Hey Stefan, Ken is right. Attached patch for pr2_teleop pkg remedies the problem. @Ken: I don't know but maybe the topic name in teleop_pr2_keyboard.cpp could be parametrized!? D. On Wed, Mar 17, 2010 at 6:09 PM, Kevin Watts wrote: > Try "rostopic info cmd_vel" and "rostopic info base_controller/command". The > "cmd_vel" topic might not be what the base controller is listening to, I > think it listens to the other topic. You can also use "roswtf" to get a list > of subscriptions with no publishers. > > If the topic names are mismatched, you can use "topic tools / relay" to > relay messages from one to another, or just remap the topics next time you > launch. > > If the tutorial needs correcting, please let us know or change the wiki. > Thanks. > > Kevin > > On Wed, Mar 17, 2010 at 9:51 AM, Stefan Kohlbrecher > wrote: >> >> Hi Ken, >> >> thanks for the quick fix to the tutorial. I can now execute all launch >> commands for the mobile base tutorial without errors. I'm also very >> sure that teleoperating the pr2 worked for me at least twice. >> Unfortunately, I'm not able to reproduce this right now. Starting >> everything up looks good, listening to cmd_vel also prints velocity >> commands when using the keyboard node, but the robot refuses to move. >> I'm a bit puzzled because it worked before and now it doesn't, without >> any obvious change. Any idea about what I'm doing wrong? >> >> regards, >> Stefan >> >> 2010/3/12 Ken Conley : >> > Hi Stefan, >> > >> > Thanks for bringing this up. Our policy is that the tutorials for >> > released stacks should all work with Box Turtle, so the pr2_simulator >> > tutorials need to be rewritten. I've filed a ticket here for that >> > cleanup: >> > >> > https://code.ros.org/trac/wg-ros-pkg/ticket/4001 >> > >> > Sorry for the confusion, >> > Ken >> > >> > On Fri, Mar 12, 2010 at 8:28 AM, Stefan Kohlbrecher >> > wrote: >> >> Hi, >> >> >> >> after a quick fix for Box Turtle involving pr2_simulator (thanks Ken), >> >> I'm now trying out pr2 + gazebo in simulation. Unfortunately, it seems >> >> that the tutorials are severly outdated (or I'm doing something >> >> stupid). I did a fresh Box Turtle install. I can successfully do the >> >> following: >> >> >> >> "roslaunch gazebo_worlds empty_world.launch" >> >> -Starts gazebo with empty world, as expected >> >> >> >> "roslaunch pr2_gazebo pr2.launch" >> >> -Adds pr2 in Gazebo, as expected. Joints are moving into a default >> >> position. rospack complains about missing [wifi_ddwrt] of [webui], but >> >> I figure this shouldn't be a problem in simulation. >> >> >> >> Now, I'd like to do something simple like driving the mobile base >> >> around ( e.g. >> >> http://www.ros.org/wiki/pr2_simulator/Tutorials/TeleopBaseControllerPR2InSimulation >> >> ). >> >> Step 3 as described in the tutorial doesn't work, because >> >> pr2_default_controllers does not exist. The info output when launching >> >> pr2.launch suggests that "base_odometry" and "base_controller" are now >> >> loaded by default. >> >> Step 4 also does not work, because "teleop_base" does not exist. I >> >> searched for "teleop" and found "pr2_teleop" providing >> >> "teleop_base_keyboard". Launching this, I can now teleoperate the >> >> mobile base (yay!). >> >> >> >> To make a long story short, I understand that the tutorials can't be >> >> kept up to date 'automatically', so wouldn't it make sense to at least >> >> systematically note the last ROS version they were tested with? This >> >> certainly would help to get an indication how likely one is to succeed >> >> in using a given tutorial. I haven't succeeded in applying many of >> >> them with Box Turtle, because quite a lot of the stuff described has >> >> changed a lot (that, or I'm stupid ;) ). >> >> >> >> regards, >> >> Stefan >> >> _______________________________________________ >> >> ros-users mailing list >> >> ros-users@code.ros.org >> >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> > _______________________________________________ >> > ros-users mailing list >> > ros-users@code.ros.org >> > https://code.ros.org/mailman/listinfo/ros-users >> > >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- MSc. Dejan Pangercic PhD Student/Researcher Computer Science IX Technische Universität München Telephone: +49 (89) 289-17780 E-Mail: dejan.pangercic@in.tum.de WWW: http://ias.cs.tum.edu/people/pangercic