一、问题描述：

gazebo仿真时在加入差分运动插件后没有cmd_vel话题

joes@joes:~/jiao/ROS_Project$ roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch
... logging to /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/roslaunch-joes-10392.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
started roslaunch server http://localhost:40573/

SUMMARY
========

PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.17
* /use_sim_time: True

NODES
/
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_model1 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [10416]
process[gazebo_gui-2]: started with pid [10421]
process[spawn_model1-3]: started with pid [10426]
[ INFO] [1637235817.256610584]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.257288041]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1637235817.258918130]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1637235817.261062997]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/libqimsw-multi.so"
keys ("imsw-multi")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/inputmethods/qtim-fcitx.so"
keys ("fcitx")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqgif.so"
keys ("gif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqico.so"
keys ("ico")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqjpeg.so"
keys ("jpeg", "jpg")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqmng.so"
keys ("mng")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqsvg.so"
keys ("svg", "svgz")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so"
keys ("tga")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so"
keys ("tiff", "tif")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessiblebridge/libqspiaccessiblebridge.so"
keys ("QSPIACCESSIBLEBRIDGE")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessible/libqtaccessiblecompatwidgets.so"
keys ("Q3TextEdit", "Q3IconView", "Q3ListView", "Q3WidgetStack", "Q3GroupBox", "Q3ToolBar", "Q3ToolBarSeparator", "Q3DockWindowHandle", "Q3DockWindowResizeHandle", "Q3MainWindow", "Q3Header", "Q3ListBox", "Q3Table", "Q3TitleBar")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/accessible/libqtaccessiblewidgets.so"
keys ("QSGItem", "QDeclarativeItem", "QLineEdit", "QComboBox", "QAbstractSpinBox", "QSpinBox", "QDoubleSpinBox", "QScrollBar", "QSlider", "QAbstractSlider", "QToolButton", "QCheckBox", "QRadioButton", "QPushButton", "QAbstractButton", "QDialog", "QMessageBox", "QMainWindow", "QLabel", "QLCDNumber", "QGroupBox", "QStatusBar", "QProgressBar", "QMenuBar", "Q3PopupMenu", "QMenu", "QHeaderView", "QTabBar", "QToolBar", "QWorkspaceChild", "QSizeGrip", "QAbstractItemView", "QWidget", "QSplitter", "QSplitterHandle", "QTextEdit", "QPlainTextEdit", "QTipLabel", "QFrame", "QStackedWidget", "QToolBox", "QMdiArea", "QMdiSubWindow", "QWorkspace", "QDialogButtonBox", "QDial", "QRubberBand", "QTextBrowser", "QAbstractScrollArea", "QScrollArea", "QCalendarWidget", "QDockWidget")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ("svg", "svgz", "svg.gz")
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so"
keys ()
[ INFO] [1637235817.590847017]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1637235817.592469542]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1637235817.638523309, 257.499000000]: Physics dynamic reconfigure ready.
[ INFO] [1637235817.638917878]: Physics dynamic reconfigure ready.
[ INFO] [1637235818.010408784, 257.801000000]: Starting plugin DiffDrive(ns = //)
[ INFO] [1637235818.010504396, 257.801000000]: DiffDrive(ns = //): <rosDebugLevel> = Debug
[ INFO] [1637235818.011427144, 257.801000000]: DiffDrive(ns = //): <tf_prefix> =
[DEBUG] [1637235818.011538036, 257.801000000]: DiffDrive(ns = //): <commandTopic> = cmd_vel
[DEBUG] [1637235818.011553415, 257.801000000]: DiffDrive(ns = //): <odometryTopic> = odom
[DEBUG] [1637235818.011565311, 257.801000000]: DiffDrive(ns = //): <odometryFrame> = odom
[DEBUG] [1637235818.011592937, 257.801000000]: DiffDrive(ns = //): <robotBaseFrame> = base_footprint
[DEBUG] [1637235818.011641657, 257.801000000]: DiffDrive(ns = //): <publishWheelTF> = true
[DEBUG] [1637235818.011653441, 257.801000000]: DiffDrive(ns = //): <publishOdomTF> = true
[DEBUG] [1637235818.011664179, 257.801000000]: DiffDrive(ns = //): <publishWheelJointState> = true
[DEBUG] [1637235818.011709383, 257.801000000]: DiffDrive(ns = //): <legacyMode> = true
[DEBUG] [1637235818.011758233, 257.801000000]: DiffDrive(ns = //): <wheelSeparation> = 0.20000000000000001
[DEBUG] [1637235818.011776872, 257.801000000]: DiffDrive(ns = //): <wheelDiameter> = 0.065000000000000002
[DEBUG] [1637235818.011825064, 257.801000000]: DiffDrive(ns = //): <wheelAcceleration> = 1.8
[DEBUG] [1637235818.011839057, 257.801000000]: DiffDrive(ns = //): <wheelTorque> = 30
[DEBUG] [1637235818.011853035, 257.801000000]: DiffDrive(ns = //): <updateRate> = 100
[ WARN] [1637235818.011902563, 257.801000000]: DiffDrive(ns = //): <odometrySource> no matching key to 1
[DEBUG] [1637235818.011918766, 257.801000000]: DiffDrive(ns = //): <odometrySource> = default := 1
[DEBUG] [1637235818.011945861, 257.801000000]: DiffDrive(ns = //): <leftJoint> = left_wheel_baselink
[spawn_model1-3] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/spawn_model1-3*.log
QFactoryLoader::QFactoryLoader() looking at "/usr/lib/x86_64-linux-gnu/qt4/plugins/menubar/libappmenu-qt.so"
keys ("default")
[gazebo_gui-2] process has finished cleanly
log file: /home/joes/.ros/log/6cceca6e-4837-11ec-9542-14f6d8d77445/gazebo_gui-2*.log
^C[gazebo-1] killing on exit
[gazebo-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

二、解决：

查看后台输出，未见明显报警，最后还是检查move.xacro文件，<gazebo></gazebo>标签内，左右驱动轮的名字错误，导致的。自行查看自己的小车base中的左右驱动轮的joint name，必须保持一致，我就是因为多加了一个下划线，导致摸索半天。

leftwheel_baselink 错写为 left_wheel_baselink

rightwheel_baselink 错写为 right_wheel_baselink

1.错误的书写：

2.base底盘文件的左右驱动轮关节名称：

修正后，重新执行：roslaunch ros23_urdf02_gazebo demo03_gazebo_env.launch

查询rostopic list,出现cmd_vel

大喜大喜~

其他同学遇见此问题，也可以类推，主要查找相关的一些自命名参数的name是否前后一致，否则极易出错。因为随着后续项目的复杂加深，相关的各类引用越来越多，所以必须要仔细书写，以免花费太多的无效时间进行排错！

gazebo仿真时在加入差分运动插件后没有cmd_vel话题相关推荐

【ROS学习记录】在gazebo中加入差分驱动插件后rostopic没有/cmd_vel话题的一种解决办法
(1)背景:本人在b站学习的ros,自己安装的是ubuntu18.04,视频链接如下:[奥特学园]ROS机器人入门课程<ROS理论与实践>零基础教程_哔哩哔哩_bilibili 但是在P2 ...
双系统gazebo闪退_记录Ubuntu16.04下PX4联合Gazebo仿真时遇到的问题与解决方法
一.arm-none-eabi-gcc版本问题在Ubuntu16.04中使用sudo apt-get install gcc-arm-none-eabi命令会自动安装默认版本(gcc version ...
gazebo小车仿真时遇到问题：没有cmd_vel和odom话题
Gazebo键盘控制小车不动,发现没有cmd_vel和odom话题在做ros机器人开发实践中的gazebo仿真时,改了一个四轮(两驱)的长方体小车,遇到了一个问题,即键盘控制小车没有反应,查看ros ...
Gazebo仿真记录 Turtlebot3 + D435i
在Gazebo环境中在Turtlebot3上添加深度相机D435和IMU. 步骤 1.准备工作创建ROS工作空间,下载turtlebot3相关代码和realsense2_description 模型 ...
gazebo仿真遇到的FCU问题
当使用roslaunch xxx.launch命令进行gazebo仿真时出现 FCU: Preflight Fail: Accel #0 uncalibrated或者FCU: Preflight Fa ...
Gazebo结合ROS仿真时，如何编写机器人的URDF
译者的话:在用Gazebo做仿真应用时,您想用ROS控制机器人,又想让机器人既能在Gazebo中运行,又能在Rviz中运行,您需要用URDF描述机器人,而不是SDF.原因是Rviz的标配是URDF, ...
【ROS2仿真-01】运动小车的gazebo仿真
一.提要本文对于初学者的Gazebo仿真给出导学,通过学习,能使初学者对ROS2和gazebo配合得到初步认知.本文是系列文档,我们将讲述小车的种种仿真,本篇只是开头,讲最简单的仿真----运动仿真 ...
解决PX4固件在Gazebo下进行SITL仿真时遇到的MODE: Unsupported FCU问题的方法
参考一下两个链接: https://github.com/PX4/PX4-Autopilot/issues/12038 https://docs.px4.io/master/en/simulation ...
【从零开始的ROS四轴机械臂控制】（二） - ROS与Gazebo连接，Gazebo仿真及urdf文件修改
[从零开始的ROS四轴机械臂控制(二)] 四.urdf文件及gazebo仿真 1.simple_arm示例 (1)config文件夹 (2)launch文件夹 (3)meshes文件夹 (4)urdf ...

gazebo仿真时在加入差分运动插件后没有cmd_vel话题

gazebo仿真时在加入差分运动插件后没有cmd_vel话题

gazebo仿真时在加入差分运动插件后没有cmd_vel话题相关推荐

最新文章

热门文章