---
title: "Comment by Võ Minhh on \"10. Simulate a Mobile Robot in ROS - Part 1\" | Hashnode"
description: "File: setup.launch cua em de chay project <launch> <node pkg="minhtien" type="geostd.py" name="minhtien1"/> <node p"
url: "https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc/comment/63e51dfddb59c3f72b9f27b9"
---

[Discussion](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc)

Comment [10\. Simulate a Mobile Robot in ROS - Part 1](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc)

[Võ Minhh](https://hashnode.com/@tien339)

[Feb 9, 2023](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc/comment/63e51dfddb59c3f72b9f27b9)

File: setup.launch cua em de chay project

> <launch>
> 
> <node pkg="minhtien" type="geostd.py" name="minhtien1"/>
> 
> <node pkg="teleop\_twist\_keyboard" type="teleop\_twist\_keyboard.py" name="minhtien2" output="screen"/>
> 
> <node pkg="rviz" type="rviz" name="minhtien3" args="-d $(find minhtien)/rviz/rviz.rviz" output="screen"/>
> 
> <node pkg="map\_server" type="map\_server" name="minhtien4" args="$(find minhtien)/map/mymap.yaml"/>
> 
> <node pkg="minhtien" type="initial.py" name="minhtien6"/>
> 
> <node pkg="minhtien" type="uart1.py" name="minhtien9"/>
> 
> <node pkg="minhtien" type="uart.py" name="minhtien7"/>
> 
> <node pkg="tf" type="static\_transform\_publisher" name="minhtien13" args="0 0 0 0 0 0 base\_footprint laser 100"/>
> 
> <include file="$(find rplidar\_ros)/launch/rplidar.launch"/>
> 
> <include file="$(find minhtien)/launch/move\_base.launch"/>
> 
> <include file="$(find minhtien)/launch/amlc.launch"/> </launch>\*\*

Em tich hop file cua a vao\` project bang cach them dong code **<include file="$(find minhtien)/launch/mobile\_robot.launch/>**

> Error : Resource not found: ros\_mobile\_robot ROS path \[0\]=/opt/ros/noetic/share/ros ROS path \[1\]=/home/minhtien/Desktop/navigation/src ROS path \[2\]=/opt/ros/noetic/share The traceback for the exception was written to the log file

Em tích hợp file của a vào project thử thì có vấn đề ntn, em cần làm gì để cái file mobile\_robot.launch tương thích với project của em ạ

[Trinh Nguyen](https://hashnode.com/@TrinhNC)

[Feb 9, 2023](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc/comment/63e51dfddb59c3f72b9f27b9#reply-63e55ffcf30581f89abccc0f)

Hi em,

Trong mobile\_robot.launch của anh có dùng $(find ros\_mobile\_robot) để tìm package ros\_mobile\_robot. Nếu em để code vào package khác thì em phải sửa cho đúng tên.

[Võ Minhh](https://hashnode.com/@tien339)

[Feb 10, 2023](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc/comment/63e51dfddb59c3f72b9f27b9#reply-63e5ffbedb59c3f72b9f4387)

A cho em hỏi lúc em tích hợp của a vào thì em chạy đc rviz mà nó báo vấn đề như sau

> RobotModel
> 
> > Status: ERror
> > 
> > > URDF : Urdf pass Ok
> > > 
> > > base\_link: No transform from \[base\_link\] to \[map\]

A hổ trợ em với nha.

[Trinh Nguyen](https://hashnode.com/@TrinhNC)

[Feb 11, 2023](https://hashnode.com/posts/simulate-a-mobile-robot-in-ros-part-1/63e184847102c2eca7717afc/comment/63e51dfddb59c3f72b9f27b9#reply-63e7af1b6a6e8e124687aabf)

[Võ Minh Tiến](https://hashnode.com/@tien339) Trong tab Global Options, phần Fixed Frame em chọn hoặc gõ base\_link thay vì map. Trong hình ở bước 6 a có hướng dẫn đó.