[ros-users] running "navigationTutorialsRobotSetupOdom" example code on erratic_gazebo

[yatish]

Hi all
I am trying to run the example code given under the section
"navigationTutorialsRobotSetupOdom" on Erratic_gazebo. The robot doesnt move
at all. The example code is as follows

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "odometry_publisher");

  ros::NodeHandle n;
  ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
  tf::TransformBroadcaster odom_broadcaster;

  double x = 0.0;
  double y = 0.0;
  double th = 0.0;

  double vx = 0.1;
  double vy = -0.1;
  double vth = 0.1;

  ros::Time current_time, last_time;
  current_time = ros::Time::now();
  last_time = ros::Time::now();

  ros::Rate r(1.0);
  while(n.ok()){
    current_time = ros::Time::now();

    //compute odometry in a typical way given the velocities of the robot
    double dt = (current_time - last_time).toSec();
    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
    double delta_th = vth * dt;

    x += delta_x;
    y += delta_y;
    th += delta_th;

    //since all odometry is 6DOF we'll need a quaternion created from yaw
    geometry_msgs::Quaternion odom_quat =
tf::createQuaternionMsgFromYaw(th);

    //first, we'll publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = current_time;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";

    odom_trans.transform.translation.x = x;
    odom_trans.transform.translation.y = y;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = odom_quat;

    //send the transform
    odom_broadcaster.sendTransform(odom_trans);

    //next, we'll publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = current_time;
    odom.header.frame_id = "odom";

    //set the position
    odom.pose.pose.position.x = x;
    odom.pose.pose.position.y = y;
    odom.pose.pose.position.z = 0.0;
    odom.pose.pose.orientation = odom_quat;

    //set the velocity
    odom.child_frame_id = "base_link";
    odom.twist.twist.linear.x = vx;
    odom.twist.twist.linear.y = vy;
    odom.twist.twist.angular.z = vth;

    //publish the message
    odom_pub.publish(odom);

    last_time = current_time;
    r.sleep();
  }
}

After running erratic)gazebo by the command roslaunch erratic_gazebo
erratic_2dnav_demo.launch i run the code.
Also rostopic list is as follows  

/amcl_pose
/base_pose_ground_truth
/base_scan
/base_scan_shadow_filter
/base_scan_shadow_filtered
/base_scan_throttled
/calibrated
/clock
/cmd_vel
/diagnostics
/erratic_odometry
/erratic_odometry/odom
/initialpose
/joint_states
/map
/map_metadata
/mechanism_statistics
/move_base/cancel
/move_base/feedback
/move_base/goal
/move_base/result
/move_base/status
/move_base_node/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base_node/NavfnROS/NavfnROS_costmap/obstacles
/move_base_node/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base_node/NavfnROS/NavfnROS_costmap/unknown_space
/move_base_node/NavfnROS/plan
/move_base_node/TrajectoryPlannerROS/global_plan
/move_base_node/TrajectoryPlannerROS/local_plan
/move_base_node/current_goal
/move_base_node/global_costmap/inflated_obstacles
/move_base_node/global_costmap/obstacles
/move_base_node/global_costmap/robot_footprint
/move_base_node/global_costmap/unknown_space
/move_base_node/local_costmap/inflated_obstacles
/move_base_node/local_costmap/obstacles
/move_base_node/local_costmap/robot_footprint
/move_base_node/local_costmap/unknown_space
/move_base_node/local_costmap/voxel_grid
/move_base_node/local_costmap/voxel_grid_throttled
/move_base_simple/goal
/particlecloud
/reset_time
/rosout
/rosout_agg
/tf
/tf_message
/time
/visualization_marker
/visualization_marker_array
root at uav-laptop:~/ros/stacks/pr2_apps/pr2_teleop# rostopic list
/base_pose_ground_truth
/base_scan
/calibrated
/clock
/cmd_vel
/diagnostics
/erratic_odometry/odom
/joint_states
/mechanism_statistics
/rosout
/rosout_agg
/tf
/time

Can anyone help me out in finding why robot is not moving ?

Thanks
Yatish
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