Hi Gonçalo, thanks for the reply. >Here at the lab we also use Roombas instead of Creates. I have browsed the turtlebot stack but I haven't tried it with the Roombas yet. We also got a couple of Kinects last week but I haven't had the time to go around and plug them to the Roombas. That's nice, so we can share some knowledge. > My first shot in the dark would be the fact that some of the stuff in the navigation stack requires a > laser scan to work properly, so in order to use the kinect you need to also use a very cool node that > comes with the turtlebot stack that grabs de point cloud from the kinect and publishes a laser scan. > There are some launch files that show exactly how to do that. Yes your right, but that part is working perfectly. I can see the simulated laser scans in rzviz. > I wrote the roomba_500_series and I used the standard names in ROS, in that regard it should be > pretty similar to using the turtlebot create driver. Thanks a lot for the driver! It's really useful. > If there are some differences you can always do some remapping on the topics or change some > frame_ids. However keep in mind that the turtlebot will fuse data from the encoder odometry with > data from a gyro by means of a kalman filter, and I'm guessing you don't have a gyro on your > Roomba, so another thing to keep in mind when using the turtlebot launch files. Hmmm. Maybe that is part of the problem! I did not consider that. > I will try to run the turtlebot stack on a Roomba with the Kinect tomorrow to see if I can get it to work. > In the meanwhile send me the launch files you modified for your setup. Unfortunately I made some changes in the code (instead of remapping an setting parameters) and touched several launch files. So I lost track a bit :-[ . I will start with a fresh installation tomorrow. One important change I do remember: in kinect_laser.launch you will need to replace the frame-ids' /kinect_ part with openni /openni_ I will let you know when I make any progress in getting gmapping running, but probably you have it runing first :) thank again, Jan > > Gon?alo Cabrita > ISR University of Coimbra > Portugal > >On May 15, 2011, at 4:11 PM, Jan Tuennermann wrote: > >> >> Hi Everyone, >> >> I'm trying to get the Turtlebot stack running on Roomba + Laptop + >> Kinect. Most of the things work. >> Unfortunately I cannot get the turtlebot_navigation gmapping_demo >> running. Move_base keeps complaining " Still waiting on map..." and >> gmapping spits out " [target=/odom ]: Dropped 100.00% of messages so >> far. Please turn the [ros.gmapping.message_notifier] rosconsole logger >> to DEBUG for more information." Every once in a while. >> >> I tried different ways to get in touch with the Roomba. The >> roomba_500_series node is working great for teleoperation and after >> renaming 'base_link' to 'base_footprint' I think I got the tf's >> right because rviz can now show the laserscan. (I also needed to change >> kinect_... to openni_.. in some places). >> >> Still I thought the the problem might be related to the roomba_500_series >> stuff interfacing differently than the turtlebot_node. So I cloned that >> node and tried to make it use the Roomba class out of turtlebot_driver >> instead of TurtleBot. This did not work at all. It complained about not >> being able toe read on the port, while connecting appears to work. After >> changing the baudrate it was able to read the desired number of bytes >> but crashed afterwards. I'm using the roostick for connection, maybe >> there are more changed needed to make it work? Anyway, I went back to >> the roomba_500_series node as everything looks fine (except for gmapping >> not working...). >> >> So I'm running out of ideas. So maybe someone has some ideas... >> Here a few questions, that might help: >> >> - Does anyone have the turtlebot stack running on a similar combination? >> >> - How do I enable that loggin mode, that the mentioned error msg requests? >> >> - What else does gmapping need that a laserscan to function properly? >> >> >> And here some more info: >> roswtf says these are unconnected: >> * /move_base/local_costmap/obstacles >> * /move_base/local_costmap/inflated_obstacles >> * /move_base/TrajectoryPlannerROS/global_plan >> * /particlecloud >> >> and this is a bit strange, because I see the nodes running and proper >> connections in rviz: >> >> ERROR Communication with [/move_base] raised an error: Unable to >> communicate with master! >> ERROR Communication with [/kinect_base_link1] raised an error: Unable to >> communicate with master! >> ERROR Communication with [/kinect_base_link] raised an error: Unable to >> communicate with master! >> >> ERROR The following nodes should be connected but aren't: >> * /rviz_1305470350119958706->/move_base (/move_base_simple/goal) >> * /kinect_base_link1->/rviz_1305470350119958706 (/tf) >> * /kinect_base_link1->/move_base (/tf) >> * /kinect_base_link->/move_base (/tf) >> * /kinect_base_link->/rviz_1305470350119958706 (/tf) >> >> >> >> thanks a lot in advance >> jan >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users