Publishing commands to '/cmd_vel/ but no movement in bot

[ridhgoswami]

Hi! I am working on a voice command operated bot as a project. I am using turtlebot2 as my bot and working with ros, and SpeechRecognition as the speech-to-text lib.

So far, I able to publish the recognized text into a topic and a subscriber listens into it and publishes movement commands in ‘/cmd_vel’ but my bot is not moving.

Here’s an examples of what I mean:

turtlebot@turtlebot:~/riddhi_ws$ rostopic echo /recognized_text
data: "left"
---


turtlebot@turtlebot:~/riddhi_ws$ rostopic echo /cmd_vel
linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.2
---

turtlebot@turtlebot:~/turtlebot2i_ws$ rosnode list
/rosout
/voice_commands2

I will be very grateful if someone can help me diagnose the problem.

Kind regards

[duckfrost2]

HI,

Could you share the ROSject with the code? The git? Something? Otherwise its quite impossible to debug. Do you have a simulation or something where we can test your code? I highly recommend you to put your project inside a ROSject , is the best way to debug this.

Test the following:

• DOes the robot move when you publish those same cmd_vel commands in that topic? Thats is the first place you have to look.

[roalgoal]

Are you publishing with the correct topic type?

Maybe try moving it with rosrun teleop_twist_keyboard teleop_twist_keyboard?

[ridhgoswami]

Thank you so much for your reply. I have tried running a simulation using rosject but I was unable to install PyAudio library which is required for SpeechRecognition lib, additionally I’m not sure about installing microphone driver for the same.

This is the link to the rosject: https://app.theconstructsim.com/l/5bacb9d4/

I’ll try running those published on ‘/cmd_vel’ to move the bot

[ridhgoswami]

Yes, I have tried this, and the bot does respond.