg = gazebo::msgs::LightFromSDF(sdf_light.Root()->GetElement("light"));
^
/home/wangzhaodong/ros/src/gazebo_ros/src/gazebo_ros_api_plugin.cpp:2449:31: error: ‘class gazebo::physics::World’ has no member named ‘Light’
if ((isLight && world_->Light(model_name) != NULL)
Thanks for your attention,and i hope you can help me solve this problem.

Even with zero noise and AMCL deactivated there is an offset between the position of the walls perceived by the robot and shown by the map in RViz.

Might be the map resolution and/or origin is wrong.

@AlexReimann FYI

For this to work, Kobuki & Create simulations need to be working. Work on these can can be tracked here:
Kobuki: yujinrobot/kobuki_desktop#8
Create: ?

Turtlebot-specific issue will be posted here.

Current issues:

• Kinect simulation (Kinect's ROS Gazebo plugin) crashes. Ticket files for Gazebo:
  • https://bitbucket.org/osrf/gazebo/issue/557/camera-sensor-segfaults-on-loading

I installed gazebo8 and ros kinetic as the instructions from http://gazebosim.org/tutorials/?tut=ros_wrapper_versions#Gazebobuiltfromsource.

When I start the launch file in turltebot_gazebo.
It seemed that mobile_base/commands/velocity is not subscribed by gazebo node.
It never happens in gazebo 7/2 with ros indigo.
Then how can I control the robot in gazebo through ROS?

Can we do it like in the gazebo sdf file?
http://gazebosim.org/tutorials?tut=sensor_noise#Cameranoise

turtlebot present gazebo(version 2.3) launch doesn't compatible gazebo6. will crush when launch.
I update my gazebo version, and find turtlebot gazebo cannot be used....

Hey,

since some time I am not able to let the amcl demo run.
I am just starting the program with following command:
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/schultza/my_map.yaml

my_map was created some time before.

Here is the output:

... logging to /home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/roslaunch-Andreas-1030.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Andreas:40742/

SUMMARY

PARAMETERS

• /amcl/base_frame_id: base_footprint
• /amcl/gui_publish_rate: 10.0
• /amcl/initial_pose_a: 0.0
• /amcl/initial_pose_x: 0.0
• /amcl/initial_pose_y: 0.0
• /amcl/kld_err: 0.05
• /amcl/kld_z: 0.99
• /amcl/laser_lambda_short: 0.1
• /amcl/laser_likelihood_max_dist: 2.0
• /amcl/laser_max_beams: 60
• /amcl/laser_max_range: 12.0
• /amcl/laser_model_type: likelihood_field
• /amcl/laser_sigma_hit: 0.2
• /amcl/laser_z_hit: 0.5
• /amcl/laser_z_max: 0.05
• /amcl/laser_z_rand: 0.5
• /amcl/laser_z_short: 0.05
• /amcl/max_particles: 2000
• /amcl/min_particles: 500
• /amcl/odom_alpha1: 0.2
• /amcl/odom_alpha2: 0.2
• /amcl/odom_alpha3: 0.2
• /amcl/odom_alpha4: 0.2
• /amcl/odom_alpha5: 0.1
• /amcl/odom_frame_id: odom
• /amcl/odom_model_type: diff
• /amcl/recovery_alpha_fast: 0.0
• /amcl/recovery_alpha_slow: 0.0
• /amcl/resample_interval: 1
• /amcl/transform_tolerance: 1.0
• /amcl/update_min_a: 0.2
• /amcl/update_min_d: 0.25
• /amcl/use_map_topic: False
• /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
• /move_base/TrajectoryPlannerROS/acc_lim_x: 0.5
• /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
• /move_base/TrajectoryPlannerROS/dwa: True
• /move_base/TrajectoryPlannerROS/gdist_scale: 0.8
• /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
• /move_base/TrajectoryPlannerROS/holonomic_robot: False
• /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
• /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
• /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
• /move_base/TrajectoryPlannerROS/meter_scoring: True
• /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.6
• /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
• /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
• /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
• /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
• /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
• /move_base/TrajectoryPlannerROS/pdist_scale: 0.6
• /move_base/TrajectoryPlannerROS/sim_time: 3.0
• /move_base/TrajectoryPlannerROS/vtheta_samples: 20
• /move_base/TrajectoryPlannerROS/vx_samples: 6
• /move_base/TrajectoryPlannerROS/vy_samples: 0
• /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
• /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.3
• /move_base/controller_frequency: 5.0
• /move_base/controller_patience: 3.0
• /move_base/global_costmap/bump/clearing: False
• /move_base/global_costmap/bump/data_type: PointCloud2
• /move_base/global_costmap/bump/marking: True
• /move_base/global_costmap/bump/max_obstacle_height: 0.15
• /move_base/global_costmap/bump/min_obstacle_height: 0.0
• /move_base/global_costmap/bump/topic: mobile_base/senso...
• /move_base/global_costmap/global_frame: /map
• /move_base/global_costmap/inflation_radius: 0.5
• /move_base/global_costmap/map_type: voxel
• /move_base/global_costmap/max_obstacle_height: 0.6
• /move_base/global_costmap/observation_sources: scan bump
• /move_base/global_costmap/obstacle_range: 2.5
• /move_base/global_costmap/origin_z: 0.0
• /move_base/global_costmap/publish_frequency: 0.5
• /move_base/global_costmap/publish_voxel_map: False
• /move_base/global_costmap/raytrace_range: 3.0
• /move_base/global_costmap/robot_base_frame: /base_footprint
• /move_base/global_costmap/robot_radius: 0.18
• /move_base/global_costmap/scan/clearing: True
• /move_base/global_costmap/scan/data_type: LaserScan
• /move_base/global_costmap/scan/marking: True
• /move_base/global_costmap/scan/max_obstacle_height: 0.35
• /move_base/global_costmap/scan/min_obstacle_height: 0.25
• /move_base/global_costmap/scan/topic: scan
• /move_base/global_costmap/static_map: True
• /move_base/global_costmap/transform_tolerance: 0.5
• /move_base/global_costmap/update_frequency: 1.0
• /move_base/global_costmap/z_resolution: 0.2
• /move_base/global_costmap/z_voxels: 2
• /move_base/local_costmap/bump/clearing: False
• /move_base/local_costmap/bump/data_type: PointCloud2
• /move_base/local_costmap/bump/marking: True
• /move_base/local_costmap/bump/max_obstacle_height: 0.15
• /move_base/local_costmap/bump/min_obstacle_height: 0.0
• /move_base/local_costmap/bump/topic: mobile_base/senso...
• /move_base/local_costmap/global_frame: /map
• /move_base/local_costmap/height: 4.0
• /move_base/local_costmap/inflation_radius: 0.5
• /move_base/local_costmap/map_type: voxel
• /move_base/local_costmap/max_obstacle_height: 0.6
• /move_base/local_costmap/observation_sources: scan bump
• /move_base/local_costmap/obstacle_range: 2.5
• /move_base/local_costmap/origin_z: 0.0
• /move_base/local_costmap/publish_frequency: 2.0
• /move_base/local_costmap/publish_voxel_map: False
• /move_base/local_costmap/raytrace_range: 3.0
• /move_base/local_costmap/resolution: 0.05
• /move_base/local_costmap/robot_base_frame: /base_footprint
• /move_base/local_costmap/robot_radius: 0.18
• /move_base/local_costmap/rolling_window: True
• /move_base/local_costmap/scan/clearing: True
• /move_base/local_costmap/scan/data_type: LaserScan
• /move_base/local_costmap/scan/marking: True
• /move_base/local_costmap/scan/max_obstacle_height: 0.35
• /move_base/local_costmap/scan/min_obstacle_height: 0.25
• /move_base/local_costmap/scan/topic: scan
• /move_base/local_costmap/static_map: False
• /move_base/local_costmap/transform_tolerance: 0.5
• /move_base/local_costmap/update_frequency: 5.0
• /move_base/local_costmap/width: 4.0
• /move_base/local_costmap/z_resolution: 0.2
• /move_base/local_costmap/z_voxels: 2
• /move_base/oscillation_distance: 0.2
• /move_base/oscillation_timeout: 10.0
• /move_base/planner_frequency: 1.0
• /move_base/planner_patience: 5.0
• /move_base/shutdown_costmaps: False
• /navigation_velocity_smoother/accel_lim_v: 0.6
• /navigation_velocity_smoother/accel_lim_w: 5.4
• /navigation_velocity_smoother/decel_factor: 1.0
• /navigation_velocity_smoother/frequency: 20.0
• /navigation_velocity_smoother/robot_feedback: 2
• /navigation_velocity_smoother/speed_lim_v: 0.8
• /navigation_velocity_smoother/speed_lim_w: 5.4
• /rosdistro: indigo
• /rosversion: 1.11.9

NODES
/
amcl (amcl/amcl)
kobuki_safety_controller (nodelet/nodelet)
map_server (map_server/map_server)
move_base (move_base/move_base)
navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [1051]
process[amcl-2]: started with pid [1052]
process[navigation_velocity_smoother-3]: started with pid [1053]
process[kobuki_safety_controller-4]: started with pid [1054]
ERROR: cannot launch node of type [move_base/move_base]: can't locate node [move_base] in package [move_base]
amcl: malloc.c:2372: sysmalloc: Assertion `(old_top == (((mbinptr) (((char _) &((av)->bins[((1) - 1) * 2])) - __builtin_offsetof (struct malloc_chunk, fd)))) && old_size == 0) || ((unsigned long) (old_size) >= (unsigned long)((((__builtin_offsetof (struct malloc_chunk, fd_nextsize))+((2 *(sizeof(size_t))) - 1)) & ~((2 *(sizeof(size_t))) - 1))) && ((old_top)->size & 0x1) && ((unsigned long) old_end & pagemask) == 0)' failed.
[amcl-2] process has died [pid 1052, exit code -6, cmd /home/schultza/catkin_ws/devel/lib/amcl/amcl scan:=scan __name:=amcl _log:=/home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/amcl-2.log].
log file: /home/schultza/.ros/log/c1a96b00-4495-11e4-b4f1-485ab604aada/amcl-2.log
^C[kobuki_safety_controller-4] killing on exit
[navigation_velocity_smoother-3] killing on exit
[map_server-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

See that move_base and amcl are creating problems.

I might be doing something wrong, but let me just think out loud.

roslaunch turtlebot_gazebo turtlebot_world.launch

Nodes graph tells there's a breakage.

As a reference here's one I got on Indigo machine.

Obvisously due to this e.g. Twist command doesn't take any effect.

Some outputs.

$ rostopic list 
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/depthimage_to_laserscan/parameter_descriptions
/depthimage_to_laserscan/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/laserscan_nodelet_manager/bond
/mobile_base/commands/velocity
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base_nodelet_manager/bond
/rosout
/rosout_agg
/scan
/tf
/tf_static

$ rosnode list
/bumper2pointcloud
/cmd_vel_mux
/depthimage_to_laserscan
/gazebo
/laserscan_nodelet_manager
/mobile_base_nodelet_manager
/robot_state_publisher
/rosout

$ rosversion turtlebot_gazebo
2.2.2
$ rosversion gazebo_ros
2.5.7
$ rosversion gazebo_ros_control
2.5.7

For installation many packages are build from source (see turtlebot/turtlebot_apps#143 (comment) my footage for that).

$ roslaunch turtlebot_gazebo turtlebot_world.launch 
... logging to /home/souflet/.ros/log/760b3eb8-34c5-11e6-97d3-0090f5bd194f/roslaunch-130s-serval-15387.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/souflet/link/ROS/kinetic_xenial/cws_household/src/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro

xacro.py is deprecated; please use xacro instead
started roslaunch server http://130s-serval:44680/

SUMMARY
========

PARAMETERS
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/souflet/link/...
 * /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
 * /depthimage_to_laserscan/range_min: 0.45
 * /depthimage_to_laserscan/scan_height: 10
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.2
 * /use_sim_time: True

NODES
  /
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [15406]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 760b3eb8-34c5-11e6-97d3-0090f5bd194f
process[rosout-1]: started with pid [15419]
started core service [/rosout]
process[gazebo-2]: started with pid [15443]
process[gazebo_gui-3]: started with pid [15450]
process[spawn_turtlebot_model-4]: started with pid [15457]
process[mobile_base_nodelet_manager-5]: started with pid [15458]
process[cmd_vel_mux-6]: started with pid [15459]
process[bumper2pointcloud-7]: started with pid [15460]
process[robot_state_publisher-8]: started with pid [15461]
process[laserscan_nodelet_manager-9]: started with pid [15491]
process[depthimage_to_laserscan-10]: started with pid [15506]
[ INFO] [1466193341.310227888]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1466193341.311206365]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1466193342.090442528, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1466193342.131507148, 0.070000000]: Physics dynamic reconfigure ready.
[ INFO] [1466193342.865785296, 0.250000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1466193342.872939698, 0.250000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_turtlebot_model-4] process has finished cleanly
log file: /home/souflet/.ros/log/760b3eb8-34c5-11e6-97d3-0090f5bd194f/spawn_turtlebot_model-4*.log

Hey guys,
The wiki instruction for starting up the gazebo simulation seems to be broken. When I hardcoded a value to turtlebot_gazebo into the launch file in question, things started working fine.

Wouldn't a solution similar to this be safer with releases?

Btw I'm doing this on Kinetic.

This is right of the box on a new ROS Indigo install under Ubuntu 14.04. To reproduce run:

$ roscore
$ roslaunch turtlebot_gazebo turtlebot_world.launch
$ roslaunch turtlebot_gazebo amcl_demo.launch
$ roslaunch turtlebot_rviz_launchers view_navigation.launch

Now set a 2D Nav Goal in RViz and robot executes a spiral path toward goal.

Hello,
As I show in the videos above, the Turtlebot is spins around itself a bit, which could affect the direction when I try to go straight. When the real time factor (simulation speed) is normal the robot makes an acceptable straight line, but when the simulation is set to maximum the robot clearly turns to the right. This strange behaviour does not happen in empty worlds, just when the robot is inside a model. Any possible solution to this issue?

Nestor

Video1 - Spining around itself
https://www.youtube.com/watch?v=LdImDUFFOck&feature=youtu.be

Video 2 - Trying to go straight - in 0:40 normal speed is tested
https://www.youtube.com/watch?v=ltf0eb4ZMcE&feature=youtu.be

Hello

I am trying to run the launch the turtlebot on gazebo (Gazebo multi-robot simulator, version 1.5.0) by running:

   roslaunch turtlebot_gazebo turtlebot_empty_world.launch

and I got the following error message :

Error [parser.cc:712] XML Element[sensor:contact], child of element[link] not defined in SDF. Ignoring.[link]
Error [parser.cc:703] Error reading element
Error [parser.cc:703] Error reading element
Error [parser.cc:369] Unable to read element
Error [parser.cc:319] parse as old urdf model file failed.
Error [World.cc:1440] Unable to read sdf string[<!--

any idea?

Thank you

Does this robot can upgrade to melodic? As the Ubuntu 19.04 will come out, ubuntu18.04 should be support now

run_depend stdr is not an actual package name.

It should depend on stdr_robot, stdr_server, and stdr_gui which are actually used in here

I would prefer if we could use the actual turtlebot's launchers so we make sure we immediately simulate what we are actually using (this is intuitive - takes a while of digging around to realise that we aren't) as well as helping to make sure that our parameters/configuration is in sync (again, this is intuitive - I didn't expect to find a different configuration).

I.e. Gazebo information inside the URDFs/Xacros in turtlebot_description.

One idea:
Duplicate the robot urdfs from turtlebot_description and add the turtlebot_gazebo.urdf.xacro include where necessary. That duplication s****, but it would allow a clear separation.

I installed gazebo8 and ros kinetic as the instructions from https://medium.com/@abhiksingla10/setting-up-ros-kinetic-and-gazebo-8-or-9-70f2231af21a. I need gazebo 8 since Im using VMware Fusion on MacBook. Next I install most of turtlebot packages using apt-get, while turtlebot_simulator, kobuki_desktop, and kobuki_msgs from source.

When I try to run turtlebot_gazebo gmapping demo and visualize in Rviz, the map result is not correct, it creates a lot of obstacles where there is none. I'm quite new to ROS, at first I thought it was installation program, so I remove all ROS, Gazebo etc and repeat the installation, but the same problem still occur.

Attach is the simulation world and rviz map.

Thanks!