Robot not moving

[Ankit_Kumar]

Greetings I am trying to complete the first project ROS Basic in 5 days. I wrote the code and launch file for that even then the robot is not moving when I am launching the file.

This is launch file

<node pkg="turtlebot3" type="turtlebot3.py" name="turtlebot3_node" output="screen">   

</node>

This is the code that I am using

#! /usr/bin/env python

import rospy

from geometry_msgs.msg import Twist

from sensor_msgs.msg import LaserScan

def callback(msg):

rospy.loginfo(rospy.get_caller_id()+ 'The distance to obstacle is - %s',msg.ranges[300])

if msg.ranges[0] > .3:

    print('in')

    move.linear.x = .1

    move.angular.z = .2

    pub.publish(move)

if msg.ranges[0] < .2:

    print('out')

    move.linear.x = 1

    move.angular.z = -2

    pub.publish(move)

    

if msg.ranges[0] > .2 and msg.ranges[0] < 0.3:

    print('out')

    move.linear.x = 1

    move.angular.z = 0

    pub.publish(move)  

if msg.ranges[360] < .5:

    print('out')

    move.linear.x = 1

    move.angular.z = 5

    pub.publish(move)  

rospy.init_node(‘turtlebot3_node’)

move = Twist()

pub = rospy.Publisher(’/cmd_vel’,Twist,queue_size = 1)

sub = rospy.Subscriber(’/kobuki/laser/scan’,LaserScan,callback)

rospy.spin()

[duckfrost2]

First check that the topic is being published correctly in the cmd_vel.

That will give us a first idea where the problem might be