The Robot isn't moving

[harderthan]

I launch the launch file (ref_trajectory_tracking_gazebo.launch).
But, the robot isn't moving.

I think this issue is same as #5.
How to connect /map frame with /odom frame?

[Geonhee-LEE]

Hi, @harderthan.
When I tested with ref_trajectory_tracking_gazebo.launch, it works well like following:

• 

ref_trajectory_tracking_gazebo.launch don't need to connect between map and odom. As I think, your gazebo model don't include odom tf and odom. I referred the rqt_graph and rqt_tf_tree .

• rqt_graph:
  • 
• rqt_tf_tree:
  • 

[harderthan]

Which one of branch for this test which you referred upper?
I used the default branch (melodic). There are no links as imu_link, caster_** like your result on it.

I didn't yet figure out why gazebo not publihed /odom with tf.

[harderthan]

Hello, @Geonhee-LEE .
I found the solution to solve this issue.
There was other repository on devel branch.
robot_descritption packages of CzJaewan/servingbot repository have a model included gazebo.xacro.
The robot model should have controller of gazebo plugins like libgazebo_ros_diff_drive.so.
It is charge of functions to publish /odom topic or subscribe /cmd_vel topic.

Now, every things are working well.
Thanks.

[Simon-Leung]

Hello, @Geonhee-LEE . I found the solution to solve this issue. There was other repository on devel branch. robot_descritption packages of CzJaewan/servingbot repository have a model included gazebo.xacro. The robot model should have controller of gazebo plugins like libgazebo_ros_diff_drive.so. It is charge of functions to publish /odom topic or subscribe /cmd_vel topic.

Now, every things are working well. Thanks.

i have the same problem, and i use CzJaewan/servingbot repository, but didn't work.
my log as:

===== Parameters =====
pub_twist_cmd: 1
debug_info: 0
delay_mode: 1
frequency: 0.1
mpc_steps: 20
mpc_ref_vel: 0.5
mpc_w_cte: 2000
mpc_w_etheta: 1000
mpc_max_angvel: 1

!! MPC Obj parameters updated !!
[ INFO] [1657616973.038310000]: Waiting for global path msgs ~
[ INFO] [1657616973.466635100]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1657616973.481899100]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Error:   Could not find the 'robot' element in the xml file
         at line 80 in /build/urdfdom-YMMa9X/urdfdom-1.0.0/urdf_parser/src/model.cpp
shared memfd open() failed: Function not implemented
shared memfd open() failed: Function not implemented
[ INFO] [1657616974.756086700]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1657616974.951515800, 0.100000000]: Physics dynamic reconfigure ready.
idx: 1
[ INFO] [1657616975.276573500, 0.180000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1657616975.277190700, 0.180000000]: Starting Laser Plugin (ns = /)
[ INFO] [1657616975.281489800, 0.180000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1657616975.296703400, 0.180000000]: Starting plugin DiffDrive(ns = //)
[ WARN] [1657616975.297022200, 0.180000000]: DiffDrive(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1657616975.301444000, 0.180000000]: DiffDrive(ns = //): <tf_prefix> =
[ WARN] [1657616975.301889700, 0.180000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1
[ INFO] [1657616975.305337600, 0.180000000]: DiffDrive(ns = //): Advertise joint_states
[ INFO] [1657616975.311722400, 0.180000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel
[ INFO] [1657616975.334580800, 0.180000000]: DiffDrive(ns = //): Subscribe to cmd_vel
[ INFO] [1657616975.338057000, 0.180000000]: DiffDrive(ns = //): Advertise odom on odom
[ INFO] [1657616975.344281000, 0.181000000]: imu plugin missing <frameName>, defaults to <bodyName>
idx: 2
idx: 3
idx: 4