Cannot move robot in Turtlebot3 Gazebo simulations

[saadi-tech]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • Burger
   • [Yes] Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • [Yes] ROS 2 Foxy Fitzroy
   • etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • [ Only simulation ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • [Yes] Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • After setting the proper env variables,
   • ros2 launch turtlebot3_gazebo empty_world.launch.py
   • But it does not launch the robot simulation properly. I cannot see any new published topics like /scan, /imu etc. The robot also doest not move while using keyboard_teleop (the commands are being sent to /cmd_Vel, but their is no subscriber).

8. Copy and Paste the error messages on terminal.

   • [robot_state_publisher-4] [WARN] [1695018012.582064766] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.

   • I removed this warning by using:
     parameters=[{'use_sim_time': use_sim_time,
     'robot_description': Command(['cat ', urdf])}],

     in robot_state_publisher.launch.py, now the warning is gone. But the robot does not work. I do not see any errors on the terminal or Gazebo logs.

9. Please describe the issue in detail.

   • I want to launch turtlebot3 and move it around in Gazebo using teleop. But after setting everything according to the official guide, it still does not work. When I launch this robot 'waffle', it does not start topics like /odom, /scan etc. I try to move it using keyboard_teleop, but again it doest not work. The commands are sent into the /cmd_vel correctly, but there is no subscriber to this topic.
     First, it was showing a warning 'No robot_description parameter'. So I thought it could be the problem, so I changed the robot_state_publisher file. But again it does not start the required topics and the robot does not move. I do not see any error on Gazebo terminal or gazebo logs.
     Please help!!!!