i don't have vel_cmd topic in my gztopic list

asked 2013-05-20 11:01:19 -0500

Vahid
91 ●20 ●23 ●30

all my dear friends, hello,

I run the gzserver and gzclient alone and without any parameter and after that i insert a pioneer3at robot with laser scanner in field, i want to drive robot in the field and based on my search i need to vel_cmd topic, but when i enter the gztopic lists, i get this output

root@vahid:/home/vahid# gztopic list
/gazebo/default/pose/info
/gazebo/default/gui
/gazebo/default/response
/gazebo/default/world_stats
/gazebo/default/selection
/gazebo/default/model/info
/gazebo/default/light
/gazebo/default/physics/contacts
/gazebo/default/visual
/gazebo/default/request
/gazebo/default/joint
/gazebo/world/modify
/gazebo/default/log/status
/gazebo/default/diagnostics
/gazebo/default/factory
/gazebo/default/model/modify
/gazebo/default/scene
/gazebo/default/physics
/gazebo/default/world_control
/gazebo/server/control
/gazebo/default/sensor
/gazebo/default/pioneer3at/hokuyo/link/laser/scan

why vel_cmd topic is not availability in my list ?! i don't want to use ros, just i want to work with standalone version of gazebo, any one can help me?

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this problem solved for me, as i understand this topic is not exist by default, so we should write a publisher for it like this and change (~/pos_example ) to ( ~/pioneer3at/vel_cmd )and now this topic is exist in my topic list.

Vahid ( 2013-05-24 03:26:06 -0500 )edit

How do you control the robot without using ROS? I'm getting crazy figuring out how to publish to topic vel_cmd of this plugin (DiffDrivePlugin).

VansFannel ( 2018-10-14 08:42:38 -0500 )edit

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answered 2013-05-21 18:01:42 -0500

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

Try using the DiffDrivePlugin, of SkidSteerPlugin.

Like so:

<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
  <left_joint>left_wheel_hinge</left_joint>
  <right_joint>right_wheel_hinge</right_joint>
  <torque>5</torque>
</plugin>

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Added and issue to add the plugin to the pioneer3at model(https://bitbucket.org/osrf/gazebo_models/issue/9/add-skid-steer-plugin-to-pioneer3at-model)

nkoenig ( 2013-05-21 18:05:56 -0500 )edit

Dear nkoeing, I’ve added the libDiffDrivePlugin.so to my SDF file but i got error because as i understand this plugin is not for pioneer3at robot, so I’ve added the SkidSteerDrivePlugin and i got this [error](https://bitbucket.org/Vahid_Azizi/error-of-skidsteerdriveplugin/src/c36ae63eaaccd7185e279b8c00bb386ac53b20f6/error.txt?at=master), so i commented the MaxForce in SDF file and the error is solved, but I don't have vel_cmd topic until likewise.

Vahid ( 2013-05-22 11:25:17 -0500 )edit

the error that i mentioned in above comment is for my wrong in SDF file, the MaxForce tag is a child of plugin, i explain correct use in this [link](https://bitbucket.org/osrf/gazebo_models/issue/9/add-skid-steer-plugin-to-pioneer3at-model).

Vahid ( 2013-05-24 05:12:08 -0500 )edit

How do you control the robot without using ROS? I'm getting crazy figuring out how to publish to topic vel_cmd of this plugin (DiffDrivePlugin).

VansFannel ( 2018-10-13 12:03:05 -0500 )edit

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answered 2013-05-20 12:31:18 -0500

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

Hello,

Can you include a link to the pioneer3at robot that you're using? Chances are, either a plugin is not specified, or the plugin is not working as expected.

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Dear nkoeing, i think your mean is sdf file of pioneer3at that i use, i put it [here](https://bitbucket.org/Vahid_Azizi/sdf-of-pioneer3at/src/31267710164c28a1f70e99761c588f2ffb930147/model.sdf?at=master), so what should i do?

Vahid ( 2013-05-21 02:42:40 -0500 )edit

Your link to the SDF file is protected. Can you make it publicly accessible?

nkoenig ( 2013-05-21 09:22:09 -0500 )edit

excuse me, i don't know the repository by default is private, so i set it as a public repository.

Vahid ( 2013-05-21 23:20:38 -0500 )edit

yes, you are right the skidsteerdriveplugin in SDF file of my pioneer3at robot by default was comment.

Vahid ( 2013-05-24 02:30:35 -0500 )edit

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i don't have vel_cmd topic in my gztopic list

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i don't have vel_cmd topic in my gztopic list