[ros-users] Is there any sample code for ROS robots control?

Sat Sep 11 04:17:48 UTC 2010

Hey,

I don't know much about those questions, but if you try setting ROBOT=pr2
rather than PR2 it might work.

Peter

On Sep 10, 2010 6:34 PM, "JIA Pei" <jp4work at gmail.com> wrote:
> Hi, John:
>
> Sorry to bother you again.
>
> 1)
> I checked out pr2_2dnav_gazebo and put it under the corresponding folder
of
> my installed ROS.
> say: /opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo
>
> When I do roslaunch
> "roslaunch pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch"
> I got 'ROBOT' is not set
>
> jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ roslaunch
>> pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
>> ... logging to
>>
/home/jiapei/.ros/log/73e7b77a-bd42-11df-8314-0040d0a919ff/roslaunch-jiapei-laptop-4044.log
>> Checking log directory for disk usage. This may take awhile.
>> Press Ctrl-C to interrupt
>> Done checking log file disk usage. Usage is <1GB.
>>
>> environment variable 'ROBOT' is not set
>>
>
>
> Then, I set 'ROBOT' as "PR2" (I just guessed this, how to set
> this environment variable? )
> This time, I obtained "Invalid roslaunch XML syntax: [Errno 2] No such
file
> or directory" .
>
> jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ export
>>> ROBOT=PR2
>>
>> jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ roslaunch
>>> pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
>>
>> ... logging to
>>>
/home/jiapei/.ros/log/db1290a0-bd42-11df-b443-0040d0a919ff/roslaunch-jiapei-laptop-4091.log
>>
>> Checking log directory for disk usage. This may take awhile.
>>
>> Press Ctrl-C to interrupt
>>
>> Done checking log file disk usage. Usage is <1GB.
>>
>>
>>> while processing
>>>
/opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo/2dnav-stack-fake_localization.launch:
>>
>> while processing
>>>
/opt/ros/cturtle/stacks/pr2_navigation/pr2_navigation_global/move_base.xml:
>>>
>>
>> while processing
>>> /opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine:
>>>
>>
>> Invalid roslaunch XML syntax: [Errno 2] No such file or directory:
>>> u'/opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine'
>>
>>
>
> So, my first question is: How to set 'ROBOT' for this pr2 2D navigation
> simulation?
>
>
> 2) My 2nd question is I found I've installed
> "ros-cturtle-simulator-gazebo",
> I'm wondering what are the connections between "pr2_2dnav_gazebo"
> and "ros-cturtle-simulator-gazebo" ?
> And, why "pr2_2dnav_gazebo" is not packaged into Ubuntu repository for
> automatic installation?
>
> By the way, from the name of "ros-cturtle-simulator-gazebo",
> I'm guessing, by using "ros-cturtle-simulator-gazebo" only,
> am I able to simulate the robots navigation already, without checking
> out "pr2_2dnav_gazebo" ?
> Or, "ros" refers to the system without specifying a particular robot,
> while "pr2" is a specific robot.
> We have to specify a type of robot before its navigation?
>
> Sorry for my entry-level questions, but I really need your help.
>
>
> Best Regards
> JIA
>
>
>
> On Sat, Sep 11, 2010 at 1:32 AM, John Hsu <johnhsu at willowgarage.com>
wrote:
>
>> Hi JIA,
>> Sorry, my mistake, wg-ros-pkg trunk has been moved to
>> branches/trunk_cturtle. I've updated the svn command accordingly:
>>
>> svn co
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
>>
>>
>> John
>>
>>
>>
>> On Fri, Sep 10, 2010 at 5:05 AM, JIA Pei <jp4work at gmail.com> wrote:
>>
>>>
>>> Hi, John:
>>>
>>> Sorry that I couldn't make it work yet.
>>> It seems I'm not able to check out "pr2_2dnav_gazebo".
>>>
>>> jiapei at jiapei-laptop:~$ svn co
>>>
https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
>>> svn: URL '
>>>
https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
'
>>> doesn't exist
>>> jiapei at jiapei-laptop:~$
>>>
>>>
>>> Any further suggestions?
>>>
>>>
>>> Best Regards
>>> JIA
>>>
>>>
>>> On Fri, Sep 10, 2010 at 5:31 AM, John Hsu <johnhsu at willowgarage.com
>wrote:
>>>
>>>> Hi JIA,
>>>> I've fixed the tutorial<
http://www.ros.org/wiki/pr2_2dnav_gazebo/Tutorials/Simulating%20the%202dnav%20Stack>page
to include where to get pr2_2dnav_gazebo.
>>>> Please let me know if you can test the nav stack successfully in sim.
>>>> thanks,
>>>> John
>>>>
>>>>
>>>>
>>>> On Thu, Sep 9, 2010 at 6:46 AM, JIA Pei <jp4work at gmail.com> wrote:
>>>>
>>>>>
>>>>> Hi, all:
>>>>>
>>>>> Sorry for my amateur question.
>>>>>
>>>>> I'd love to try out some simple robot control demos of ROS.
>>>>> So, I went to http://www.ros.org/wiki/AllTutorials and
>>>>> tried pr2_simulator,
>>>>> but it seems the tutorials here are too old and
>>>>> I failed to find pr2_2dnav_gazebo (but pr2_2dnav found),
>>>>> and pr2-simple-fake_localization.launch doesn't existing at all.
>>>>>
>>>>> So, can anybody please show me
>>>>> where to find a runnable robot navigation or robot control demo of
ROS,
>>>>> including the source code,
>>>>> so that I may be able to revise the source according to my own control
>>>>> requirement?
>>>>>
>>>>> Thanks in advance.
>>>>>
>>>>> Best Regards
>>>>> JIA
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
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