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

[Kevin Watts]

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 <dejan.pangercic at gmail.com
> 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 <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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> >> >> https://code.ros.org/mailman/listinfo/ros-users
> >> >>
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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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