[ros-users] rviz cmd_vel

Andreas Vogt andreas.vogt at dfki.de
Tue Jul 13 12:33:11 UTC 2010


if I set a "2D Nav Goal" in rviz the robot doesn't move and there is no 
published /cmd_vel value. "The 2D Pose Estimation" button works.
I am using the current shared  installation with:

- svn:
     uri: https://code.ros.org/svn/ros/stacks/ros/tags/latest
     local-name: ros
- svn:
     uri: https://code.ros.org/svn/wg-ros-pkg/externals/latest
     local-name: wg-ros-pkg
- svn:
     uri: https://code.ros.org/svn/ros-pkg/externals/latest
     local-name: ros-pkg

Launch file:

<!-- start world -->
<include file="$(find gazebo_worlds)/launch/office_world.launch"/>

<!-- start controller manager (rviz) -->
<include file="$(find pr2_controller_manager)/controller_manager.launch"/>

<!-- load  rover -->
<param name="robot_description" textfile="$(find 
my_controller_pkg)/rover.xml" />

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model" 
args="-p robot_description spawn -z 0.5" respawn="false" output="screen" />

<!--include file="$(find pr2_gazebo)/pr2.launch"/-->

<rosparam file="$(find my_controller_pkg)/my_controller.yaml" 
command="load" />

<node pkg="pr2_controller_manager" type="spawner" 
args="my_controller_ns" name="my_controller_spawner" />

<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find 
my_controller_pkg)/config/office.png 0.05"/>
<node pkg="tf" type="static_transform_publisher" 
name="base_laser_to_base_link" args="0 0 0 0 0 0 base_link base_laser 
100" />
<node pkg="tf" type="static_transform_publisher" 
name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_link 
base_footprint  20" />

<!--- Run AMCL -->
<include file="$(find my_controller_pkg)/config/amcl.xml" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base" 
<rosparam file="$(find 
my_controller_pkg)/config/costmap_common_params.yaml" command="load" 
ns="global_costmap" />
<rosparam file="$(find 
my_controller_pkg)/config/costmap_common_params.yaml" command="load" 
ns="local_costmap" />
<rosparam file="$(find 
my_controller_pkg)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find 
my_controller_pkg)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find 
my_controller_pkg)/config/base_local_planner_params.yaml" command="load" />

<!--- Start RVIZ -->
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" />


Any ideas?


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