SLAM Navigation: Drive controller

1

Hi,

Following SLAM navigation | Husarion, After i run this command, catkin_make, i get the following error:

husarion@husarion:~/ros_workspace$ catkin_make
Base path: /home/husarion/ros_workspace
Source space: /home/husarion/ros_workspace/src
Build space: /home/husarion/ros_workspace/build
Devel space: /home/husarion/ros_workspace/devel
Install space: /home/husarion/ros_workspace/install

Running command: “make cmake_check_build_system” in “/home/husarion/ros_workspace/build”

– Using CATKIN_DEVEL_PREFIX: /home/husarion/ros_workspace/devel
– Using CMAKE_PREFIX_PATH: /home/husarion/ros_workspace/devel;/opt/ros/kinetic
– This workspace overlays: /home/husarion/ros_workspace/devel;/opt/ros/kinetic
– Using PYTHON_EXECUTABLE: /usr/bin/python
– Using Debian Python package layout
– Using empy: /usr/bin/empy
– Using CATKIN_ENABLE_TESTING: ON
– Call enable_testing()
– Using CATKIN_TEST_RESULTS_DIR: /home/husarion/ros_workspace/build/test_results
– Found gmock sources under ‘/usr/src/gmock’: gmock will be built
– Found gtest sources under ‘/usr/src/gmock’: gtests will be built
– Using Python nosetests: /usr/bin/nosetests-2.7
– catkin 0.7.18
– BUILD_SHARED_LIBS is on
– BUILD_SHARED_LIBS is on
– ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
– ~~ traversing 5 packages in topological order:
– ~~ - rosbot_ekf
– ~~ - tutorial_pkg
– ~~ - rosbot_navigation
– ~~ - rosbot_description
– ~~ - rosbot_gazebo
– ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
– +++ processing catkin package: ‘rosbot_ekf’
– ==> add_subdirectory(rosbot_ekf)
– Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
– rosbot_ekf: 1 messages, 1 services
– +++ processing catkin package: ‘tutorial_pkg’
– ==> add_subdirectory(tutorial_pkg)
– Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at tutorial_pkg/CMakeLists.txt:147 (target_link_libraries):
Cannot specify link libraries for target “drive_controller_node” which is
not built by this project.

– Configuring incomplete, errors occurred!
See also “/home/husarion/ros_workspace/build/CMakeFiles/CMakeOutput.log”.
See also “/home/husarion/ros_workspace/build/CMakeFiles/CMakeError.log”.
Makefile:1270: recipe for target ‘cmake_check_build_system’ failed
make: *** [cmake_check_build_system] Error 1
Invoking “make cmake_check_build_system” failed
husarion@husarion:~/ros_workspace$ ^C

2

Hi,

I followed these steps:

Save it as drive_controller.cpp in the tutorial_pkg/src folder.

Now in CMakeLists.txt file find line:

find_package(catkin REQUIRED COMPONENTS
    roscpp
)

and change it to:

find_package(catkin REQUIRED COMPONENTS
    roscpp tf
)

then declare executable:

add_executable(drive_controller_node src/drive_controller.cpp)

And specify libraries to link:

target_link_libraries(drive_controller_node
${catkin_LIBRARIES}
)

Ran the catkin command.

Thanks
Vineet

3

Hi,

After I fixed my bad file name (drive_contoller), i was successfully able to run the catkin_make

After running this command: rosrun tutorial_pkg drive_controller, i get the following:

^Chusarion@husarion:~/ros_workspace/src/tutorial_pkg$ rosrun tutorial_pkg drive_controller_node
[ERROR] [1574569590.134188656]: [registerPublisher] Failed to contact master at [master:11311]. Retrying…

Thanks
Vineet

4

Hi Vineet,

Before you start any node in ROS, you have to run ‘roscore’ first. It should solve your problem.

Best regards,
Hubert

5

Hubert,

You are correct.

After running the rosrun … drive_controller_node, i got no response with blank line as expected.

Moving to SLAM navigation | Husarion

After creating the launch file as suggested, the rplider turns on and rviz with adding scan, tf, laser_scan, and setting to fixed frame to laser scan, but when i try to move the robot, it does not move. Can you suggest what i should look? TF, scan, and pose are visible on rviz.

Figured it out. I added the following line to the launch file and the robot moves. yeah.

               <include if="$(arg use_rosbot)" file="$(find rosbot_ekf)/launch/all.launch"/>

Thanks
Vineet

6

Hubert,

I move to the SLAM navigation | Husarion.

Launch the file, and the robot moves, but then it says, the trying to reconnect.

It has happended twice now. I turn it off and on.

What is the furtherest i can control the robot from the laptop?

I am currently 6 feet from the robot.

Thanks
Vineet

7

Hi Vineet,

Could you explain to me where do you get this info “the trying to reconnect”?

I’m guessing that we speak about local network so the distance between the robot and laptop doesn’t matter. Communication is going through router so only distances (actually signal strength) from router to your devices have meaning. Please check if other devices on the network cause interference to WiFi communication.

You can also use Husarnet to allow your devices communicate each other even when they are in different networks.

Best regards,
Hubert

8

Hubert,

I moved from one room to another and connection went from 4 bars to one and then to none. I get “trying to reconnect”.

When i reconnect to another connection / extender, it works and no issues. Tried it 5 days in a row, and no issues.

Thanks
Vineet

9

Hi Vineet,

If I understood you right, your issue is solved, but I would like to know what did you mean writing:

reconnect to another connection / extender

You mean Wi-Fi device different than default pluged in to ROSbot or another Wi-FI router (next access point)?

Best regards,
Hubert

10

Hubert,

Yes.

I was originally connected to router wifi. Then, when i moved from one room to another, I switched to next access point, which in my case my was extender. I have repeated this process several times, and it works.

Thanks
Vineet

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