Everything is working except /odom

[void-robotics]

Hello,

I have a launch file that gets everything working in Gazebo but a key function isn't running that handles the odom data.

My launch file:

<launch>

	<!-- default params -->
	<arg name="use_gazebo_gui"	default="false" />
	<arg name="gazebo_world"	default="gazebo_large.world" />
	<arg name="world_only"		default="false" /> 	<!-- for editing the world -->

	<!-- simulator -->
	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<env name="GAZEBO_RESOURCE_PATH" value="$(find nm_navigation)/conf" />
		<arg name="world_name" value="$(arg gazebo_world)" />

		<arg name="paused" value="false" />
		<arg name="use_sim_time" value="true" />
		<arg name="gui" value="$(arg use_gazebo_gui)" />
		<arg name="debug" value="false" />
		<arg name="verbose" value="false" />
	</include>

	<!-- create robot -->
	<group unless="$(arg world_only)" >
		<arg name="model" default="burger"/>
		<arg name="x_pos" default="0.0"/>
		<arg name="y_pos" default="0.0"/>
		<arg name="z_pos" default="0.0"/>

		<param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot_description)/robots/kobuki_hexagons_astra.urdf.xacro" />

		<node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model kobuki_hexagons_astra -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
	</group>

 	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />

</launch>

The output not working in 18.04:

nathan@nathan-vm2:~/newmind$ roslaunch nm_navigation Gazebo.launch 
... logging to /home/nathan/.ros/log/004468c6-67c5-11ea-8e8e-0800272e6e3a/roslaunch-nathan-vm2-28781.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: in-order processing became default in ROS Melodic. You can drop the option.
Deprecated: xacro tag 'kobuki_sim' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/nathan/newmind/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://nathan-vm2:45493/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [28794]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 004468c6-67c5-11ea-8e8e-0800272e6e3a
process[rosout-1]: started with pid [28805]
started core service [/rosout]
process[gazebo-2]: started with pid [28809]
process[spawn_urdf-3]: started with pid [28817]
process[robot_state_publisher-4]: started with pid [28818]
[N=/gazebo,F=GazeboRosApiPlugin::Load-168]: Finished loading Gazebo ROS API Plugin.
[N=/gazebo,F=service::exists-80]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[N=/gazebo,F=service::waitForService-122]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[N=/gazebo,F=GazeboRosApiPlugin::physicsReconfigureThread-2334]: Physics dynamic reconfigure ready.
[N=/gazebo,F=__cxx11::string gazebo::GetRobotNamespace-99]: Camera Plugin: Using the 'robotNamespace' param: '/'
[N=/gazebo,F=GazeboRosCameraUtils::LoadThread-305]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[spawn_urdf-3] process has finished cleanly
log file: /home/nathan/.ros/log/004468c6-67c5-11ea-8e8e-0800272e6e3a/spawn_urdf-3*.log
^C[robot_state_publisher-4] killing on exit
[gazebo-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
nathan@nathan-vm2:~/newmind$ 

The output working in 16.04 but using the turtlebot_description installed from apt:

Would you know why this package doesn't launch GazeboRos::readCommonParameter, GazeboRosKobuki::preparePublishTf, or GazeboRosKobuki::setupRosApi? Specifically, I need the advertisement for odom.

[hackroid]

Same problem with 18.04

[gaunthan]

Could you try this #2 (comment) ? It seems related.

[void-robotics]

I got it working, but not because of the .so file.

I'm not actually sure what I did. I think I added another package but it seems to be working. I will update this task later when I can confirm this fix works; I added the following:

• kobuki_bumper2pc
• kobuki_description
• kobuki_keyop
• kobuki_msgs
• kobuki_node
• kobuki_safety_controller

also sudo apt install ros-melodic-yocs-velocity-smoother