[ros-users] Tutorials on simulating PR2 / "high level" tutorials in general

[Dejan Pangercic]

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 <watts at willowgarage.com> 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
> <stefan.kohlbrecher at googlemail.com> 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 <kwc at willowgarage.com>:
>> > 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
>> > <stefan.kohlbrecher at googlemail.com> 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 that the tutorials are severly outdated (or I'm doing something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
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>> >>
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-- 
MSc. Dejan Pangercic
PhD Student/Researcher
Computer Science IX
Technische Universität München
Telephone: +49 (89) 289-17780
E-Mail: dejan.pangercic at in.tum.de
WWW: http://ias.cs.tum.edu/people/pangercic
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