Cannot move turtlebot3 burger

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Previn Savaya
Previn Savaya 2019-7-28
回答： Previn Savaya 2019-8-4
Lidar data works perfectly fine, however, I cannot move the bot. Can anyone see what I'm doing wrong?
Connectioin Info:
rosshutdown
setenv('ROS_MASTER_URI','http://10.0.0.4:11311')
setenv('ROS_IP','10.0.0.4')
rosinit('http://10.0.0.4:11311', 'NodeHost', '10.0.0.169')
Rostopic List
>> rostopic list
/battery_state
/cmd_vel
/cmd_vel_rc100
/diagnostics
/firmware_version
/imu
/joint_states
/magnetic_field
/motor_power
/odom
/reset
/rosout
/rosout_agg
/rpms
/scan
/sensor_state
/sound
/tf
/version_info
>>
Here is my script:
TurtleBot_Topic.vel = '/cmd_vel';
TurtleBot_Topic.laser = '/scan';
laser_sub = rossubscriber(TurtleBot_Topic.laser);
velocity_pub = rospublisher(TurtleBot_Topic.vel, 'geometry_msgs/Twist');
velocity_msg = rosmessage(velocity_pub);
tic
while toc<10
scan_data = receive(laser_sub);
cart = readCartesian(scan_data, 'RangeLimit', [0.12 3.5]);
plot(cart(:,1),cart(:,2), 'o');
velocity_msg.Angular.Z = 0.0;
velocity_msg.Linear.X = 0.2;
send(velocity_pub, velocity_msg);
end
All help is appreciated.
PS: I had a much more detailed report, pressed a wrong key and it all got deleted :(
  6 个评论
显示 4更早的评论
Sai Bhargav Avula
Sai Bhargav Avula 2019-8-1
Try echoing the /cmd_vel topic and check for the values.
vel_msg = rostopic("echo", /cmd_vel)
Previn Savaya
Previn Savaya 2019-8-1
Ok, I’m not at my workstation now but as soon as I can I will check it out and update you.

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采纳的回答

Previn Savaya
Previn Savaya 2019-8-4
I believe I solved this issue. It did have something to do with the communication.
I replaced the IP of the turtlebot with the IP of my actual computer that is running matlab and it worked. Not sure why, but it does!
So for my network configuration this is what I have:
ROS MASTER = IP OF VIRTUAL REMOTE DESKTOP (Oracle Virtual Machine) (roscore command runs on this)
ROS IP = IP OF MY PC THAT IS RUNNING MATLAB (My pc's ip address... AKA IPCONFIG in command prompt)
Somehow this solved my problem.

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