You can use the ROS remap arguments in a launch file or on the command line to remap it. http://www.ros.org/wiki/roslaunch/XML/remap http://www.ros.org/wiki/Remapping%20Arguments On Wed, Mar 17, 2010 at 10:19 AM, Dejan Pangercic wrote: > 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 that the tutorials are severly outdated (or I'm doing something 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 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >