I ran the following example,
https://app.theconstructsim.com/#/l/42d0ca09/
I did run the command but the robot base is not moving anywhere.
roslaunch pr2_tc_teleop keyboard_teleop.launch
There are no error messages and the topics are being published.
Can you please help me to show the movement of the PR2?
Hi @kavi1 ,
We can debug the ROS env.
Are you publishing to the correct topic? This node usually publishes to /cmd_vel, is this the same topic the robot is subscribing to?
Can you check if the proper topic is receiving messages? Use rostopic echo /cmd_vel, for example
Regards
When I launch the PR2 Gazebo Simulation in ROS Noetic from the icon, the /cmd_vel is not visible even when I write the command rostopic list. The output I get is the following:
/base_bumper
/base_pose_ground_truth
/base_scan
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/pr2/bl_caster_l_wheel_joint_controller/command
/pr2/bl_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/bl_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/bl_caster_l_wheel_joint_controller/state
/pr2/bl_caster_r_wheel_joint_controller/command
/pr2/bl_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/bl_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/bl_caster_r_wheel_joint_controller/state
/pr2/bl_caster_rotation_joint_controller/command
/pr2/br_caster_l_wheel_joint_controller/command
/pr2/br_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/br_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/br_caster_l_wheel_joint_controller/state
/pr2/br_caster_r_wheel_joint_controller/command
/pr2/br_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/br_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/br_caster_r_wheel_joint_controller/state
/pr2/br_caster_rotation_joint_controller/command
/pr2/fl_caster_l_wheel_joint_controller/command
/pr2/fl_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/fl_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/fl_caster_l_wheel_joint_controller/state
/pr2/fl_caster_r_wheel_joint_controller/command
/pr2/fl_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/fl_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/fl_caster_r_wheel_joint_controller/state
/pr2/fl_caster_rotation_joint_controller/command
/pr2/fr_caster_l_wheel_joint_controller/command
/pr2/fr_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/fr_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/fr_caster_l_wheel_joint_controller/state
/pr2/fr_caster_r_wheel_joint_controller/command
/pr2/fr_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/fr_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/fr_caster_r_wheel_joint_controller/state
/pr2/fr_caster_rotation_joint_controller/command
/pr2/head_joint_controller/command
/pr2/head_joint_controller/follow_joint_trajectory/cancel
/pr2/head_joint_controller/follow_joint_trajectory/feedback
/pr2/head_joint_controller/follow_joint_trajectory/goal
/pr2/head_joint_controller/follow_joint_trajectory/result
/pr2/head_joint_controller/follow_joint_trajectory/status
/pr2/head_joint_controller/state
/pr2/joint_states
/pr2/laser_tilt_mount_joint_controller/command
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/cancel
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/feedback
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/goal
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/result
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/status
/pr2/laser_tilt_mount_joint_controller/state
/pr2/left_arm_controller/command
/pr2/left_arm_controller/follow_joint_trajectory/cancel
/pr2/left_arm_controller/follow_joint_trajectory/feedback
/pr2/left_arm_controller/follow_joint_trajectory/goal
/pr2/left_arm_controller/follow_joint_trajectory/result
/pr2/left_arm_controller/follow_joint_trajectory/status
/pr2/left_arm_controller/state
/pr2/left_gripper_controller/command
/pr2/left_gripper_controller/follow_joint_trajectory/cancel
/pr2/left_gripper_controller/follow_joint_trajectory/feedback
/pr2/left_gripper_controller/follow_joint_trajectory/goal
/pr2/left_gripper_controller/follow_joint_trajectory/result
/pr2/left_gripper_controller/follow_joint_trajectory/status
/pr2/left_gripper_controller/gains/left_left_gripper_finger_joint/parameter_descriptions
/pr2/left_gripper_controller/gains/left_left_gripper_finger_joint/parameter_updates
/pr2/left_gripper_controller/gains/left_right_gripper_finger_joint/parameter_descriptions
/pr2/left_gripper_controller/gains/left_right_gripper_finger_joint/parameter_updates
/pr2/left_gripper_controller/state
/pr2/right_arm_controller/command
/pr2/right_arm_controller/follow_joint_trajectory/cancel
/pr2/right_arm_controller/follow_joint_trajectory/feedback
/pr2/right_arm_controller/follow_joint_trajectory/goal
/pr2/right_arm_controller/follow_joint_trajectory/result
/pr2/right_arm_controller/follow_joint_trajectory/status
/pr2/right_arm_controller/state
/pr2/right_gripper_controller/command
/pr2/right_gripper_controller/follow_joint_trajectory/cancel
/pr2/right_gripper_controller/follow_joint_trajectory/feedback
/pr2/right_gripper_controller/follow_joint_trajectory/goal
/pr2/right_gripper_controller/follow_joint_trajectory/result
/pr2/right_gripper_controller/follow_joint_trajectory/status
/pr2/right_gripper_controller/gains/right_left_gripper_finger_joint/parameter_descriptions
/pr2/right_gripper_controller/gains/right_left_gripper_finger_joint/parameter_updates
/pr2/right_gripper_controller/gains/right_right_gripper_finger_joint/parameter_descriptions
/pr2/right_gripper_controller/gains/right_right_gripper_finger_joint/parameter_updates
/pr2/right_gripper_controller/state
/pr2/torso_lift_joint_controller/command
/pr2/torso_lift_joint_controller/follow_joint_trajectory/cancel
/pr2/torso_lift_joint_controller/follow_joint_trajectory/feedback
/pr2/torso_lift_joint_controller/follow_joint_trajectory/goal
/pr2/torso_lift_joint_controller/follow_joint_trajectory/result
/pr2/torso_lift_joint_controller/follow_joint_trajectory/status
/pr2/torso_lift_joint_controller/state
/rosout
/rosout_agg
/tf
/tf_static
/tilt_scan
However, when I run the rosject from the following
https://app.theconstructsim.com/#/l/42d0ca09/
I get the following output:
/base_bumper
/base_pose_ground_truth
/base_scan
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clicked_point
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/joint_states
/move_base_simple/goal
/move_group/cancel
/move_group/feedback
/move_group/goal
/move_group/result
/move_group/status
/pr2/bl_caster_l_wheel_joint_controller/command
/pr2/bl_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/bl_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/bl_caster_l_wheel_joint_controller/state
/pr2/bl_caster_r_wheel_joint_controller/command
/pr2/bl_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/bl_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/bl_caster_r_wheel_joint_controller/state
/pr2/bl_caster_rotation_joint_controller/command
/pr2/br_caster_l_wheel_joint_controller/command
/pr2/br_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/br_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/br_caster_l_wheel_joint_controller/state
/pr2/br_caster_r_wheel_joint_controller/command
/pr2/br_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/br_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/br_caster_r_wheel_joint_controller/state
/pr2/br_caster_rotation_joint_controller/command
/pr2/cmd_vel
/pr2/fl_caster_l_wheel_joint_controller/command
/pr2/fl_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/fl_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/fl_caster_l_wheel_joint_controller/state
/pr2/fl_caster_r_wheel_joint_controller/command
/pr2/fl_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/fl_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/fl_caster_r_wheel_joint_controller/state
/pr2/fl_caster_rotation_joint_controller/command
/pr2/fr_caster_l_wheel_joint_controller/command
/pr2/fr_caster_l_wheel_joint_controller/pid/parameter_descriptions
/pr2/fr_caster_l_wheel_joint_controller/pid/parameter_updates
/pr2/fr_caster_l_wheel_joint_controller/state
/pr2/fr_caster_r_wheel_joint_controller/command
/pr2/fr_caster_r_wheel_joint_controller/pid/parameter_descriptions
/pr2/fr_caster_r_wheel_joint_controller/pid/parameter_updates
/pr2/fr_caster_r_wheel_joint_controller/state
/pr2/fr_caster_rotation_joint_controller/command
/pr2/head_joint_controller/command
/pr2/head_joint_controller/follow_joint_trajectory/cancel
/pr2/head_joint_controller/follow_joint_trajectory/feedback
/pr2/head_joint_controller/follow_joint_trajectory/goal
/pr2/head_joint_controller/follow_joint_trajectory/result
/pr2/head_joint_controller/follow_joint_trajectory/status
/pr2/head_joint_controller/state
/pr2/joint_states
/pr2/laser_tilt_mount_joint_controller/command
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/cancel
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/feedback
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/goal
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/result
/pr2/laser_tilt_mount_joint_controller/follow_joint_trajectory/status
/pr2/laser_tilt_mount_joint_controller/state
/pr2/left_arm_controller/command
/pr2/left_arm_controller/follow_joint_trajectory/cancel
/pr2/left_arm_controller/follow_joint_trajectory/feedback
/pr2/left_arm_controller/follow_joint_trajectory/goal
/pr2/left_arm_controller/follow_joint_trajectory/result
/pr2/left_arm_controller/follow_joint_trajectory/status
/pr2/left_arm_controller/state
/pr2/left_gripper_controller/command
/pr2/left_gripper_controller/follow_joint_trajectory/cancel
/pr2/left_gripper_controller/follow_joint_trajectory/feedback
/pr2/left_gripper_controller/follow_joint_trajectory/goal
/pr2/left_gripper_controller/follow_joint_trajectory/result
/pr2/left_gripper_controller/follow_joint_trajectory/status
/pr2/left_gripper_controller/gains/left_left_gripper_finger_joint/parameter_descriptions
/pr2/left_gripper_controller/gains/left_left_gripper_finger_joint/parameter_updates
/pr2/left_gripper_controller/gains/left_right_gripper_finger_joint/parameter_descriptions
/pr2/left_gripper_controller/gains/left_right_gripper_finger_joint/parameter_updates
/pr2/left_gripper_controller/state
/pr2/right_arm_controller/command
/pr2/right_arm_controller/follow_joint_trajectory/cancel
/pr2/right_arm_controller/follow_joint_trajectory/feedback
/pr2/right_arm_controller/follow_joint_trajectory/goal
/pr2/right_arm_controller/follow_joint_trajectory/result
/pr2/right_arm_controller/follow_joint_trajectory/status
/pr2/right_arm_controller/state
/pr2/right_gripper_controller/command
/pr2/right_gripper_controller/follow_joint_trajectory/cancel
/pr2/right_gripper_controller/follow_joint_trajectory/feedback
/pr2/right_gripper_controller/follow_joint_trajectory/goal
/pr2/right_gripper_controller/follow_joint_trajectory/result
/pr2/right_gripper_controller/follow_joint_trajectory/status
/pr2/right_gripper_controller/gains/right_left_gripper_finger_joint/parameter_descriptions
/pr2/right_gripper_controller/gains/right_left_gripper_finger_joint/parameter_updates
/pr2/right_gripper_controller/gains/right_right_gripper_finger_joint/parameter_descriptions
/pr2/right_gripper_controller/gains/right_right_gripper_finger_joint/parameter_updates
/pr2/right_gripper_controller/state
/pr2/torso_lift_joint_controller/command
/pr2/torso_lift_joint_controller/follow_joint_trajectory/cancel
/pr2/torso_lift_joint_controller/follow_joint_trajectory/feedback
/pr2/torso_lift_joint_controller/follow_joint_trajectory/goal
/pr2/torso_lift_joint_controller/follow_joint_trajectory/result
/pr2/torso_lift_joint_controller/follow_joint_trajectory/status
/pr2/torso_lift_joint_controller/state
/rosout
/rosout_agg
/rviz_visual_tools_gui
/surface_objects
/surface_objects_array
/tf
/tf_static
/tilt_scan
Why does this happen?
Also, I tried the following command in the rosject
rostopic pub /pr2/cmd_vel geometry_msgs/Twist ‘{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}’
I tried it multiple times and the robot is not moving in any direction. I also echoed it and it is being updated but the model is not moving in Gazebo.
Is there anything I can do to fix this?
Thank you
Any suggestions please?
Hi,
You seem to have problems launching the controllers of the simulation.
You shared two topics lists, I’m assuming from two different rosjects?
When you publish to /pr2/cmd_vel on the simulation that does list it, does it still not work?
What is the output of the terminal where you are launching the gazebo simulation?
Hi,
There are tow issues which are solve like this:
sudo apt update
sudo apt install -y ros-noetic-moveit-core
This might not be necessay after the next sysem update but just in case.
Thank you so much! After increasing the speed to 150, I can see the movement.
Two simple questions, please:
How can we “rostopic pub” to the speed directly as a command?
When I launch from the Gazebo icon the /pr2/cmd_vel is not visible. How do I enable this?
Hi.
How can we “rostopic pub” to the speed directly as a command?
rostopic pub geometry_msgs/Twist [DOUBLE TAB and set the desired values]
When I launch from the Gazebo icon the /pr2/cmd_vel is not visible. How do I enable this?
Could make a video or pictore of that issue? I dont quite understand what you mean
Thank you! I was trying to get the simulation running from Gazebo icon. I understand now.
Is there a MoveIt package available for ROS Noetic for the PR2?
Thank you
The current version we have is for noetic 
@duckfrost2 That is what I need! Thank you.
Is there any existing ROSject with PR2 MoveIt for Noetic because I want to understand it, how to use the groups in order to manipulate the end effector in Python?
Also, I’m unable to determine which topic is the odometer the PR2. I did display all the topics, but the odometer is not visible. Can you please help me?
I tried to get data from the pr2_moveit package, by accessing it through the Moveit Wizard:
roslaunch moveit_setup_assistant setup_assistant.launch
I get the following error
[ERROR] [1634683215.044553337]: [setParam] Failed to contact master at [4_xterm:11311]. Retrying…
Can you please let me how I can fix it?
How do I launch the PR2 to manipulate the end-effector in MoveIt in Noetic?
Also, what is the best way to find the odometer in Noetic with the PR2 robot?
Thank you
That error is becuase you dont have the simulation launched.
You can launch it through for example this launch:
roslaunch pr2_gazebo main_elephant_person.launch
But set insid ethat launch the variable:
This should launch the Moveint system in RVIZ
I followed the instructions but still not working.
Here is the ROSject: Learn Robotics from Zero - Robotics & ROS Online Courses
The commands were:
roslaunch pr2_tc_gazebo main_elephant_person.launch
roslaunch moveit_setup_assistant setup_assistant.launch
Here’s the screenshot after loads only 30% of it.
Can you please let me how I can fix it? I want to change the planning groups for the end effector.
Apologies for the crosspost
Here is the ROSject: Learn Robotics from Zero - Robotics & ROS Online Courses
Challenge 1: There is no PR2 odometry topic published in Noetic
Goal 1: Move PR2 to a Certain Point Using Twist as [ROS Q&A] 053 - How to Move a Robot to a Certain Point Using Twist - The Construct
Challenge 2: Use MoveIt with PR2 robot in Noetic
Goal 2: Move the end effectors of both arms of the PR2 robot simulation in Gazebo as [ROSDS] 008 - Use MoveIt with PR2 robot in ROS Kinetic Gazebo Easy Guide - The Construct
Challenge 3: Inverse kinematics for the PR2 arms in Noetic
Goal 3: Point-and-click and compute inverse kinematics for the tip link of the PR2 arm.
For the IK, I’d like the end effector to move to the location clicked on the screen on a webpage. Please see the following video: Robot Control Interface Instructions (target) - YouTube
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