Waiting for subscriber to connect to /cmd_vel with Gazebo-ROS simulation of Curiosity Mars Rover v1.0

how to connect in this rosject ?gazebo simul freezes and teleop keyboard sends above msg

Hello @jacques.florin ,

The notebook was created based on the previous version of ROSDS, but you still can launch it using the terminals:

user:~$ roslaunch curiosity_mars_rover_description main_simple.launch

Could you try like this and let me know if that works for you?


I try like this as from the beginning of the project test
I get Gazebo windows with curiosity only and lot of anomalies are listed in terminal
I tried with : export QT_X11_NO_MITSHM=1 ==> gazebo windows are then complete
world, insert,layers and all the stuff become available same for camera view
BUT teleop twist keyboard remains freezed with :
“Waiting for subscriber to connect to /cmd_vel” msg

Hi @jacques.florin ,

These warning messages are normal, because some of the model descriptions are not following all the requirements gazebo requests for this kind of file, but it does not prevent the simulation to work properly.

About teleop, this is the expected result. For me the simulation and teleop works fine.

Have you changed the workspace configuration or even simulation files?

Could you check if your ROS_PACKAGE_PATH is correct?
This is the default value

In the worst cases, you can remove the rosject and fork it again the original rosject from here

public rosjects

or using the share link: Learn Robotics from Zero - Robotics & ROS Online Courses

It is the first one in the list.


projects have been deleted then forked again


Gazebo simu only works with env var QT_X11_NO_MITSHM=1 positioned before roslaunch main_simple.launch

I think the problem is due to missing teleop_twist_keyboard.py file in

   teleop_twist_keyboard  pkg  ( /opt/ros/kinetic/share :) thats comes with the forking 

can you check this point ?


Hi Jacques,
can you share your rosject link with me so I can see what may be happenning?

Also, for any error reporting, you need to paste here all the information: which command you launched, the full error message, the image of the Gazebo window,… everything to understand what is happening