I am using ROS Melodic with Ubuntu 18.04.

When I run the turtlebot3_world.launch file, the only topics listed in rostopic list are:

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg

Gazebo starts and I can see the environment and waffle_pi model, but I don't have any topics like cmd_vel, odom, sensor_state, etc.

The output from running the launch file is:

process[gazebo-1]: started with pid [4189]
process[gazebo_gui-2]: started with pid [4194]
process[spawn_urdf-3]: started with pid [4199]
[ INFO] [1593193588.071952227]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1593193588.073046966]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1593193588.115089000]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1593193588.116114211]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1593193588.402999688]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1593193588.432082112, 0.005000000]: Physics dynamic reconfigure ready.
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[spawn_urdf-3] process has finished cleanly

I'm trying to simulate turtlebot in gazebo
I tried both methods mentioned in here http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#simulation

When I run roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch on my PC
error occurs
process[gazebo-2]: started with pid [3382]
process[gazebo_gui-3]: started with pid [3399]
process[spawn_urdf-4]: started with pid [3407]
/opt/ros/kinetic/lib/gazebo_ros/gzclient: 24: .: Can't open /home/kangbo/catkin_ws/devel/share/gazebo//setup.sh

[gazebo_gui-3] process has died [pid 3399, exit code 2, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/kangbo/.ros/log/e6670cae-7bb4-11e8-9151-4f401d799bca/gazebo_gui-3.log].
log file: /home/kangbo/.ros/log/e6670cae-7bb4-11e8-9151-4f401d799bca/gazebo_gui-3*.log

/opt/ros/kinetic/lib/gazebo_ros/gzserver: 30: .: Can't open /home/kangbo/catkin_ws/devel/share/gazebo//setup.sh

[gazebo-2] process has died [pid 3382, exit code 2, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/kangbo/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_house.world __name:=gazebo __log:=/home/kangbo/.ros/log/e6670cae-7bb4-11e8-9151-4f401d799bca/gazebo-2.log].
log file: /home/kangbo/.ros/log/e6670cae-7bb4-11e8-9151-4f401d799bca/gazebo-2*.log

I run the same command on my laptop, gazebo works fine with no error.

Since I got no clue with the bug, I tried the second method.
gazebo worlds/turtlebot3_${TB3_MODEL}.world
It worked on my PC.

Some parameters of my PC
OS: Ubuntu 16.04.4 LTS
ros: kinetic
VGA compatible controller: Advanced Micro Devices, Inc. [AMD/ATI] RS780L [Radeon 3000]

Any suggestion is helpful, thanks.

Hi,

I want to run turtlebot3(burger) gazebo simulation, and execute the following command according to wiki:
roslaunch turtlebot3_gazebo turtlebot3_house.launch

And the gazebo hang in the "preparing your world" message.
The console message is shown below:

ll@oa:~/catkin_turtle$ roslaunch turtlebot3_gazebo turtlebot3_house.launch
... logging to /home/ll/.ros/log/4c26f992-9bc0-11e9-a02a-aced5ca8ad3b/roslaunch-oa-12987.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.43.77:46469/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /rosdistro: kinetic
• /rosversion: 1.12.14
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://192.168.43.77:11311

process[gazebo-1]: started with pid [13009]
process[gazebo_gui-2]: started with pid [13014]
process[spawn_urdf-3]: started with pid [13019]
ros.gazebo_ros.api_plugin: Finished loading Gazebo ROS API Plugin.
ros.roscpp: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
ros.gazebo_ros.api_plugin: Finished loading Gazebo ROS API Plugin.
ros.roscpp: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

I tried gazebo v7.0 and v7.15, and the phenomenon is the same.
I can run the following command and successfully load the world model
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

And I also tried several models from gazebo website, these models were loaded successfully :
https://bitbucket.org/osrf/gazebo_models/src/default/

My environment is
- Ubuntu 16.04.6,
- ros kinetic

Please give me some comment, thanks!

Hi,

I want to launch multiple TB3 robots in single world in gazebo simulator in ros2 environment.
How this can be done? please help

Hello,

I am using ROS Melodic and Waffle model and latest commit (6278566). Repo is up-to-date with the current version.

rostopic echo /imu gives:

header:
seq: 12477
stamp:
secs: 14962
nsecs: 36000000
frame_id: "base_footprint"
orientation:
x: 0.0015566085891899162
y: 0.0003276490868402762
z: -0.9788036429173815
w: 0.2047947709963295
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.0005358902335171238
y: -0.0003909577325524005
z: 0.19488579839896925
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 5.083136873524716e-05
y: 0.00010048728744395968
z: 2.618836550644121e-07
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Covariance cannot be zero in the real-world for IMU and needs to reflect that in the simulation. Where can I change the covariance matrix for Imu and odom?
Thanks

When I start the simulation of TB3 burger following the guide on the website (http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#turtlebot3-fake-node-implementation), it says in rviz that no transform is found for the robot. Furthermore, it does not react to the teleop commands in gazebo/rviz.
screen shot

Am I missing a command not mentioned in the guide or is it some other issue?

Hi, Im using ROS melodic/gazebo to simulate TB3 moving in an arc. Im publishing constant lin/ang velocity:
cmd_vel:
linear.x=0.15
angular.z=0.28
Robot moves but not smoothly, it turns abruptly while starting and stopping.
Here's a video. Im guessing it has something to do with the tb3 urdf since turtlesim works well with this trajectory. Here's a video of the behavior
https://youtu.be/WrE3BPGC6d8

Thx :)

Following the tutorial steps from : http://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_simulation/#simulation

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

When I use waffle as the ${TB3_MODEL} ,after about 30-45 seconds, the lidar in cartographer would start to spin on the Z axis. Here is an image of the scanners being way off of the level field : https://i.imgur.com/rYw9enr.png . This wobble continues back and forth and does not stop. It does not matter if the model is moving, the same problem still occurs. It is not running into any objects or terrain either to cause tilt.

The spin causes the robot to lose confidence in the map it has created which causes it to get blurrier as time goes on.

This problem is not encountered when following the exact same steps with burger as the ${TB3_MODEL}

Operating system is Linux Mint 19.02 (an equivalent to ubuntu 18.04).

While working with this project, to make it less computationally taxing on my computer, I was trying to launch the different world files (ex, turtlebot3_world.launch) without loading the gazebo client, and only have it bring up the gz server. Looking at the turtlebot3_world.launch file, it seems like I can't do this since the only parameters that it seems to accept is

 <arg name="x_pos" default="-2.0"/> 
 <arg name="y_pos" default="-0.5"/>
 <arg name="z_pos" default="0.0"/>

the file later has

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="gui" value="true/>
    ...
</include>

Is there any way of overriding it, or would this file require editing in the first block to accept another parameter at the top level, and then pass that into the include block to not launch the gazebo client?

Hi,
I've just downloaded the new package which include Turtlebot3 House.
However, when I run
$ roslaunch turtlebot3_gazebo_ros turtlebot3_world.launch

Gazebo will start to open, but after a while I get
Error [parser.cc:581] Unable to find uri[model://turtlebot3_world]

Similarly, if I try to launch the new house world;
Error [parser.cc:581] Unable to find uri[model://turtlebot3_house]

Launching the empty world works fine.
So I think its missing the model files.

I was curious why no env hooks are used in any of the ros2 branches. This will eliminate the need for people to manually add the GAZEBO_MODEL_PATH to their bashrc

echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc

Is there a specific reason as to why it's preferred to do this manually?

Hi I'm trying to launch the empty world with
$ export TURTLEBOT3_MODEL=waffle
$ ros2 launch turtlebot3_gazebo empty_world.launch.py

But I'm getting the following error:
[gazebo-1] [Wrn] [FuelModelDatabase.cc:248] URI not supported by Fuel [model://turtlebot3_waffle]
[gazebo-1] [Wrn] [SystemPaths.cc:464] File or path does not exist [""] [model://turtlebot3_waffle]
[gazebo-1] Error Code 11 Msg: Unable to find uri[model://turtlebot3_waffle]
[gazebo-1]

How can I fix it?
(I have Ubuntu 18.04)

In the ROS1 branch, the CMakeLists contains install info for the models, meshes, etc:

install(DIRECTORY launch models rviz worlds 
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

Please add this for ROS2 also so that we can access the models using 'ros2 package prefix' to find the directory.

➜  turtlebot3_simulations git:(master) roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
... logging to /home/pxu/.ros/log/9ebc8ea2-e3d6-11e9-95f9-d89ef348ac6b/roslaunch-sv870169lx-3667.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sv870169lx:44192/

SUMMARY
========

PARAMETERS
 * /cmd_vel_topic_name: /cmd_vel
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    turtlebot3_drive (turtlebot3_gazebo/turtlebot3_drive)

ROS_MASTER_URI=http://localhost:11311

process[turtlebot3_drive-1]: started with pid [3689]
================================================================================REQUIRED process [turtlebot3_drive-1] has died!
process has died [pid 3689, exit code -11, cmd /home/pxu/projects/turtlebot3_challenge/catkin_ws/devel/lib/turtlebot3_gazebo/turtlebot3_drive __name:=turtlebot3_drive __log:=/home/pxu/.ros/log/9ebc8ea2-e3d6-11e9-95f9-d89ef348ac6b/turtlebot3_drive-1.log].
log file: /home/pxu/.ros/log/9ebc8ea2-e3d6-11e9-95f9-d89ef348ac6b/turtlebot3_drive-1*.log
Initiating shutdown!
================================================================================
[turtlebot3_drive-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

It seems that there is a problem in the following line:

target_link_libraries(turtlebot3_drive ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})

until I modify it to

target_link_libraries(turtlebot3_drive ${catkin_LIBRARIES})

Probably it is because some library missing in my system. Can you please give me some hint?

git version: release/melodic/turtlebot3_gazebo/1.2.0-0
first: roslaunch turtlebot3_gazebo turtlebot3_world.launch
second: rosrun rqt_graph rqt_graph
there is an error:

           thank you!!!

Hi, I am trying to run a turtlebot3 drive for collision avoidance.
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

when running simulation. launch file the robot should move automatically in the world. In this case, the turtlebot3 drive node is initializing and the Simulation node init msg can be seen, but the turtlebot3 is not moving in the gazebo. It is standing still.

I looked through several ROBOTIS repos and most seem to be in C++. I am currently working on a project, involving ROS, Gazebo and Turtlebot3, where my code is all in Python. I was wondering whether there have been any plans to have the code from this repo translated to Python? Right now I am writing my own gazebo_ros_turtlebot3 and turtlebot3_fake, translating your .cpp files to .py files. I think for beginners who want to pick up robotics, Python would definitely be a more friendly environment to work in.

Everything works pretty well, but the depth camera seems to be in the wrong frame.

Here's the view in RVIZ:

Here's the view in Gazebo (7.8):

Refer to the following fix: ros/catkin#552

I install binary ROS2 crystal on ubuntu 18.04 64bits.
My installation and run process:

cd ~/ros2_overlay_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3 -b ros2
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs -b ros2
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations -b ros2
cd ~/ros2_overlay_ws/
colcon build
sudo cp ~/ros2_overlay_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/turtlebot3_worlds/burger.model /usr/share/gazebo-9/worlds/
sudo cp -r ~/ros2_overlay_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_world /usr/share/gazebo-9/models/
sudo cp -r ~/ros2_overlay_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger /usr/share/gazebo-9/models/
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_cartographer cartographer.launch.py

However, rviz2 could not show robot model and have TF errors.

How to solve it?
Thank you~

Sam

Will you be making a release for Crystal? If so, when?

The node causes segmentation fault even if I execute it separately with rosrun.

robotis@ROBOTIS-JAPAN05:~$ roslaunch turtlebot3_fake turtlebot3_fake.launch -v
... logging to /home/robotis/.ros/log/8ca9ca98-e9fc-11e7-9e98-f48c5052e397/roslaunch-ROBOTIS-JAPAN05-12929.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... loading XML file [/opt/ros/kinetic/etc/ros/roscore.xml]
... executing command param [rosversion roslaunch]
Added parameter [/rosversion]
... executing command param [rosversion -d]
Added parameter [/rosdistro]
Added core node of type [rosout/rosout] in namespace [/]
... loading XML file [/opt/ros/kinetic/share/turtlebot3_fake/launch/turtlebot3_fake.launch]
Added parameter [/tb3_model]
... loading XML file [/home/robotis/robotis_ws/src/ROBOTIS-GIT/turtlebot3/turtlebot3_bringup/launch/includes/description.launch.xml]
... executing command param [/opt/ros/kinetic/lib/xacro/xacro '/home/robotis/robotis_ws/src/ROBOTIS-GIT/turtlebot3/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro']
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
Added parameter [/robot_description]
... done importing include file [/home/robotis/robotis_ws/src/ROBOTIS-GIT/turtlebot3/turtlebot3_bringup/launch/includes/description.launch.xml]
Added node of type [turtlebot3_fake/turtlebot3_fake_node] in namespace [/]
Added parameter [/robot_state_publisher/publish_frequency]
Added node of type [robot_state_publisher/robot_state_publisher] in namespace [/]
Added node of type [rviz/rviz] in namespace [/]
started roslaunch server http://127.0.0.1:39878/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /robot_state_publisher/publish_frequency: 50.0
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /tb3_model: burger

NODES
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
turtlebot3_fake_node (turtlebot3_fake/turtlebot3_fake_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[turtlebot3_fake_node-1]: started with pid [12950]
process[robot_state_publisher-2]: started with pid [12951]
process[rviz-3]: started with pid [12970]
[turtlebot3_fake_node-1] process has died [pid 12950, exit code -11, cmd /opt/ros/kinetic/lib/turtlebot3_fake/turtlebot3_fake_node __name:=turtlebot3_fake_node __log:=/home/robotis/.ros/log/8ca9ca98-e9fc-11e7-9e98-f48c5052e397/turtlebot3_fake_node-1.log].
log file: /home/robotis/.ros/log/8ca9ca98-e9fc-11e7-9e98-f48c5052e397/turtlebot3_fake_node-1*.log

I simulated Waffle-pi in Gazebo and noticed that there is a collision box defined in front of Waffle-pi:

Due to this collision box Waffle-pi crashes early to walls. Is this collision box maybe a forgotten artifact from Intelsense camera or is it a feature?

Hi, I am a newbie to ROS. I tried to install the turtlebot3_simulations with the following steps:

On Ubuntu 18.04.1 LTS

• installing full ros-melodic
• setting up a catkin workspace
• git clone turtlebot3, turtlebot3_msgs, turtlebot3_simulations
• editing the turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt from "DEPENDS gazebo" to "DEPENDS GAZEBO" (issue here?)
• running catkin_make and sourcing the setup.bash

but I can only roslaunch
turtlebot3_bringup
turtlebot3_example
turtlebot3_navigation
turtlebot3_teleop
turtlebot3_description
turtlebot3_msgs
turtlebot3_slam

catkin_make throws following warnings:

CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.

Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES)
/usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt:23 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

Is there a quick workaround for this?
Thanks for the help!

As the title says, in all the ros2 branches (dashing-devel eloquent-devel ros2-devel and ros2) the turtlebot is placed in the world by having a preset world with the environment (for instance the turtlebot world) and the specific turtlebot model itself (burger/waffle/waffle-pi)

In ros1 the turtlebot model was always spawned in using the gazebo_ros spawner. I was curious what the decision was to not do that in ros2. To me it seems a lot more cluttered right now, each world has 3 different world files (one for each turtelbot model).
If you want to move the robot, you will also need to edit the world file.

To me, this seems like a strange design choice. Is there a reason as to why it's set up like this? I could see if I could change it to use the gazebo_ros spawner next week (for eloquent-devel, that's the branch I use myself) Would people be interested in this change?

The tb3 model files will need updating for eloquent to add the "--ros-args -r" to the arguments list.

See issue here:
ros-simulation/gazebo_ros_pkgs#991

My system environment：
Ubuntu 20.04
I using follow command to install gazebo
curl -sSL http://get.gazebosim.org | sh
$gazebo --version
Gazebo multi-robot simulator, version 11.1.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org
And them, I install ros_noetic.
Finially, git clone turtlebot3_simulations (tag 1.2.0).

When I catkin make turtlebot3_simulations, I got the CMake Warning as follow:
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt:40 (catkin_package)

how to fix that?

Thank you!

#8 missed the CMakeLists.txt install rule and is breaking the debian build with this error:

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__turtlebot3_gazebo__ubuntu_xenial_amd64__binary/24/console

00:55:37 -- Installing: /tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6/debian/ros-kinetic-turtlebot3-gazebo/opt/ros/kinetic/share/turtlebot3_gazebo/rviz/turtlebot3_gazebo_model.rviz
00:55:37 CMake Error at cmake_install.cmake:83 (file):
00:55:37   file INSTALL cannot find
00:55:37   "/tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6/worlds".
00:55:37 
00:55:37 
00:55:37 make[2]: *** [install] Error 1
00:55:37 Makefile:97: recipe for target 'install' failed
00:55:37 make[2]: Leaving directory '/tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6/obj-x86_64-linux-gnu'
00:55:37 dh_auto_install: make -j1 install DESTDIR=/tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6/debian/ros-kinetic-turtlebot3-gazebo AM_UPDATE_INFO_DIR=no returned exit code 2
00:55:37 	cd /tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6
00:55:37 debian/rules:58: recipe for target 'override_dh_auto_install' failed
00:55:37 make[1]: *** [override_dh_auto_install] Error 2
00:55:37 make[1]: Leaving directory '/tmp/binarydeb/ros-kinetic-turtlebot3-gazebo-0.1.6'
00:55:37 make: *** [binary] Error 2

Hello there,

I'm using Turtlebot3-Burger on Gazebo, with ROS-melodic on Ubuntu 18.04.
I need to use laser data to estimate the distance to an obstacle and the same data are used in order to detect any collision. The problem is that there is a "blank" area near the robot, before the actual LIDAR that in some occasions prevents the robot from detecting the actual collision. Here are a couple of screenshot that I hope will clarify the situaton.

My question is: is there any parameter I can modify in order to make this stuff work? Thanks

In the docs right now http://turtlebot3.robotis.com/en/latest/simulation.html the user is explicitly instructed to install the models. This can easily lead to outdated models lingering around.

Instead the GAZEBO_MODEL_PATH it should be declared in the package.xml like this: https://github.com/osrf/car_demo/blob/master/car_demo/package.xml#L25

Also while looking at this the models should not be in the worlds subdirectory either but in a models subdirectory for clarity.

https://answers.ros.org/question/296589/tf_old_data-on-gazebo-simulation/#296684

In ROS2 branch, the pose values <pose>0.069 -0.047 0.107 0 0 0</pose> for realsense camera collision box in turtlebot3_waffle/model.sdf seems to be wrong. With these values, in Gazebo the collision box is shown with offset from the actual location. Please look at the attached image.

I used this tutorial to set up my workspace and am trying to implement a q-learning environment using ROS2. I have written a simple subscriber to the /scan topic which has publisher /turtlebot3_laserscan, but do not get any results when running the script alongside the ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py command.

scanSub.py

import rclpy
from rclpy.qos import QoSProfile
from sensor_msgs.msg  import LaserScan

def chatter_callback(msg):
    #print('Heard {0}'.format(str(msg)))
    print('heard it')
    

def main(args=None):
    rclpy.init()

    node = rclpy.create_node('scanSubcriber')

    sub = node.create_subscription(LaserScan, 'scan', chatter_callback, QoSProfile(depth=10))
    assert sub  # prevent unused warning

    while rclpy.ok():
        rclpy.spin_once(node)

if __name__ == '__main__':
    main()

However, when I run my own simple publisher to publish custom scan messages, the messages are recieved.

testPub.py

from time import sleep
from sensor_msgs.msg  import LaserScan
import rclpy

from rclpy.qos import QoSProfile

def main(args=None):
    rclpy.init()

    node = rclpy.create_node('scanPublisher')

    chatter_pub = node.create_publisher(LaserScan, 'scan', QoSProfile(depth=10))

    msg = LaserScan()

    i = 1
    while True:
        msg.angle_min = float(i)
        i += 0.5
        print('Publishing: "{0}"'.format(msg.angle_min))
        chatter_pub.publish(msg)
        sleep(1)

if __name__ == '__main__':
    main()

The ros2 node info /turtlebot3_laserscan command gives the message type of /scan as sensor_msgs/msg/LaserScan which I believe is the type I am using on the custom subscriber and publisher.

My environment is

• Ubuntu 18.04.3,
• ros2 Dashing

Do I need to git clone all of this in the folder"src"under"catkin_ws"

I am running the Turtlebot3 in a gazebo environment with ros foxy on Ubuntu 20.04. While the Burger model is running fine within cartographer as far as i can tell (i let it run for over an hour), the waffle_pi model starts behaving weird some minutes after the start of cartographer:

I tried this on the ros2, ros2-devel and foxy-devel branch - all waffle_pi models behave the same way.

I'm seeing a lot of noise in the /odom data when running Turtlebot 3 in Gazebo. The noise in /odom/twist/twist/linear/y is wreaking havoc with the local planner in the nav2 stack because, at times, the apparent sideways velocity is greater than the kinematic limits of the robot.

There is a video here showing the plot of linear/x and linear/y velocities in RQT.
https://youtu.be/NCnlEXmZRUU

The most interesting bit is at 2:00 where the Turtlebot has been driving steadily for a while when all of a sudden a large but noisy Y velocity appears.

I thought this may be related to physics parameters of the Turtlebot model due to a similar issue reported in ros-simulation/gazebo_ros_pkgs#245

Details:
Running on ROS2, Gazebo 9. Ubuntu 18.04,
Running ROS2 HEAD of this repo (198218d)

What's the status of porting this repo to ros2? I have pulled and tried to build the 'ros2' branch using colcon build but it looks like it hasn't been ported yet. Is that planned soon?

After a clean install of Ubuntu and the whole TB3 stack, I still get this crash. Note that this happens for any of the provided launch files.

$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

[gazebo_gui-2] process has died [pid 14507, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/pitosalas/.ros/log/20092ab8-2a70-11e9-b967-002500efe1ca/gazebo_gui-2.log].

I've seen many people report this but no answers!

While it's nice the the turtlebot 3 mode for gazebo remains accurate and has already been downsampled in polycount, the number of non-visible services seems a bit excessive. A small optimization may be to omit or hollow out services internal to mechanics and electronics that are non-visible to reduces the memory footprint for simulations.

Hi, thanks for the great work!
When I followed the tutorial:
http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#turtlebot3-simulation-using-gazebo
and I tried to run the command: roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
and error occurred:

ERROR: cannot launch node of type [turtlebot3_gazebo/turtlebot3_drive]: can't locate node [turtlebot3_drive] in package [turtlebot3_gazebo]

I'm wondering about that there are 3 launch files:

turtlebot3_empty_world.launch
turtlebot3_simulation.launch
turtlebot3_fake.launch

Why do you separate these into 3 files? And, why do you separate into 2 packages gazebo and fake?

Hello!
I met a problem when running "roslaunch turtlebot3_gazebo turtlebot3_simulation.launch" in gazebo with waffle model.
The robot doesn't move forward and just rotate at the present location.
Does anyone have some idea about this problem?
Thank you!

Hello there!

I am having trouble running the multi Turtlebot3 world and Turtlebot3 house world. Any help would be appreciated, thanks! Here is my setup,

Ubuntu 20.04
ROS Noetic

Build instructions,

mkdir -p ~/test_ws/src
cd ~/test_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations

cd ~/test_ws
rosdep install --from-paths src --ignore-src --rosdistro noetic -yr

# Other dependencies I have found that were not automatically installed using rosdep
sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-dwa-local-planner 

cd ~/test_ws
source /opt/ros/noetic/setup.bash
colcon build

These are the logs for running the house world, similar to the multi Turtlebot3 world, with gazebo getting stuck on the loading screen,

aaron@ws:~/test_ws1$ export TURTLEBOT3_MODEL=burger; roslaunch turtlebot3_gazebo turtlebot3_house.launch 
... logging to /home/aaron/.ros/log/1efd41c4-30ca-11eb-b7d0-0d8eee8c6707/roslaunch-ws-37980.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://ws:33865/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.8
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [37990]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1efd41c4-30ca-11eb-b7d0-0d8eee8c6707
process[rosout-1]: started with pid [38000]
started core service [/rosout]
process[gazebo-2]: started with pid [38003]
process[gazebo_gui-3]: started with pid [38011]
process[spawn_urdf-4]: started with pid [38017]
[ INFO] [1606493023.695570938]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606493023.696700630]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606493023.788548749]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606493023.789496346]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606493024.781440176]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1606493024.800089857]: Physics dynamic reconfigure ready.

After trying to shut it down with Ctrl+C, this was the rest of the console prints in the same terminal,

^C[spawn_urdf-4] killing on exit
[gazebo_gui-3] killing on exit
[gazebo-2] killing on exit
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 522, in call
    responses = transport.receive_once()
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 737, in receive_once
    self.stat_bytes += recv_buff(sock, b, p.buff_size)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 109, in recv_buff
    raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
rospy.exceptions.TransportTerminated: unable to receive data from sender, check sender's logs for details

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 239, in <module>
    exit_code = sm.run()
  File "/opt/ros/noetic/lib/gazebo_ros/spawn_model", line 183, in run
    success = gazebo_interface.spawn_urdf_model_client(self.args.model, model_xml, self.args.robot_namespace,
  File "/opt/ros/noetic/lib/python3/dist-packages/gazebo_ros/gazebo_interface.py", line 32, in spawn_urdf_model_client
    resp = spawn_urdf_model(model_name, model_xml, robot_namespace, initial_pose, reference_frame)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 530, in call
    raise rospy.exceptions.ROSInterruptException("node shutdown interrupted service call")
rospy.exceptions.ROSInterruptException: node shutdown interrupted service call
[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

In ROS1, /cmd_vel topic was used to publish the velocities for turtlebot3. But when doing the same here it doesn't work. I am wondering if its the bug or there is any other way to achieve the same thing?

Thank you in advance!
P.S. I am using Dashing.

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch...
logging to /home/mark/.ros/log/ed3f78ba-447b-11e8-9ffd-d4bed9d3a2e0/roslaunch-mark-7464.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://218.197.194.58:40127/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /rosdistro: kinetic
• /rosversion: 1.12.12
• /use_sim_time: True

NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://218.197.194.58:11311

process[gazebo-1]: started with pid [7486]
process[gazebo_gui-2]: started with pid [7491]
process[spawn_urdf-3]: started with pid [7496]
[gazebo-1] process has died [pid 7486, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/mark/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty.world __name:=gazebo __log:=/home/mark/.ros/log/ed3f78ba-447b-11e8-9ffd-d4bed9d3a2e0/gazebo-1.log].
log file: /home/mark/.ros/log/ed3f78ba-447b-11e8-9ffd-d4bed9d3a2e0/gazebo-1.log*
[gazebo_gui-2] process has finished cleanly
log file: /home/mark/.ros/log/ed3f78ba-447b-11e8-9ffd-d4bed9d3a2e0/gazebo_gui-2*.log
^C[spawn_urdf-3] killing on exit
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 313, in
sm.callSpawnService()
File "/opt/ros/kinetic/lib/gazebo_ros/spawn_model", line 271, in callSpawnService
initial_pose, self.reference_frame, self.gazebo_namespace)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/gazebo_ros/gazebo_interface.py", line 28, in spawn_urdf_model_client
rospy.wait_for_service(gazebo_namespace+'/spawn_urdf_model')
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 159, in wait_for_service
raise ROSInterruptException("rospy shutdown")
rospy.exceptions.ROSInterruptException: rospy shutdown
shutting down processing monitor...
... shutting down processing monitor complete
done

How can I solve this problem？

I am using the melodic version of ROS with an Ubuntu 18.04 system.

I ran into an issue where the burger bot in gazebo, did not move when turtlebot3_simulation.launch file was launched.

When I ran "rqt_graph" node I found out that the "turtlebot3_drive" node did not publish to /cmd_vel topic and also it did not subscribe from /odom and /scan topics too.

I made the following change in the in the "turtlebot3_drive.cpp" file present in the "/turtlebot3_gazebo/src" folder and the issue was solved. I added the turtlebot3_drive.init(); line in the main() function as shown below:

int main(int argc, char* argv[])
{
  ros::init(argc, argv, "turtlebot3_drive");
  Turtlebot3Drive turtlebot3_drive;
  turtlebot3_drive.init();  //the line that I added

  ros::Rate loop_rate(125);

  while (ros::ok())
  {
    turtlebot3_drive.controlLoop();
    ros::spinOnce();
    loop_rate.sleep();
  }

  return 0;
}

Probably it happened because, some compilers do not run the init() function of a class, as soon as it's object is created.

I thought I could post this here, as if anyone faced the same issue as me could get it sorted.

Thank you.

when I run roslaunch turtlebot3_gazebo turtlebot3_world.launch, then occur the error:
ResourceNotFound: turtlebot3_description.
And I could find the file "turtlebot3_description" anywhere.

Ubuntu 16.04, gazbeo 8.1, ros kinetic
There are only two tfs output (base_footprint and odom)
How can I check the other frames like base_scan?
Otherwise, I cannot see the laser scan output in rviz correctly.

Hi there,

I installed ROS2 foxy on an Ubuntu 20.04 OS and followed the tutorial for the turtlebot3 setup (with ROS2). The only part I didn't do was the swap from gazebo11 which is installed at the first attempt to gazebo9, since I used the ROS2 foxy - Gazebo11 combination previously in a virtual environment without any problems. Now I am trying to setup the same environment on a real computer and I can start ROS nodes, I can open the gazebo framework, I can manually add turtlebots within gazebo but as soon as I use the /spawn_entity service with the turtlebot3 models or a launch file from turtlebot3_gazebo/worlds, gazebo crashes.

I get the error for example with the following command:

ros2 launch gazebo_ros gzserver.launch.py world:=~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model

And the output is:
[INFO] [launch]: All log files can be found below ~/.ros/log/...
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [6599]
[gzserver-1] Illegal instruction (core dumped)
[ERROR] [gzserver-1]: process has died [pid 6599, exit code 132, cmd 'gzserver ~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/worlds/empty_worlds/waffle_pi.model -s libgazebo_ros_init.so -s libgazebo_ros_factory.so '].

The demo

ros2 launch gazebo_ros spawn_entity_demo.launch.py
works without any problems so I believe there has to be a problem in loading the turtlebot3 model files!?

Would be glad if someone has any ideas of what to try next ;)