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It used to be that, with tf, we would use a TransformListener and its transformDATA() methods, e.g.
import tf
listener = tf.TransformListener()
...
ptNew = listener.transformPoint('frameNew', ptOld)
but now with tf2 (i.e. tf2_ros), there doesn't seem to be a transformPoint(). The only place I can find something close is in tf2_geometry_msgs.do_transform_point(), which requires PyKDL (not installed by default with ROS). I can't find any docs on the api for the do_transform_DATA(), however, and I see that the code is called "geometry_experimental" on github. Am I just trying to use this before it's ready for prime time, or is there something I'm missing as far as docs and using the tf2 listener?
Edit: Bump. I'm also facing this problem.
Originally posted by ssafarik on ROS Answers with karma: 306 on 2013-10-29
Post score: 10
Original comments
Comment by BennyRe on 2015-06-19:
Is there an update on this? Transforming points from one coordinate system to the other is, for me, the essential use-case of tf2. But it seems that this is supported only poorly and documented even more poorly.
|
Hey everyone,
I am working on a robot that uses a husky base but also has a lot of other custom attached components. I am being asked to create a urdf for it. I learned about urdfs through the tutorials and ran the description.launch file provided by the husky package that is supposed to publish the robot model.
Upon opening rviz, I saw that there were no transforms for the wheels. I looked in the urdf, and there is indeed no reference to the wheels. There is another urdf which creates the wheels, but there is no obvious connection between the two files. The launch file only runs base.urdf, not wheel.urdf.
I want to use the husky materials as a base to begin making my robot's urdf. I don't understand why these files are not connected, however, or what I am supposed to do to load the whole model.
Could someone please explain why the package was made so that the launch file only loads the base without any mention of the wheels? Also, how do I incorporate the wheels so that all transforms are published and the model and be seen in rviz?
Thanks!
Originally posted by Robocop87 on ROS Answers with karma: 255 on 2013-10-29
Post score: 1
|
Hi all,
Working on Ubuntu 12.04, ROS Hydro
Recently, I decided I wanted to make changes to robot_state_publisher. In order to do this, I downloaded the source code and made changes, added its location to my ROS_PACKAGE_PATH (I can roscd to it just fine), and apt-get purge'd the binary. Unfortunately, now when I try to rosmake a package that depends on robot_state_publisher, I get the error I've included below. I've tried deleting the ~/.ros folder's contents (and re-initializing) and make clean-ing. Neither fix this problem.
I'm totally stumped. Does anyone have any ideas on this? It shouldn't be looking for that .pc file because it should no longer be looking for the binary, but I don't know what to delete or add to make it look in source.
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package youbot_description
[rosbuild] Cached build flags older than manifests; calling rospack to get flags
Failed to invoke /opt/ros/hydro/bin/rospack cflags-only-I;--deps-only youbot_description
Package robot_state_publisher was not found in the pkg-config search path.
Perhaps you should add the directory containing `robot_state_publisher.pc'
to the PKG_CONFIG_PATH environment variable
No package 'robot_state_publisher' found
[rospack] Error: python function 'rosdep2.rospack.call_pkg_config' could not call 'pkg-config --cflags-only-I robot_state_publisher' without errors
CMake Error at /opt/ros/hydro/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package
'youbot_description'. Look above for errors from rospack itself.
Aborting. Please fix the broken dependency!
Call Stack (most recent call first):
/opt/ros/hydro/share/ros/core/rosbuild/public.cmake:227 (rosbuild_invoke_rospack)
CMakeLists.txt:12 (rosbuild_init)
-- Configuring incomplete, errors occurred!
Originally posted by aespielberg on ROS Answers with karma: 113 on 2013-10-29
Post score: 0
|
Hi
I am created a moveit plugin for my 6DOF arm.And I am trying to move my arm through a line. And I have two end co-ordinates of a line say (x1,y1,z1) and (x2, y2, z2) .
I can able to move to a random pose using
from moveit_commander import MoveGroupCommander
#if name == '__main__':
group = MoveGroupCommander("arm")
# move to a random target
group.clear_pose_targets()
group.go()
But I am not found a function that helps me to plan between two points.
Thanks
Originally posted by unais on ROS Answers with karma: 313 on 2013-10-29
Post score: 1
|
Hello,
I'm working on a robot based on a trutlebot2 and with some motors and a kinect as a head. I would like to use TFs to do some transforms but I have some problems using them.
In our project, we have nodes for the head based on the PR2 code and this is working pretty well.
On the other hand, we want to use the TFs in another node to transform a point from camera_link frame to base_link frame. Here is the code:
class LookAt
{
private:
ros::Publisher _handPositionPub;
int _lastHandId;
ros::Publisher _transformedHandPositionPub;
ros::Publisher _initHandPositionPub;
geometry_msgs::PointStamped _lastHandPosition;
public:
LookAt(ros::NodeHandle& nodeHandle)
{
_handPositionPub = nodeHandle.advertise<package_msgs::PointHead>(
"/head_controller/point_head/goal", 1000);
_initHandPositionPub =
nodeHandle.advertise<geometry_msgs::PointStamped>(
"/ui/init_hand_position", 1000, true);
_transformedHandPositionPub =
nodeHandle.advertise<geometry_msgs::PointStamped>(
"/ui/hand_position", 1000, true);
_lastHandId = -1;
}
void handDetectionCallback(const package_msgs::HandPosition::ConstPtr& msg)
{
int id = msg->nId;
package_msgs::PointHead handPosition;
handPosition.point = msg->point;
bool isHandLost = msg->lostHand;
bool isInit = false;
if(_lastHandId != -1)
{
if(_lastHandId != id)
{
return;
}
transformCamFrameToRobotFrame(msg);
}
else
{
transformCamFrameToRobotFrame(msg);
_initHandPositionPub.publish(_lastHandPosition);
_lastHandId = id;
isInit = true;
}
if(!isHandLost)
{
if(!isInit)
{
_transformedHandPositionPub.publish(_lastHandPosition);
}
_handPositionPub.publish(handPosition);
}
}
void transformCamFrameToRobotFrame(const package_msgs::HandPositionConstPtr& msg)
{
package_msgs::PointHead handPosition;
handPosition.point = msg->point;
tf::TransformListener listener;
std::string error_msg;
std::string parent;
bool ret1 = false;
try
{
ret1 = listener.waitForTransform("base_footprint", "camera_link",
msg->header.stamp,
ros::Duration(5.0),
ros::Duration(0.01),
&error_msg);
std::cout << "waitForTranform " << ret1 << std::endl;
std::string targetFrame = "base_footprint";
geometry_msgs::PointStamped targetPoint;
targetPoint.header.frame_id = "camera_link";
targetPoint.point.x = handPosition.point.x;
targetPoint.point.y = handPosition.point.y;
targetPoint.point.z = handPosition.point.z;
ros::Time currentTransform = ros::Time::now();
listener.getLatestCommonTime(targetPoint.header.frame_id,
"base_footprint",
currentTransform,
NULL);
targetPoint.header.stamp = currentTransform;
listener.transformPoint(targetFrame, targetPoint,
_lastHandPosition);
}
catch(const tf::TransformException &ex)
{
ROS_ERROR("Transform failure %d: %s",
ret1, ex.what());
return;
}
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "look_at");
ros::NodeHandle nodeHandle;
LookAt lookAt(nodeHandle);
ros::Subscriber handSubscriber = nodeHandle.subscribe(
"/tracker/hand/info", 1000, &LookAt::handDetectionCallback, &lookAt);
ros::spin();
return 0;
}
The msg is a custom message containing:
Header header
geometry_msgs/Point point # Position
int32 nId # Id of the hand
bool lostHand # True if the hand has just been lost
And when the message is sent from the hand tracker, msg->header.stamp is set to ros::Time::now().
The problem is that each time the waitForTransform function is called, it returns false and no exception is raised. When we look at the topic where we publish the info, we have a message each 5sec (5.01-5.03). When we set the first duration (4th argument) to 1.0, we have a message each 1sec (1.01-1.09) but the result is the same.
If I understood, this means the transform between the 2 frames can't be made.
When we replace msg->header.stamp by ros::Time() or ros::Time(0), the waitForTransform function returns true and it takes about 1sec to get message in the topic with ros::Duration(5.0) as the 4th argument.
So the transform is ok but takes around 1sec. With the head nodes, everything is fluid and nice and we can have a good tracking with the head. Here is the working source code:
typedef package_head_controller::PointHeadAction HeadAction;
typedef actionlib::SimpleActionClient<HeadAction> PointHeadClient;
class PointHead
{
private:
ros::NodeHandle _node;
PointHeadClient* _pointHeadClient;
public:
PointHead(const ros::NodeHandle &n);
~PointHead();
void lookAt(std::string frameId, float x, float y, float z,
float tilt, float pan);
void callbackGoal(const package_msgs::PointHead::ConstPtr& msg);
};
PointHead::PointHead(const ros::NodeHandle &n): _node(n)
{
// Initialize the client
_pointHeadClient = new PointHeadClient("/head_controller/point_head_action", true);
while(!_pointHeadClient->waitForServer(ros::Duration(5.0)))
{
ROS_INFO("Waiting for the point_head_action server to come up");
}
}
PointHead::~PointHead()
{
delete _pointHeadClient;
}
void PointHead::lookAt(std::string frameId, float x, float y, float z,
float tilt, float pan)
{
package_head_controller::PointHeadGoal goal;
// The target point, expressed in the requested frame
geometry_msgs::PointStamped point;
point.header.frame_id = frameId;
point.point.x = x;
point.point.y = y;
point.point.z = z;
point.header.stamp = ros::Time::now();
goal.target = point;
goal.tilt = tilt;
goal.pan = pan;
goal.pointingFrame = "camera_link";
_pointHeadClient->sendGoal(goal);
}
void PointHead::callbackGoal(const package_msgs::PointHead::ConstPtr& msg)
{
if(msg->point.x != 0 || msg->point.y != 0 || msg->point.z != 0)
{
lookAt("camera_link", msg->point.x, msg->point.y,
msg->point.z, msg->tilt, msg->pan);
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "point_head");
ros::NodeHandle n;
PointHead pointHead(n);
ros::Subscriber goalSub = n.subscribe("/head_controller/point_head/goal",
1, &PointHead::callbackGoal,
&pointHead);
ros::spin();
}
typedef actionlib::ActionServer<package_head_controller::PointHeadAction> Server;
typedef Server::GoalHandle GoalHandle;
class HeadAction
{
private:
std::string _panLink;
std::string _tiltLink;
ros::NodeHandle _node;
tf::TransformListener _tf;
ros::Publisher _commandMotors;
Server _actionServer;
bool _hasActiveGoal;
GoalHandle _activeGoal;
tf::Stamped<tf::Point> _targetInPan;
std::string _panParent;
void cancelCallback(GoalHandle gh);
public:
HeadAction(const ros::NodeHandle &n);
~HeadAction();
void goalCallback(GoalHandle gh);
};
HeadAction::HeadAction(const ros::NodeHandle &n):
_node(n), _hasActiveGoal(false),
_actionServer(_node, "/head_controller/point_head_action",
boost::bind(&HeadAction::goalCallback, this, _1),
boost::bind(&HeadAction::cancelCallback, this, _1))
{
ros::NodeHandle pn("~");
pn.param("pan_link", _panLink, std::string("link_2_left"));
pn.param("tilt_link", _tiltLink, std::string("linf_3_left"));
_commandMotors = _node.advertise<package_msgs::PointHeadCommand>
("/head_controller/point_head/result", 1000);
}
HeadAction::~HeadAction()
{
}
void HeadAction::goalCallback(GoalHandle gh)
{
// Need to know that name of the pan_link's parent.
if(_panParent.empty())
{
for(int i = 0; i < 10; ++i)
{
try
{
_tf.getParent(_panLink, ros::Time(), _panParent);
break;
}
catch(const tf::TransformException &ex)
{
}
ros::Duration(0.01).sleep();
}
if(_panParent.empty())
{
ROS_ERROR("Could not get parent of %s in the TF tree",
_panLink.c_str());
gh.setRejected();
return;
}
}
std::vector<double> q_goal(2); // [pan, tilt]
// Transform the target point into the pan and tilt links.
const geometry_msgs::PointStamped &target = gh.getGoal()->target;
bool ret1 = false, ret2 = false;
try
{
std::string error_msg;
ret1 = _tf.waitForTransform(_panParent, target.header.frame_id,
target.header.stamp,
ros::Duration(5.0),
ros::Duration(0.01), &error_msg);
ret2 = _tf.waitForTransform(_panLink, target.header.frame_id,
target.header.stamp,
ros::Duration(5.0),
ros::Duration(0.01), &error_msg);
// Perform calculation to determine the desired joint angles
// Transform the target into the pan and tilt frames
tf::Stamped<tf::Point> targetPoint, targetInTilt;
tf::pointStampedMsgToTF(target, targetPoint);
_tf.transformPoint(_panParent, targetPoint, _targetInPan);
_tf.transformPoint(_panLink, targetPoint, targetInTilt);
// Compute the desired joint positions.
q_goal[0] = atan2(_targetInPan.y(), _targetInPan.x());
q_goal[1] = atan2(-targetInTilt.z(),
sqrt(pow(targetInTilt.x(),2) +
pow(targetInTilt.y(),2)));
// Remove false positives problem
if(q_goal[1] > 0.5)
{
q_goal[0] = 0.0;
q_goal[1] = 0.0;
}
if(gh.getGoal()->tilt != 0.0)
{
q_goal[1] = gh.getGoal()->tilt;
}
if(gh.getGoal()->pan != 0.0)
{
q_goal[0] = gh.getGoal()->pan;
}
package_msgs::PointHeadCommand command;
command.header.stamp = ros::Time::now();
command.id = target.header.seq;
command.pan = q_goal[0];
command.tilt = q_goal[1];
_commandMotors.publish(command);
}
catch(const tf::TransformException &ex)
{
ROS_ERROR("Transform failure (%d,%d): %s",
ret1, ret2, ex.what());
gh.setRejected();
return;
}
// Remove the previous goal and keep this one in memory
if(_hasActiveGoal)
{
_activeGoal.setCanceled();
_hasActiveGoal = false;
}
gh.setAccepted();
_activeGoal = gh;
_hasActiveGoal = true;
}
void HeadAction::cancelCallback(GoalHandle gh)
{
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "point_head_action");
ros::NodeHandle node;
HeadAction headAction(node);
ros::spin();
return 0;
}
I can't find the problem with the look_at node using transform and I'm wondering what's the problem observed with the stamp argument. Is there a "standard" way of using TFs. Do we forget to do something?
If you see any mistake of the way we are using TFs in the look_at node, please let me know.
Thanks,
Lucie
Originally posted by LucieR on ROS Answers with karma: 1 on 2013-10-29
Post score: 0
|
Dear All,
I am new to ROS and ubuntu, I am using ROS package which I cloned from github
When I run roslaunch phantom_ns.launch
I get the following error,
[phantom_ns.launch] requires the 'DefaultPHANToM' arg to be set.
Please guide me how can I resolve this error.
Thank you.
Originally posted by Nabeel9172 on ROS Answers with karma: 1 on 2013-10-29
Post score: 0
|
Hi,
i was able to install PCL 1.7.0 on my ARM based PandaBoard.
If I now try to install different ROS stacks that depend on PCL it is always telling me that ROS is not able to find PCL. (I tried for example to install RGBD, Navigation, viso2_ros...)
Could anyone explain how do I refer to the PCL in the right way so that it is found by ROS?
Originally posted by RodBelaFarin on ROS Answers with karma: 235 on 2013-10-30
Post score: 0
Original comments
Comment by tfoote on 2013-11-14:
What version of ROS are you trying to use?
Comment by RodBelaFarin on 2013-11-15:
i used ROS groovy, but i upgraded now to hydro and there it works fine!
|
I've got a Shimmer2R module from which I obtain 9 axis: Acceleration X, Y, and Z; Gyroscope X, Y, and Z; and Magnetometer X, Y, and Z.
I would like to transmit this data using standard ROS messages. I found the
sensor_msgs/MagneticField messages for the magnetometer. I thought the sensor_msgs/Imu messages would be appropriate for the other data.
However, the Imu message seems to present the data in a different way than how I obtain it. I am unfamiliar with this representation and I'm looking for guidance on how to convert my data to the sensor_msgs/Imu representation. An internet search didn't provide me with any useful pointers.
On a side note, I have also read that to obtain a heading from the magnetometer, the data from the Gyroscope is also necessary. Is there any ROS node that does this calculation?
Originally posted by RafBerkvens on ROS Answers with karma: 386 on 2013-10-30
Post score: 3
Original comments
Comment by shivesh_sk on 2014-06-24:
Hi, I also want to interface Shimmer2R module in ROS groovy running on Ubuntu. But I don't know how to interface Shimmer2R module on linux. Any help would be more than appreciated.
Comment by RafBerkvens on 2014-06-24:
I've quickly thrown what I have on GitHub: https://github.com/RafBerkvens/shimmer. It supports a shimmer Bluetooth connection, but documentation is lacking and there a lot of work in progress. But you might find inspiration in the Python script accel_gyro_mag.py.
Comment by shivesh_sk on 2014-06-24:
Thanks a ton! I will check it out. :)
Comment by shivesh_sk on 2014-06-25:
I tried your executing your node but I am getting this error:
================================================================================REQUIRED process [shimmer/accel_gyro_mag-1] has died!
process has died [pid 3166, exit code 1, cmd /home/shivesh/catkin_ws/src/shimmer-master/scripts/accel_gyro_mag.py __name:=accel_gyro_mag __log:=/home/shivesh/.ros/log/7e16bdb6-fc6a-11e3-9f41-001e65ca05f4/shimmer-accel_gyro_mag-1.log].
log file: /home/shivesh/.ros/log/7e16bdb6-fc6a-11e3-9f41-001e65ca05f4/shimmer-accel_gyro_mag-1*.log
Initiating shutdown!
Shimmer2R modules are working normally on my linux. I am able to get the data in a CSV file through ShimmerConnect application for linux. Also, I didn't understand how your program will identify the shimmer we want to connect. For eg, I don't know where to put its rfcomm id for communication.
Comment by RafBerkvens on 2014-06-25:
Bluetooth settings are configured on lines 101 and 102. Admittedly, the code is undocumented. I believe that issues with this specific node are better handled on the GitHub website than using these comments.
Comment by shivesh_sk on 2014-06-25:
Hi I updated my bd_addr and port as directed. But still it throws an error. I have put the issue in the github. Kindly help.
|
I've looked into modifying the launch file as in this example: http:// [Not enough karma for links] answers.ros.org/question/57938/multiple-kinects/
However, it appears that the launch file I have is different from what's listed. Is this a separate script to run multiple launch files and if so, how would I go about that from the default debian packages that I've downloaded? I'm working in ROSHydro (obviously) and Ubuntu 12.04. I'm relatively new to Linux, Kinect, and ROS and have been tasked with setting up a multiple-Kinect system in my lab. Since September is the first time I've used any of these, I'm a little lost. I've got a better idea of Linux structure but I have minimal coding experience before this so it's been a "trial by fire" type thing.
Currently I have no problem launching the OpenNI driver and accessing the normal camera, monochrome, and depth map camera images. The stream seems to be smooth and have no issues. I have three open buses (not USB ports but buses) for three Kinects, which is where I'd eventually like to go.
Any recent questions that I've missed involving multiple Kinects and ROSHydro specifically?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2013-10-30
Post score: 1
|
Update: switching from amcl to gmapping has no effect of current goal. The global path is direct to the goal but the current path to the goal is over over the place. Also turning off DWA had no effect.
Update: Here is a video of the odd behavor , note that the global path is fine but the local path can not be determined.
http://www.flickr.com/photos/107473518@N08/10625510473/
Update: Here are my setting I use for costmap and amcl. Can anyone see somthing in the setting to prevent the local plan.
TrajectoryPlannerROS:
# for details see: http://www.ros.org/wiki/base_local_planner
controller_frequency: 20
escape_vel: 0.1 # no backing up
max_vel_x: .2
max_trans_vel: .2
min_vel_x: 0.05
min_trans_vel: 0..05
max_rotational_vel: 0.1 # 0.1 rad/sec = 5.7 degree/sec
min_in_place_rotational_vel: 0.05
acc_lim_th: 0.05
acc_lim_x: 0.05
acc_lim_y: 0
holonomic_robot: false
# goal tolerance parameters
yaw_goal_tolerance: 0.5
xy_goal_tolerance: 0.5
latch_xy_goal_tolerance: true
# Forward Simulation Paramet
sim_time: 100.0 # The amount of time to forward-simulate trajectories in seconds
sim_granularity: 0.02 # The step size, in meters, to take between points on a given trajectory
angular_sim_granularity: 0.02 # The step size, in radians, to take between angular samples on a given trajectory.
vx_samples: 20 # The number of samples to use when exploring the x velocity space
vtheta_samples: 20 # The number of samples to use when exploring the theta velocity space
# Trajectory Scoring Parameters
meter_scoring: true # If true, distances are expressed in meters; otherwise grid cells
#path_distance_bias: 32.2 # The weighting for how much the controller should stay close to the path it was given
#goal_distance_bias: 22.4 # The weighting for how much the controller should attempt to reach its local goal, also controls speed
occdist_scale: 0.1 # The weighting for how much the controller should attempt to avoid obstacles
publish_cost_grid: true
prune_plan: false
common costmap.yaml
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.25, 0.1], [0.25, -0.1], [-0.25,-0.1], [-0.25, 0.1]]
max_scaling_factor: 0.02 # The scalling factor for footprint defined in local costmap
inflation_radius: 0.02 # Propagating cost values out from occupied cells that decrease with distance.
map_type: costmap
track_unknown_space: true
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: hokuyo_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
resolution: 0.005
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 30.0
publish_frequency: 30.0
static_map: true
width: 20.0
height: 20.0
origin_x: -10.0
origin_y: -10.0
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 10.0
publish_frequency: 10.0
static_map: false
rolling_window: true
width: 16.0
height: 16.0
origin_x: -8.0
origin_y: -8.0
amcl:
# Publish scans from best pose at a max of 10 Hz -->
odom_model_type : "diff"
odom_alpha5 : "0.1"
gui_publish_rate : "30.0"
laser_max_beams : "60"
laser_max_range : "12.0"
min_particles : "500"
max_particles : "2000"
kld_err : "0.05"
kld_z : "0.99"
odom_alpha1 : "0.2"
odom_alpha2 : "0.2"
# translation std dev, m -->
odom_alpha3 : "0.2"
odom_alpha4 : "0.2"
laser_z_hit : "0.5"
laser_z_short : "0.05"
laser_z_max : "0.05"
laser_z_rand : "0.5"
laser_sigma_hit : "0.2"
laser_lambda_short : "0.1"
laser_model_type : "likelihood_field"
# laser_model_type : "beam" -->
laser_likelihood_max_dist : "2.0"
update_min_d : "0.25"
update_min_a : "0.2"
resample_interval : "1"
# Increase tolerance because the computer can get quite busy -->
transform_tolerance : "1.0"
recovery_alpha_slow : "0.0"
recovery_alpha_fast : "0.0"
Update: move_base goes directly into recovery but there is no obstacle near the robot. Why would this happen , what would case move_base to use escape_vel.
Update: If I have rear wheels that extend outside the robot footprint , they are in back out of sight of the scanner , will this cause problems in path planning?
Update: By setting the escape_vel to a none negative number. The robot stop moving backward proving that in fact it was in a recovery mode. Now if only I can figure out why? Here is a pic of rviz.
I checked the log files but did not see any output related to recovery behaviors.
I was having problems with my robot following move base velocity commands as it tries to follow the local path. I could not see what was wrong so I hooked it up to turtlebot teleop keyboard. The robot followed the keyboard signals correctly. But when I set a simple goal in rivz move_base sends negative values to causing the robot to move backwards in both gazebo and rivz. Why is this? Where should I look. It I am to believe the keyboard controller there is nothing wrong with gazebos response or rviz. odometry and scaling as well as sim time seem to be ok.
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-10-30
Post score: 0
|
I'm not yet succesful in using ueye_cam at all. Issues I'm facing are:
Out of a few .launch files available, I don't know which one to use for what cases.
I rarely see the image topics published so far. On ueye's GUI that's provided by the seller the cameras are connected and I can see the images via its viewer too.
rqt_image_view crashes when I choose to show image_raw. Log snippets is below (more lengthy log):
what(): Image is wrongly formed: step != width * byte_depth * num_channels or 4800 != 640 * 1 * 3
[ERROR] [1383131645.310434350]: Failed to acquire image from UEye camera 'slave2' (IS_TIMED_OUT)
[ERROR] [1383131645.322152805]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
[ERROR] [1383131645.322248342]: cv_bridge exception: 'Image is wrongly formed: step != width * byte_depth *
- Had to patch `CMakeLists.txt` in order to pass `catkin_make` like this (not sure if this is correct though):
#set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -g -Wall")
set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS} -g -Wall")
(I just favored over ueye package, with which some people reported error but I'm not really sure. I might give a shot to it too.)
@anqixu I think you're the developer. I appreciate a lot if you could help me out.
Ubuntu 12.04, ROS Groovy
Update-1) @anqixu Thanks for immediate response. The output of roslaunch ueye_cam rgb8.launch is posted here.
Also, rostopic:
$ rostopic hz /UI122xLE_C/image_raw
subscribed to [/UI122xLE_C/image_raw]
average rate: 30.883
min: 0.017s max: 0.043s std dev: 0.00510s window: 27
average rate: 30.353
min: 0.017s max: 0.043s std dev: 0.00454s window: 57
Still, choosing UI122xLE_C/image_raw on rqt_image_view crashes with the same error I cited above.
Update-2) Using the latest commit,
$ rostopic hz /UI122xLE_C/image_raw
WARNING: topic [/UI122xLE_C/image_raw] does not appear to be published yet
$ rostopic list
/camera/camera_info
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/nodelet_manager/bond
/rosout
/rosout_agg
/ueye_cam_nodelet/parameter_descriptions
/ueye_cam_nodelet/parameter_updates
By the way uEye Camera Manager v1.7.2 says the model of the camera is UI155xSE-C.
Originally posted by 130s on ROS Answers with karma: 10937 on 2013-10-30
Post score: 2
Original comments
Comment by anqixu on 2013-11-08:
Re. Update-2): The latest commit changed the topic name to /camera/image_raw. You need to manually edit the launch file if you would to use a different camera namespace.
Also, the extended log (pastebin.com/Km2zVU0N) shows you running master_slaves_rgb8.launch. Try rgb8.launch instead.
|
Gazebo complains about default_robot_hw_sim in hydro. BTW if I run the script that is mentioned it runs says successful but still get the same error.
[ INFO] [1383162826.470781248]: pluginlib WARNING: In file /tmp/buildd/ros-hydro-gazebo-ros-control-2.3.3-0raring-20131021-0406/src/default_robot_hw_sim.cpp PLUGINLIB_DECLARE_CLASS is deprecated, please use PLUGINLIB_EXPORT_CLASS instead. You can run the script 'plugin_macro_update' provided with pluginlib in your package source folder to automatically and recursively update legacy macros. Base = base_class_type, Derived = derived_class_type
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-10-30
Post score: 0
|
Note: cross-posted to moveit-users. Thread here
I'm using ROS groovy on a PR2, and trying to use Moveit! for a pick & place application. I'm using the default move_group.launch file from pr2_moveit_config, along with the default robot start bringup.
When I look at rviz, the robot representations from the RobotModel and the PlanningScene do not line up, as seen below:
Unfortunately, the PlanningScene frame is the one that's wrong when compared to the actual sensor data, as determined by observing where it thought the arm was positioned relative to displayed kinect points vs. where it actually is.
After noticing that this offset changed a little every time I restarted the move_group node, I discovered that Moveit! uses odom_combined and the transform to odom_combined is published by the robot_pose_ekf node, and it wasn't 0 despite the robot being stationary. So, I tried killing that node, and using the static transform publisher to publish a 0 transform.
This seemed to help, but didn't fix the entire offset.
Is there some configuration step that I'm missing? Do I need to tell Moveit! to use a different frame? (If so, how, and which frame?)
Originally posted by lindzey on ROS Answers with karma: 1780 on 2013-10-30
Post score: 0
|
Hi,
I am new to moveit. Now I am using moveit commander (python) for moving my 6 DOF arm in a line where the end points are given say ([0.2,0.2,2.7],[0.2,0.5,2.7]) and I have found a function at here.That is
compute_cartesian_path(self, waypoints, eef_step, jump_threshold, avoid_collisions = True):
I am pass it just like this
a.compute_cartesian_path(([0.2,0.2,2.7],[0.2,0.5,2.7]),0.01,0.1,avoid_collisions = True)
but it is not working
for working this I find that, need to construct a Pose message and pass a list of such objects
my doubt is how can I pass the pose messages to move in a stright line and how can i specify these variables : eef_step, jump_threshold
Thanks
Unais
Originally posted by unais on ROS Answers with karma: 313 on 2013-10-30
Post score: 0
|
hi everyone,
we´re currently working on adapting the available calibration package to work with a custom robot. We started with the maxwell_calibration package and made good progress (robot is moving into desired configurations, checkerboards are processed), but the joint states settlers crash with the following output:
[ERROR] [1383211182.404871655, 1206.508000000]: Couldn't find mapping for [l_as_y]
[ERROR] [1383211182.404943731, 1206.508000000]: Couldn't find mapping for [l_as_x]
[ERROR] [1383211182.404961282, 1206.508000000]: Couldn't find mapping for [l_ae_y]
[ERROR] [1383211182.404979138, 1206.508000000]: Couldn't find mapping for [l_ae_x]
[ERROR] [1383211182.404995090, 1206.508000000]: Couldn't find mapping for [l_aw_y]
[ERROR] [1383211182.405027718, 1206.508000000]: Couldn't find mapping for [l_aw_x]
[arm_chain/settler-2] process has died [pid 15860, exit code -11, cmd /opt/ros/groovy/lib/joint_states_settler/joint_states_settler_action joint_states:=/joint_states __name:=settler __log:=/home/kohlbrecher/.ros/log/9732cc4c-420a-11e3-ab6a-0090f5e666cf/arm_chain-settler-2.log].
log file: /home/kohlbrecher/.ros/log/9732cc4c-420a-11e3-ab6a-0090f5e666cf/arm_chain-settler-2*.log
We didn´t do any major changes, essentially just renaming the joint names to reflect the actual robot configuration. For simplicity, we also did not rename the arm_chain. Any ideas what the problem could be?
Originally posted by Stefan Kohlbrecher on ROS Answers with karma: 24361 on 2013-10-30
Post score: 0
|
Hello community,
I want to capture pictures from two webcams simultaneously and process them with opencv. I tried to get this work with two image_subscribers, that have the same callback-function. I tried that by editing the code from the cvbridge-tutorial. The result of my editing was, that i got two windows that show both the same picture, switching between the two image raws. So here is my question now:
How do I have to define my subscribers or my callback function to get the two raws seperately in one function to process them both simultaneously?
Solution:
http://wiki.ros.org/message_filters. There you can find an example cpp-code for a policy-based synchronizer function. I've used this example to get my Node working.
Originally posted by Bison on ROS Answers with karma: 52 on 2013-10-30
Post score: 0
|
Hi.
I would like to handle animation sequences for a robot. Is there a way to manage this using a ROS package?
Here are the features that I would expect from such a package:
manage a sequence "data container" for sequences manipulation
read this container to activate the robot joints
view/edit this container
generate containers from recordings
generate containers with tools similar to a 3D graphics animation software (like Blender or Maya), using keyframes or IK
I have found this one, which looks in line with my requirement, but unfortunately for the PR2 only: http://wiki.ros.org/puppet
Bags could be also a part of the solution (data container management): http://wiki.ros.org/rosbag
Any feedback appreciated, could it be a similar requirement, documentations, contact, etc.
Originally posted by Arn-O on ROS Answers with karma: 107 on 2013-10-31
Post score: 0
|
Hi,
After several attempts I have been able to generate a bag file containing logged
transform and laser scan data. when I type
root@ubuntu:~/fuerte_workspace/sandbox# rosbag info mylaserdata.bag
path: mylaserdata.bag
version: 2.0
duration: 7:28s (448s)
start: Oct 31 2013 21:20:39.34 (1383234639.34)
end: Oct 31 2013 21:28:07.46 (1383235087.46)
size: 3.7 MB
messages: 24650
compression: none [5/5 chunks]
types: tf/tfMessage [94810edda583a504dfda3829e70d7eec]
topics: /tf 24650 msgs : tf/tfMessage (2 connections)
But a standard bag from willow garage contains
types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
tf/tfMessage [94810edda583a504dfda3829e70d7eec]
topics: /base_scan 924 msgs : sensor_msgs/LaserScan
/tf 2769 msgs : tf/tfMessage
I started gmapping by
rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom
so there is no information regarding /lms200.
rxgraph output gives no information of the error
but rviz information does not match with auto generated transform tree. There is no messeges in /lms200 and we have to manually add /lms200 through rviz window
Again rostopic echo /lms200 to see if there are any published messages
Then nothing appears.
PLZ help.
*** I know this USARSim/Ros is used in robo cup as well but no one mentioned about the error.***
Originally posted by RB on ROS Answers with karma: 229 on 2013-10-31
Post score: 1
Original comments
Comment by ZdenekM on 2013-10-31:
How did you record that bag file? Was "/lms200" topic available during recording?
Comment by RB on 2013-10-31:
ZdenekM, rosbag record -O mylaserdata.bag /lms200 /tf. But no sensor message in the information. So ultimately /lms200 can't capture the messege.
Comment by ZdenekM on 2013-10-31:
Did you check if the laser topic was available during recording? Can you try to run your simulation and then "rostopic list" to see what topics are available?
Comment by RB on 2013-10-31:
I haven't check that one, but rxgraph out put gives /lms200. I will check and tell. Have you figured out the problem.
Comment by ZdenekM on 2013-10-31:
You can also try "rostopic echo /lms200" to see if there are any published messages...
Comment by RB on 2013-10-31:
Have you received LaserScan messeges correctly using USARSim/ROS
Comment by ZdenekM on 2013-10-31:
I'm not using USARSim.
Comment by kr1zz on 2013-11-03:
The bug is that the tf tree instantiated by USARSimRos does not contain the /lms200 node, although expected.
Comment by ZdenekM on 2013-11-04:
TF has nothing to do with publishing messages...
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I'm new to ROS so I'm following the beginner tutorials. After following the install and configuration steps for my system (ubuntu 13.04), I get the following message from roswtf;
==============================================================
Static checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING You are missing core ROS Python modules: rosrelease --
WARNING You are missing Debian packages for core ROS Python modules: rosrelease (python-rosrelease) --
Found 2 error(s).
ERROR Not all paths in ROS_PACKAGE_PATH [/home/gaynier/catkin_ws/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks] point to an existing directory:
/opt/ros/hydro/stacks
ERROR Not all paths in PYTHONPATH [/home/gaynier/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages] point to a directory:
/home/gaynier/catkin_ws/devel/lib/python2.7/dist-packages
==========================================================================
Sooooo, wtf?
Originally posted by NaiveUser on ROS Answers with karma: 1 on 2013-10-31
Post score: 1
|
I an using the openni_tracker.cpp and the skeleton tracking. My questions are (A) how do I obtain the quaternion values of each join? (B) How do I convert each joint's rotation matrix (say 3 joints) to half space quaternion with respect to the torso in skeleton tracking. Thank you in advance.
Originally posted by SM on ROS Answers with karma: 15 on 2013-10-31
Post score: 0
|
Hi dear
I want to write a program that is tell me how many msgs that one node has published
How can I write this program
I wrot this program but it's not worked
#include "ros/ros.h"
#include "std_msgs/String.h"
int i=0;
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
//ROS_INFO("I heard: [%s]", msg->data.c_str());
i++;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "lisiner");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chater", 1000, chatterCallback);
ros::Rate timeloop(5);
while(ros::ok())
{
ROS_INFO("%d",i);
timeloop.sleep();
}
return 0;
}
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2013-10-31
Post score: 0
|
Hi,
I went through the tutorials and I feel like I have a good understanding for ROS.
I want to develop my own nodes and packages now. I installed QTCreator and I've been able to load/compile the beginner tutorials project.
However, now I'm trying to put this all together. If one wants to create arbitrarily complex classes/nodes/packages/meta-packages...
Do you always have to first make your package with catkin via terminal, and then open the project in QTCreator (or whatever your IDE is)?
Do you always have to manually edit your CMakeList files to include the correct dependencies and whatnot?
What happens when I want to debug a particular node that, for example, subscribes to some arbitrary topic? How can I possibly create that debugging environment from within QTCreator? Do I need to start with $roscore in terminal and then somehow get the debug session from QTCreator to talk to the master?
What happens when I start stacking all these dependencies between nodes and I want to debug them together?
I suppose I'm having difficulty seeing the "big picture". Where does the IDE come into play?
Thanks for your help.
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-10-31
Post score: 5
Original comments
Comment by lindzey on 2013-10-31:
I'm a happy emacs user, but am interested to see the discussion here. I assume you've already found This wiki page, and this question with a broader focus on IDEs, including some who love QTCreator.
Comment by lindzey on 2013-10-31:
Sorry - one more comment - if you're a ROS newbie, it might make sense to start with emacs or vim since there's lots of information out there assuming you're using terminal + text editor, and when you get more comfortable, figure out how to set up your IDE of choice (and document it on the wiki!)
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I am trying to integrate a dialogue classifier in rospy on the NAO robot. I am planning to use the jython script for the stanford nlp parser but i dont know if rospy will support this script. will it?
Originally posted by uzair on ROS Answers with karma: 87 on 2013-10-31
Post score: 1
|
I've had a look at smach. It's promising when it comes to defining what the robot shall actually do on a high abstraction level. But it seems to me that smach has kind of fallen asleep. Is it actively maintained or even developed further? The last commit on GitHub was made on 4th of August, 2013. There are several open issues. And it seems that smach_viewer isn't working with ROS Hydro which is the greatest pity since I could really make good use of a visual representation of what I've been doing (if not for documentation purposes).
Are there any alternatives to program behaviors and activities as comfortable as smach that are actively maintained, alive and kicking?
Thanks
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2013-11-01
Post score: 1
|
Hi,
In my next step for my quest to get ros to compile on OSX 10.9, I am stuck on compiling messages with libc++. Generating the messages works fine, but compiling with a ros message give me the following issue:
/opt/ros/hydro/install_isolated/include/std_msgs/String.h:67:68: error: implicit instantiation of undefined template 'std::allocator<void>'
typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _data_type;
^
/opt/ros/hydro/src/roscpp/src/libros/service_publication.cpp:139:24: note: in instantiation of template class 'std_msgs::String_<std::allocator<void> >' requested here
std_msgs::String error_string;
^
/opt/ros/hydro/install_isolated/include/ros/message_forward.h:33:28: note: template is declared here
template<typename T> class allocator;
^
In file included from /opt/ros/hydro/src/roscpp/src/libros/service_publication.cpp:42:
/opt/ros/hydro/install_isolated/include/std_msgs/String.h:67:97: error: 'rebind' following the 'template' keyword does not refer to a template
typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > _data_type;
^~~~~~
I believe the issue is that in libc++, using a forward declared class in a template is no longer compiling and gives an error instead. If I try to build it with libstdc++ instead, I get a chain reaction of other compile errors (ros::console, log4cxx, boost, xmlrpcpp, etc.). Anyone have an idea how to fix this?
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2013-11-01
Post score: 2
Original comments
Comment by Artem on 2013-11-01:
I removed all software and trying rebuild everything. But unfortunately c++11 is more strict and many warning became errors. Some of them errors are not really easy to resolve. I am currently stuck at compiling PCL again. Regarding your problem, haven't gotten there yet. Hope someone will know.
Comment by Artem on 2013-11-01:
BTW, you are saying chain reaction, do you mean linking issues?
Comment by Hansg91 on 2013-11-02:
Yes, they are linking errors, but what I meant with chain reaction is that if I build it with libstdc++ instead, many other packages give me linking errors and I didn't manage to fix them all by compiling them too with libstdc++. I am trying to compile bare-bone at the moment, much easier (still hard)
Comment by Artem on 2013-11-09:
Would you please describe how you solved the problem?
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/usr/share/arduino/libraries/ros_lib/ros.h:38:29: fatal error: ros/node_handle.h: No such file or directory
compilation terminated.
Originally posted by Hasitha on ROS Answers with karma: 19 on 2013-11-01
Post score: 1
|
Hey guys,
So I have been contracted to write a ROS driver to facilitate the transmission (and reception) of currently undefined ROS msgs underwater with an acoustic modem.
My plan is to create a node that listens to all ROS msg traffic, then to discriminate the msgs to be transmitted across the acoustic link (with aid of topic names in a conf file), then serialise those selected msgs (one at a time), and then transmit. On the receiving side the date will need to be de serialised and re-published into a msg.
Due to not knowing the msgs before compilation, and the requirement of a configuration file to discriminate, this obviously means that I need a way to serialize and de-serialize without knowing the msg type (unless I have this information in the config file aswell). I have also been asked that it is programmed in CPP.
I realise that similar questions have been asked before , mostly stating that it is impossible (?) in cpp due to introspection... but these were asked several years ago.
So I wonder if there is any new advice, possibly from changes in ROS.
Many thanks,
Chris
Originally posted by kurisu on ROS Answers with karma: 21 on 2013-11-01
Post score: 1
Original comments
Comment by rpxz on 2016-05-31:
Hi,
I've a similar problem but since m new to ros coding i'm unable to deal with the issue . can u lead through the basics ?it would b a great help.
thnx
rythima
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I am trying to move some packages made in Groovy to Hydro, which I just finished installing. After struggling to convert my previous workspace, I am trying to start again fresh, so following the tutorial I
source /opt/ros/hydro/setup.bash
mkdir -p ~/iar_ws_hydro/src
cd ~/iar_ws_hydro/src
cd ~/iar_ws_hydro/
catkin_make
However, when I run the catkin_make command in my brand new folder, it seems to recognize the command and start setting up the workspace, but then fails to find the catkin package. Here's the output:
abouchard@linux-z28r:~/iar_ws_hydro> catkin_make
Base path: /home/abouchard/iar_ws_hydro
Source space: /home/abouchard/iar_ws_hydro/src
Build space: /home/abouchard/iar_ws_hydro/build
Devel space: /home/abouchard/iar_ws_hydro/devel
Install space: /home/abouchard/iar_ws_hydro/install
####
#### Running command: "cmake /home/abouchard/iar_ws_hydro/src -DCATKIN_DEVEL_PREFIX=/home/abouchard/iar_ws_hydro/devel -DCMAKE_INSTALL_PREFIX=/home/abouchard/iar_ws_hydro/install" in "/home/abouchard/iar_ws_hydro/build"
####
-- The C compiler identification is GNU 4.7.2
-- The CXX compiler identification is GNU 4.7.2
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
CMake Error at CMakeLists.txt:44 (message):
find_package(catkin) failed. catkin was neither found in the workspace nor
in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was
sourced before.
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
I have to confess to being totally lost on this one. Obviously catkin is installed because it recognizes the catkin_make command, and the setup.bash calls setup.sh. $CMAKE_PREFIX_PATH contains /opt/ros/hydro:/home/abouchard/ros_catkin_ws/install_isolated, and I can confirm that there are a whole mess of catkin executables in /opt/ros/hydro/bin if that helps.
Originally posted by teddybouch on ROS Answers with karma: 320 on 2013-11-01
Post score: 1
|
Hi everyone, I have been trying to convert the following code on this tutorial link:text into .cpp and .h files. This is not an algorithm question as the code works when it is all in one .cpp file. Here is what I have so far in my .cpp file:
//Code from http://siddhantahuja.wordpress.com/2011/07/20/working-with-ros-and-opencv-draft/
#include "../header/Webcam.h"
#include <iostream>
void Webcam::invertImage(cv_bridge::CvImagePtr cv_ptr){
//Invert Image
//Go through all the rows
for(int i=0; i<cv_ptr->image.rows; i++)
{
//Go through all the columns
for(int j=0; j<cv_ptr->image.cols; j++)
{
//Go through all the channels (b, g, r)
for(int k=0; k<cv_ptr->image.channels(); k++)
{
//Invert the image by subtracting image data from 255
cv_ptr->image.data[i*cv_ptr->image.rows*4+j*3 + k] = 255-cv_ptr->image.data[i*cv_ptr->image.rows*4+j*3 + k];
}
}
}
}
void Webcam::imageCallback(const sensor_msgs::ImageConstPtr& camera_image)
{
//Store all constants for image encodings in the enc namespace to be used later.
namespace enc = sensor_msgs::image_encodings;
//Declare a string with the name of the window that we will create using OpenCV where processed images will be displayed.
static const char WINDOW[] = "Image Processed";
//Use method of ImageTransport to create image publisher
image_transport::Publisher pub;
//Convert from the ROS image message to a CvImage suitable for working with OpenCV for processing
cv_bridge::CvImagePtr cv_ptr;
try
{
//Always copy, returning a mutable CvImage
//OpenCV expects color images to use BGR channel order.
cv_ptr = cv_bridge::toCvCopy(camera_image, enc::BGR8);
}
catch (cv_bridge::Exception& e)
{
//if there is an error during conversion, display it
ROS_ERROR("camera::main.cpp::cv_bridge exception: %s", e.what());
return;
}
//modify the image
Webcam wc;
wc.invertImage(cv_ptr);
//Display the image using OpenCV
cv::imshow(WINDOW, cv_ptr->image);
//Add some delay in miliseconds. The function only works if there is at least one HighGUI window created and the window is active. If there are several HighGUI windows, any of them can be active.
cv::waitKey(3);
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor in main().
*/
//Convert the CvImage to a ROS image message and publish it on the "camera/image_processed" topic.
pub.publish(cv_ptr->toImageMsg());
}
Here is the .h file:
//Includes all the headers necessary to use the most common public pieces of the ROS system.
#include <ros/ros.h>
//Use image_transport for publishing and subscribing to images in ROS
#include <image_transport/image_transport.h>
//Use cv_bridge to convert between ROS and OpenCV Image formats
#include <cv_bridge/cv_bridge.h>
//Include some useful constants for image encoding. Refer to: http://www.ros.org/doc/api/sensor_msgs/html/namespacesensor__msgs_1_1image__encodings.html for more info.
#include <sensor_msgs/image_encodings.h>
//Include headers for OpenCV Image processing
#include <opencv2/imgproc/imgproc.hpp>
//Include headers for OpenCV GUI handling
#include <opencv2/highgui/highgui.hpp>
class Webcam{
public:
void imageCallback(const sensor_msgs::ImageConstPtr& original_image);
void invertImage(cv_bridge::CvImagePtr cv_ptr);
private:
};
Here is my main:
#include "header/Webcam.h"
//Store all constants for image encodings in the enc namespace to be used later.
namespace enc = sensor_msgs::image_encodings;
//Declare a string with the name of the window that we will create using OpenCV where processed images will be displayed.
static const char WINDOW[] = "Image Processed";
//Use method of ImageTransport to create image publisher
image_transport::Publisher pub;
//This function is called everytime a new image is published
int main(int argc, char **argv)
{
ros::init(argc, argv, "image_processor");
ros::NodeHandle nh;
//Create an ImageTransport instance, initializing it with our NodeHandle.
image_transport::ImageTransport it(nh);
//OpenCV HighGUI call to create a display window on start-up.
cv::namedWindow(WINDOW, CV_WINDOW_AUTOSIZE);
Webcam wc;
image_transport::Subscriber sub = it.subscribe("camera/image_raw", 1, &Webcam::imageCallback,&wc); //"camera/image_raw"
//OpenCV HighGUI call to destroy a display window on shut-down.
cv::destroyWindow(WINDOW);
pub = it.advertise("camera/image_processed", 1); //ERROR
ros::spin();
//ROS_INFO is the replacement for printf/cout.
ROS_INFO("Camera::main.cpp::No error.");
}
I get an error when I try to create an object of class Webcam and call the imageCallback method. I find it strange that in the original documentation, it does not use the method imageCallback with the parenthesis such as imageCallback(original_image).
Thanks in advance!
Originally posted by JP on ROS Answers with karma: 95 on 2013-11-01
Post score: 0
|
Youtube works more reliably in more places for me, especially on mobile devices.
I've found the links to vimeo on http://roscon.ros.org/2013/?page_id=14- couldn't there be a OSRF youtube channel with the videos duplicated from vimeo?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2013-11-01
Post score: 6
Original comments
Comment by 130s on 2013-11-13:
While I +1ed, Vimeo Android app works fine with me btw.
|
I'm having trouble linking code with catkin have the following file structure:
mypackage/
|src/
| ros_node.cpp
|lib/
| library.c
|include/
| library.h
ros_node.cpp includes library.h and my CMakelist has the following for building:
add_library(library lib/library.c)
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(ros_node src/ros_node.cpp)
add_dependencies(ros_node ros_node_generate_messages_cpp)
target_link_libraries(ros_node ${catkin_LIBRARIES} library)
This fails when linking the library to the ROS node. Anyone able to point me in the right direction for properly linking with ROS?
Thanks
Originally posted by oars on ROS Answers with karma: 48 on 2013-11-01
Post score: 0
|
Hi Everyone,
I'm trying to design ROS nodes using best practice... the problem is I'm still trying to figure out what best practice is.
Let's say I've made a complex C++ class that does image recognition using OpenCV, Poco, and whatever libraries I could get my hands on.
Question #1:
Would it make more sense to keep the contents of a given ROS node to a minimum - just the boiler plate code - and then instantiate an object of this complex class inside the node (this way I could just use the class's interface and reduce the complexity)? Or would it make more sense to expand the logic of the class into one or more ROS nodes?
Question #2:
How efficient is it to use ROS node services to perform complex computation? For example, let's say I have an image that will get processed in a FOR loop 100 times, each time with a different set of parameters. Should I:
Keep this looped process within one class within a single node and have it do all the work.
Make a node that does the computation once, but instantiate 100 nodes to do the job?
Is there a latency between nodes that would not make this computationally practical? Does the communication between nodes suffer if the data being sent is large?
Thank you for your help!
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-11-01
Post score: 3
|
I'm working on cross compiling to an ARM platform that doesn't have python.
Is there a way to specify catkin to ignore all catkin_python_setup() calls?
As well it can't find the PythonInterp and I guess I can set that through the environment variable for my host machine, but the target won't have python.
I'm hoping to be able to compile ros packages that contain python nodes and dependencies on rospy but functionally ignore them through the process, even if they tag along and are present in the installed files for now.
Originally posted by Chad Rockey on ROS Answers with karma: 4541 on 2013-11-01
Post score: 1
|
Hi!
I try load URDF from sw_urdf_exporter to MoveIt. Path is:
/home/tuuzdu/Hexapod/Leg/robots/Leg.urdf
I add this path to ROS_PACKAGE_PATH:
export ROS_PACKAGE_PATH=/opt/ros/hydro/share:/opt/ros/hydro/stacks:/home/tuuzdu/Hexapod
Then I load Leg.urdf to moveit_setup_assistant and get:
[ INFO] [1383333621.031734075]: Loaded Leg robot model.
[ INFO] [1383333621.032016580]: Setting Param Server with Robot Description
[ INFO] [1383333621.041948471]: Robot semantic model successfully loaded.
[ INFO] [1383333621.042397130]: Setting Param Server with Robot Semantic Description
[ INFO] [1383333621.063413380]: Loading robot model 'Leg'...
[ INFO] [1383333621.063496556]: No root joint specified. Assuming fixed joint
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 6884, exit code -11, cmd /opt/ros/hydro/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/tuuzdu/.ros/log/9d2582a4-432a-11e3-a88f-8c89a529e1eb/moveit_setup_assistant-2.log].
log file: /home/tuuzdu/.ros/log/9d2582a4-432a-11e3-a88f-8c89a529e1eb/moveit_setup_assistant-2*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
What's the problem?
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-11-01
Post score: 0
|
Hi guys.
I'm using ros hydro
I read in the ros answers site that openni2 and freenect can be used with windows kinect, so i installed using sudo apt-get install ros-hydro-openni2-* and installed freenect with sudo apt-get install ros-hydro-freenect-stack
But there is a problem, the windows kinect is not detected when i type roslaunch openni2_launch openni2.launch There is a message that says [ INFO] [1383342884.120184670]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/buildd/ros-hydro-openni2-camera-0.1.0-0raring-20131015-2254/src/openni2_driver.cpp @ 623 : Invalid device number 1, there are 0 devices connected. and this message keeps iterating
When i type lsusb in the console, it detects the windows kinect.
I'm a ros newbie, i have no clue what to do next. I'm doing something wrong?
I'll appreciate your help.
Thanks in advance. :)
Originally posted by Bernard_o on ROS Answers with karma: 26 on 2013-11-01
Post score: 2
Original comments
Comment by Devasena Inupakutika on 2013-11-02:
Can you see three entries in the result for ' lsusb ' command for Kinect ? Also, your kinect should be powered along with being connected to netbook/ laptop.
Also, did you try with simple install ?
sudo apt-get install ros-hydro-openni-launch ros-hydro-openni-tracker ros-hydro-openni-camera
Comment by Bernard_o on 2013-11-10:
Thanks for answering .. hmm, didn't knew that kinect use 3 entries, i will check it. But, it really needs to detect the 3 entries?
Comment by Devasena Inupakutika on 2013-11-25:
Yes, the entries that come up when you use 'lsusb' command as below:
Bus 001 Device 010: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 009: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 011: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Did you try with above simple install ?
|
I've tried to use the laser assembler to create a cloud, however the floors and the floor from the cloud isn't flat. Its more wavey than anything else.
http://i.imgur.com/PYAtWTul.png
The servo is moving at 110degs/sec and I'm using the periodic snapshotter to publish the pointcloud every second. I publish the transform of the servo and with the /scans, I send it to the laser_assembler.
I'm also unsure where to measure the servo rotation axis to the hokuyo utm-30lx, since I don't know exactly where the laser projects, it was a rough estimate.
What could be the main cause of the problem?
Thank you!
Edit1: Instead of it being wavey, after closer inspection the point cloud is seeing double, such that there is a zone where two table tops would be shown.
Edit2: The picture as a whole seems to look better as a whole if I don't overlap the scans over a period of time.
I'm going to make clouds of when the laser scan makes one sweep from top to bottom and a sweep going from bottom to top.
Originally posted by pwong on ROS Answers with karma: 447 on 2013-11-01
Post score: 0
|
I have a few multicopters with an APM controller that I would like to connect to ROS. I want to access the mavlink data via ROS topics. Minimally, I want to have access to sensor data and then publish control topics to the UAV for some semi autonomous indoor fun.
I see there are a few options out there for packages, does anyone out there have recommendations or helpful hints to get started?
Thanks!
Originally posted by Dereck on ROS Answers with karma: 1070 on 2013-11-01
Post score: 2
Original comments
Comment by RodBelaFarin on 2013-11-05:
if you find something interesting, let me know, please. i would be very thankful for any hints!
|
Hi my friends,
I am a newbie and working on kinect with pcl on ROS.
I can run the tutorials on the ros website, but the weird thing is that i cannot find the implementation of all the class I have imported.
eg. #include <pcl/filters/extract_indices.h>
I can find the headfile is in /opt/ros/groovy/include/pcl-1.6/pcl/filters/extract_indices.h
but i cannot find its corresponding .cpp file.
I thought it must be inside /opt/ros/groovy/stack/, but it is not there.
Could anyone to clear my doubts?
Thanks a lot in advance!
JK
Originally posted by ljk on ROS Answers with karma: 155 on 2013-11-01
Post score: 0
|
How is Stage related to Gazebo strategically. Is there any integration between Stage and gazebo such plugin integration for simulation of controllers and sensors.
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-11-02
Post score: 1
Original comments
Comment by Hansg91 on 2013-11-02:
I'm not very familiar with gazebo's uses, but I believe they are both simulators, one more advanced than the other. I doubt there is any integration between the two.
|
Hi guys,
I am new in ros and i am having trouble with the odometry c++ publish turorial (wiki.ros.org/navigation/Tutorials/RobotSetup/Odom). I am using the code in this link.
When i try to rosrun the program it gives me this:
line 5: syntax error near unexpected token `('
line 5: ` int main(int argc, char** argv){'
I don't understand why. BTW i am using groovy.
my c code is:
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
int main(int argc, char** argv){
ros::init(argc, argv, "odometry_publisher");
ros::NodeHandle n;
ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
tf::TransformBroadcaster odom_broadcaster;
double x = 0.0;
double y = 0.0;
double th = 0.0;
double vx = 0.1;
double vy = -0.1;
double vth = 0.1;
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Rate r(1.0);
while(n.ok()){
current_time = ros::Time::now();
//compute odometry in a typical way given the velocities of the robot
double dt = (current_time - last_time).toSec();
double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
double delta_th = vth * dt;
x += delta_x;
y += delta_y;
th += delta_th;
//since all odometry is 6DOF we'll need a quaternion created from yaw
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
//first, we'll publish the transform over tf
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = current_time;
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_link";
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = odom_quat;
//send the transform
odom_broadcaster.sendTransform(odom_trans);
//next, we'll publish the odometry message over ROS
nav_msgs::Odometry odom;
odom.header.stamp = current_time;
odom.header.frame_id = "odom";
odom.child_frame_id = "base_link";
//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
//set the velocity
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy;
odom.twist.twist.angular.z = vth;
//publish the message
odom_pub.publish(odom);
last_time = current_time;
r.sleep();
}
}
thanks
Originally posted by trbf on ROS Answers with karma: 16 on 2013-11-02
Post score: 1
Original comments
Comment by yigit on 2013-11-02:
We need to see the code that you try to compile
Comment by trbf on 2013-11-02:
Ok,sorry about the editing,i don't now why it appears like that!
Comment by yigit on 2013-11-02:
It is because of indentation. It would be better if you shift your code to right by one tab, then paste it here. I'm not sure I understand it correctly but isn't there a problem with your "include"s?
Comment by trbf on 2013-11-03:
Thanks, now it is better. Maybe is the includes but i don't know why...
|
Hi
I am created a URDF file and moveit configuration file for my 6-DOF arm in ros-hydro. Now while I running demo.launch and plan to a random position my model collapse ( Its pic added below). I am not found this problem before while i working in groovy. What may be the problem
Originally posted by unais on ROS Answers with karma: 313 on 2013-11-02
Post score: 0
|
I'm trying to get 3D odometry data using fovis, but seems it does not work, because I face bunch of errors:
[ERROR] [1383492092.322748950]: fovis odometry failed: NO_DATA
[ERROR] [1383492112.108683377]: fovis odometry failed: REPROJECTION_ERROR
[ERROR] [1383492112.464506236]: fovis odometry failed: INSUFFICIENT_INLIERS
[ERROR] [1383492112.533878210]: TF_NAN_INPUT: Ignoring transform for child_frame_id "/camera_rgb_optical_frame" from authority "/mono_depth_odometer" because of a nan value in the transform (nan nan nan) (nan nan nan nan)
First of all, I run roslaunch openni_launch openni.launch, Then I run rosrun fovis_ros mono_depth_odometer _base_link_frame_id:=/camera_rgb_optical_frame.
How can I fix it?
Originally posted by maysamsh on ROS Answers with karma: 139 on 2013-11-03
Post score: 0
|
USARSimRos is designed to provide a seamless interface between the USARSim framework and ROS (www.ros.org).
Please go through this
If anybody use this successfully please reply. I find some bugs here.
Thanks in advance
Originally posted by RB on ROS Answers with karma: 229 on 2013-11-03
Post score: -1
|
I'm trying to define an array in yaml file and load into parameter server in launch file. The following bit of code
XmlRpc::XmlRpcValue temp;
nhp.searchParam("/r_arm/position/my_param", temp);
ROS_ASSERT(temp.getType() == XmlRpc::XmlRpcValue::TypeArray);
Fails with the assertion that "temp" is an XmlRpcValue::TypeString not an array, even though
rosparam get /r_arm/position/my_param
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
shows the array.
They yaml code looks like:
{r_arm:{position:{
my_param:[0.0,0.0,0.0,0.0,0.0,0.0]
,my_param2:[0.0,0.0,0.0,0.0,0.0,0.0]
},force:{
...
Any ideas what I am doing wrong?
(ros Groovy version)
Originally posted by dcconner on ROS Answers with karma: 476 on 2013-11-03
Post score: 1
|
I am trying to convert depth image from (/camera/depth/image) to grayscale image (/camera/rgb/image_mono). This is my code.
#include "ros/ros.h"
#include "sensor_msgs/Image.h"
#include <std_msgs/UInt8.h>
using namespace std;
using namespace ros;
class ImageConverter
{
NodeHandle gdd;
Subscriber depth_sub;
Publisher gray_pub;
public:
void imageCb(const sensor_msgs::Image::ConstPtr& );
ImageConverter()
{
depth_sub = gdd.subscribe("/camera/depth/image", 1, &ImageConverter::imageCb, this);
gray_pub = gdd.advertise<sensor_msgs::Image>("depthTOgreyscale_image", 1);
}
};
void ImageConverter::imageCb(const sensor_msgs::ImageConstPtr& depth_image)
{
sensor_msgs::Image gray_image;
gray_image.header.seq = depth_image->header.seq;
gray_image.header.stamp = depth_image->header.stamp;
gray_image.header.frame_id = "/camera_rgb_optical_frame";
gray_image.height = 480;
gray_image.width = 640;
gray_image.encoding = "mono8";
gray_image.is_bigendian = 0;
gray_image.step = 640;
float max_depth = 0;
for(int i=0; i<depth_image->height; i++)
{
for(int j=0; j<depth_image->width; j++)
{
float distance = depth_image->data[i*depth_image->width+j];
if (distance == distance) {
max_depth = max(distance, max_depth);
}
}
}
ROS_INFO("%f", max_depth);
//ACTUAL CONVERSION
for(int i=0; i<depth_image->height; i++)
{
for(int j=0; j<depth_image->width; j++)
{
gray_image.data[i*depth_image->width+j] = (unsigned int)(depth_image->data[i*depth_image->width+j]/max_depth*255);
}
}
gray_pub.publish(depth_image);
}
int main(int argc, char **argv)
{
init(argc, argv, "get_depth_data");
ImageConverter ic;
spin();
return 0;
}
I am able to read the depth data and convert it to UInt8C1 format but for some reason I am getting seg fault when I try to write data on my grayscale topic.
Is there a mistake I am doing I am not seeing or is there some way around it ?
Originally posted by prasanna.kumar on ROS Answers with karma: 1363 on 2013-11-03
Post score: 0
|
In file included from /usr/include/c++/4.6/ostream:588:0,
from /usr/include/c++/4.6/iostream:40,
from /opt/ros/fuerte/include/ros/time.h:54,
from /opt/ros/fuerte/include/ros/ros.h:38,
from /home/weiyang/fuerte_workspace/sandbox/flight/src/qnode.cpp:13:
/usr/include/c++/4.6/bits/ostream.tcc:150:1: error: missing terminating " character
In file included from /usr/include/c++/4.6/ostream:588:0,
from /usr/include/c++/4.6/iostream:40,
from /opt/ros/fuerte/include/ros/time.h:54,
from /opt/ros/fuerte/include/ros/ros.h:38,
from /home/weiyang/fuerte_workspace/sandbox/flight/src/qnode.cpp:13:
/usr/include/c++/4.6/bits/ostream.tcc:151:9: error: template declaration of ‘std::basic_ostream<_CharT, _Traits>& std::put’
/usr/include/c++/4.6/bits/ostream.tcc:151:9: error: ‘char_type’ was not declared in this scope
For some reason, the error above happened, and I try to solve by editing this line
/usr/include/c++/4.6/bits/ostream.tcc:150:1:
and after I tried to make my package again and these happen.
c++: internal compiler error: Segmentation fault (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[3]: *** [CMakeFiles/flight.dir/src/qnode.o] Error 4
make[3]: Leaving directory `/home/weiyang/fuerte_workspace/sandbox/flight/build'
make[2]: *** [CMakeFiles/flight.dir/all] Error 2
make[2]: Leaving directory `/home/weiyang/fuerte_workspace/sandbox/flight/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/weiyang/fuerte_workspace/sandbox/flight/build'
make: *** [all] Error 2
Anyone encounter this before? I've tried to google and some people explains this as a compiler crash. The solution is to get a new compiler which I don't really understand how. Please help thanks.
qnode.cpp
I believe that should be nothing wrong because I was just editing a small part of the code.
/**
* @file /include/flight/qnode.hpp
*
* @brief Communications central!
*
* @date February 2011
**/
/*****************************************************************************
** Ifdefs
*****************************************************************************/
#ifndef flight_QNODE_HPP_
#define flight_QNODE_HPP_
/*****************************************************************************
** Includes
*****************************************************************************/
#include <ros/ros.h>
#include <string>
#include <QThread>
#include "../../flightPanel/msg_gen/cpp/include/flightPanel/flightCommand.h"
#include "../../px-ros-pkg/px_comm/msg_gen/cpp/include/px_comm/OpticalFlow.h"
#include "geometry_msgs/Pose2D.h"
#include "flight/flightFeedback.h"
#include "AltitudeControl.hpp"
#include "RollControl.hpp"
#include "PitchControl.hpp"
#include "YawControl.hpp"
#include "Timer.hpp"
#include "Serial.hpp"
#include "state.hpp"
#include <sensor_msgs/Image.h>
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace flight {
/*****************************************************************************
** Class
*****************************************************************************/
class QNode : public QThread {
Q_OBJECT
public:
QNode( int argc, char** argv );
virtual ~QNode();
bool init();
bool init( const std::string &master_url, const std::string &host_url );
void run();
float rcAmplitude;
signals:
void rosShutdown();
private:
int init_argc;
char** init_argv;
ros::Publisher chatter_publisher;
ros::Subscriber commandMsg;
ros::Subscriber opticalFlowMsg;
ros::Subscriber depthMsg;
ros::Subscriber geometryMsg;
flight::flightFeedback feedbackMsg;
void parseCommand( const flightPanel::flightCommand::ConstPtr& msg );
int parseInt( const flightPanel::flightCommand::ConstPtr& msg, int i );
float parseFloat( const flightPanel::flightCommand::ConstPtr& msg, int i );
void parseOpticalFlow( const px_comm::OpticalFlow::ConstPtr& msg );
void parseDepth( const sensor_msgs::Image::ConstPtr& msg );
void parseGeometry( const geometry_msgs::Pose2D::ConstPtr& msg);
float filterUltrasonic( float ultrasonicAltitude );
// frames per second in the main control loop
int fps;
// sampling period
float T;
int state;
// commands to Arduino
float pitch, roll, yaw, throttle;
// roll and pitch angles from 9-axis IMU
float rollAngle, pitchAngle;
// px4 optical flow variables
float groundDistance;
float velocityX, velocityY;
// PID control objects for altitude, roll, pitch and yaw
AltitudeControl *altitudeControl;
RollControl *rollControl;
PitchControl *pitchControl;
YawControl *yawControl;
// latency in seconds
float latency;
// desired altitude in metres
float desiredAltitude;
Timer *calTimer;
// serial communications with Arduino
Serial *serial;
// ultrasonic altitude sensor
float ultrasonicAltitude;
float ultrasonicBuffer[ 5 ];
int ultrasonicPtr;
// depth sensor
float depthAltitude;
float referenceAltitude, measuredAltitude;
int takeOffCount;
//amcl
float x;
float y;
float theta;
};
} // namespace flight
#endif /* flight_QNODE_HPP_ */
But there is one odd thing happened in ostream.tcc
(/usr/include/c++/4.6/bits/ostream.tcc:150:1: error: missing terminating " character):
template<typename _CharT, typename _Traits>
basic_ostream<_CharT, _Traits>&
" basic_ostream<_CharT, _Traits>::
put(char_type __c)
{
How come there is the " at the front of the line? I had compared this with my friend and it shows that it should not have a " there. That's the reason why I tried to edit my ostream.tcc file.
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2013-11-03
Post score: 0
|
I need to add a "fake" or arbitrary obstacle to the /obstacle topic that my real pioneer 3dx is using to navigate. Is this possible? and if so how? Thanks
Originally posted by ctguell on ROS Answers with karma: 63 on 2013-11-03
Post score: 0
|
installing ros on a remote pc to control nao,then i use wstool & catkin installed the humanoid_msgs & nao_robot,this is my step:
1,$ cd ~/catkin_ws/src
2,$ wstool init
3,$ wstool set humanoid_msgs --git git://github.com/ahornung/humanoid_msgs.git
4,$ wstool update (it's successful)
5,$ source /opt/ros/hydro/setup.bash
6,$ cd ~/catkin_ws
7,$ catkin_make (it's successful)
8,$ source ~/catkin_ws/devel/setup.bash
there is no error.
i add path in my .bashrc:
export ROS_PACKAGE_PATH=~/ros_workspace/src:$ROS_PACKAGE_PATH
export PYTHONPATH=/home/cit/naoqi/naoqi-sdk-1.12.5-linux32/lib:$PYTHONPATH
export LD_LIBRARY_PATH=/home/cit/naoqi/naoqi-sdk-1.12.5-linux32/lib:$LD_LIBRARY$
source /opt/ros/hydro/setup.bash
then i follow the tutoral :
cit@cit-ThinkStation-S20:~/catkin_ws/src/ros_robot/nao_bringup$ roslaunch nao_bringup nao_sim.launch
[nao_sim.launch] is neither a launch file in package [nao_bringup] nor is [nao_bringup] a launch file name
maybe i miss something or do something wrong,i don't know,do you know?
Originally posted by doudoushuixiu on ROS Answers with karma: 31 on 2013-11-03
Post score: 0
|
What software package would you suggest to simulate a team of UAVs in USAR scenarios?
Required features:
3D
realistic outdoor environments
multiagent
simulation of the appropriate sensors (IMU, GPS, cameras, ...)
ROS integration
We will use some AscTec firefly but any simulated quadrotor would be fine.
I tried USARSim which has all the required features but lacks the integration with ROS. There's an open source (wannabe) bridge project USARSimRos that should do the job but has some bugs (e.g. here). Nothing unresolvable but before reinventing the wheel I am scouting for alternative solutions.
Originally posted by kr1zz on ROS Answers with karma: 116 on 2013-11-04
Post score: 0
|
I am wondering how can I export an already built library within a package to make it available to other catkin packages.
Before with rosbuild this could be done by by using the cpp tag in the manifest. For instance:
<export>
<cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lmylib" cflags="-I${prefix}/include"/>
</export>
As far as I understand this functionality has been replaced by the catkin_package() command. However, I have not found a clear way to make a prebuilt library within a catkin package visible to other catkin packages.
I have tried setting the prebuilt library as an imported library, but then when I do cmake it does not set it as a target visible by other packages. In CMakeLists.txt I have:
...
catkin_package(LIBRARIES mylib)
...
add_library(mylib STATIC IMPORTED)
set_target_properties(mylib PROPERTIES IMPORTED_LOCATION /path/to/mylib)
Any suggestions?
Originally posted by Francisco Vina on ROS Answers with karma: 101 on 2013-11-04
Post score: 1
Original comments
Comment by Dirk Thomas on 2013-11-06:
catkin_package(LIBRARIES ...) should be able to handle libraries build in your cmake project, absolute paths to an existing library as well as imported library targets. Please consider providing a link to the sources for further investigation.
Comment by Francisco Vina on 2013-11-21:
The package in question can be found in https://github.com/kth-ros-pkg/kvaser_canlib.git
I managed to get it working, but I had to do a hard copy of the library to the devel/lib folder. Any suggestions on how to do this in a more clean way?
|
Hi Everyone,
I'm having some issues using Qt Creator as an IDE for ROS:
If I have multiple packages within a catkin workspace, and I open just ONE of the packages' CMakeLists.txt file within Qt Creator, Qt Creator still sees the remaining packages in the catkin workspace. When building/running, Qt Creator will try to try to build all executables and then I have the option to run any of the executables in the catkin workspace.
Can I work on separate packages in isolation with Qt Creator?
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-11-04
Post score: 1
|
Hi, i'm new to ROS and i want to build a map of my room with a kinect camera.
I have installed in my Pc ROS 12.10 with groovy, but if there is a more compatible ROS for this i can upgrade it.
Could you help me out, on the components and packages that i need to do so.
Let me know the best way to do it. And what tutorials should i follow.
Thank you so much!
Originally posted by sigmaduarte on ROS Answers with karma: 1 on 2013-11-04
Post score: 1
|
Hello Dear Community!
I have a problem that I can't resolve during already a few days. I have created simple test robot arm in SolidWorks. I followed instructions on setting the axis correctly for all joints (X-forward, Z-up). I have exported URDF model from SolidWorks. I have created Moveit! config for this URDF model with Moveit! wizard.
Models successfully loads into rviz. I can control it with robot_state_publisher GUI panel.
But I can't set the Goal State with Interactive Marker either with the code. I always get "Fail: ABORTED: No motion plan found. No execution attempted.".
I have uploaded to GoogleDrive two tars:
drive.google.com/file/d/0Bx529USSkqSbd0k0djE0aEVKYTg/edit?usp=sharing (model exported from SolidWorks: URDF, meshes)
drive.google.com/file/d/0Bx529USSkqSbbGRjckp5bVRNbjQ/edit?usp=sharing
(generated Moveit! config)
Could you please be so kind and review this packages, and tell me what I'm doing wrong!
I really need help with this!
Great thanks ahead!
Originally posted by maska on ROS Answers with karma: 61 on 2013-11-04
Post score: 2
Original comments
Comment by maska on 2013-11-04:
An arm for Moveit! shall be strictly 6DOF? Or could have less DOF?
Comment by davinci on 2013-11-04:
Try to set the logger levels of move_arm and ompl_ros to DEBUG using rxconsole. That could give some extra debug info.
|
Referenced repository does not seem to exist.
http://wiki.ros.org/differential_drive
Source: git https://[email protected]/p/differential-drive/
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-11-04
Post score: 0
|
Hi there,
I have groovy installed on my ubuntu 12.04. If i install standalone opencv without uninstalling opencv which is installed with groovy, would it be any problem?
Kindest regards
Hossain
Originally posted by cognitiveRobot on ROS Answers with karma: 167 on 2013-11-05
Post score: 0
|
The current code base and tutorials only support Fuerte.
Are there plans to actively support newer releases?
I found this related question about porting the Fuerte code to Groovy.
Originally posted by joq on ROS Answers with karma: 25443 on 2013-11-05
Post score: 3
|
rviz crashes when I try to run the hector quadrotor indoor SLAM demo (plus another bunch of warnings show up). Gazebo however starts. I tried it on groovy. One of the relevant problems is that the configuration file for rviz is in the old format (.vcg), whereas it expects a YAML (.rviz) file.
How do I solve this? Shall I convert the file? How do I do it?
$ roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
[...]
process[rviz-10]: started with pid [1591]
ERROR: the config file '/home/kr1zz/workspace/rosbuild_ws/hector_quadrotor_tutorial/hector_quadrotor_apps/hector_quadrotor_demo/rviz_cfg/indoor_slam.vcg' is a .vcg file, which is the old rviz config format.
New config files have a .rviz extension and use YAML formatting. The format changed
between Fuerte and Groovy. There is not (yet) an automated conversion program.
[rviz-10] process has died [pid 1591, exit code 1, cmd /opt/ros/groovy/lib/rviz/rviz -d /home/kr1zz/workspace/rosbuild_ws/hector_quadrotor_tutorial/hector_quadrotor_apps/hector_quadrotor_demo/rviz_cfg/indoor_slam.vcg __name:=rviz __log:=/home/kr1zz/.ros/log/6ae55fe6-4625-11e3-8234-5404a69cc0c7/rviz-10.log].
log file: /home/kr1zz/.ros/log/6ae55fe6-4625-11e3-8234-5404a69cc0c7/rviz-10*.log
loading model xml from ros parameter
[...]
(I trimmed the rest of the output but I can post if required)
Originally posted by kr1zz on ROS Answers with karma: 116 on 2013-11-05
Post score: 1
|
I have to use a camera which has only windows drivers (Ladybug5). I thought I can use WIN_ROS for this together with the image_transport package to publish the images over the network to a Linux system where I want to do some post processing.
I used this guide to setup WIN_ROS on a Windows 8 Host: *ttp://wiki.ros.org/win_ros/hydro/Msvc%20Compiled%20SDK
After checking that the samples where working, I started to install the Dependencys for image_transport with the wstool:
wstool set image_common --git *ttps://github.com/ros-perception/image_common.git --version=hydro-devel
wstool set pluginlib --git *ttps://github.com/ros/pluginlib --version=groovy-devel
wstool set class_loader --git *ttps://github.com/ros/class_loader.git --version= hydro-devel
Additionally I installed the console_bridge and poco to:
C:\work\non-catkin\console_bridge
C:\poco
And I Added the lib paths of both to the Windows Enviroment variable
PATH=C:\Python27\;C:\Python27\Scripts;C:\poco\lib;C:\work\non-catkin\install\lib
When I try to compile it I get stuck at:
[ 4%] Built target rosconsole
Scanning dependencies of target plugin_tool
[ 4%] Building CXX object pluginlib/CMakeFiles/plugin_tool.dir/src/plugin_tool.cpp.obj
plugin_tool.cpp
c:\work\ws\src\ros\core\roslib\include\ros/package.h(43) : warning C4005: 'ROS_FORCE_INLINE' : macro redefinition
c:\work\ws\src\roscpp_core\cpp_common\include\ros/macros.h(36) : see previous definition of 'ROS_FORCE_INLINE'
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : error C2059: syntax error : '('
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(298) : see reference to class template instantiation 'pluginlib::ClassLoader
<T>' being compiled
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : error C4430: missing type specifier - int assumed. Note: C++ does not support
default-int
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : error C2059: syntax error : ')'
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : error C2143: syntax error : missing ';' before ')'
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : warning C4183: '__attribute__': missing return type; assumed to be a member fu
nction returning 'int'
c:\work\ws\src\pluginlib\include\pluginlib/class_loader.h(83) : error C2238: unexpected token(s) preceding ';'
c:\work\ws\src\pluginlib\include\pluginlib\class_loader_imp.h(121) : error C2039: 'createClassInstance' : is not a member of 'pluginlib::Class
Loader<T>'
c:\work\ws\src\pluginlib\src\plugin_tool.cpp(37) : fatal error C1083: Cannot open include file: 'dlfcn.h': No such file or directory
NMAKE : fatal error U1077: 'C:\PROGRA~2\MICROS~1.0\VC\bin\cl.exe' : return code '0x2'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC\Bin\nmake.exe"' : return code '0x2'
Stop.
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC\Bin\nmake.exe"' : return code '0x2'
Stop.
Questions:
Has anyone image_transport working with WIN_ROS? How?
Any suggestions how to fix it?
If its not working, what would be the next best option to transport the images over network to ROS?
Thanks allot!
Originally posted by Flos on ROS Answers with karma: 3 on 2013-11-05
Post score: 0
|
Hi,
I'm using ros groovy on armv7l, and I'm getting a bus error from from roscpp_serialization.
The error is well documented (on this forum too) and It seems that there is a patch that fixes it, but it hasn't made it into my ubuntu packages yet.
And I can't find a way to replace this package in my ros build.
If I try to apt-get remove ros-groovy-roscpp-serialization, based on dependencies almost all of ros-groovy-* will be removed.
Is there a way to supersede binary packages with compiled ones ?
Thank you
Originally posted by mtourne on ROS Answers with karma: 36 on 2013-11-05
Post score: 1
|
I've been referencing the ROS PCL tutorials (http://wiki.ros.org/pcl/Tutorials) to get up to speed on using the library in ROS, but I'm running into a little bit of trouble with the conversion to Hydro. According to the note under "sensor_msgs/PointCloud2", the sensor_msgs::PointCloud2 type previously used to send point clouds as ROS messages has been deprecated in favor of pcl::PCLPointCloud2. That section of the tutorial tells you exactly how to adapt your code in the example for the new type - awesome!
However, inside my node, I'm doing some correspondence grouping work, and the code that I've already gotten working outside of ROS uses a pcl::PointCloudpcl::PointXYZ, so I went down to the "pcl/PointCloud" section and looked for the same migration instructions - no dice. I looked at the migration instructions (http://wiki.ros.org/hydro/Migration) and the API, tried both of these options, where I've substituted the variable names for their types:
[pcl::PointCloud< pcl::PointXYZ >] = [const pcl::PCLPointCloud2ConstPtr&];
pcl::fromROSMsg( *[const pcl::PCLPointCloud2ConstPtr&], [pcl::PointCloud< pcl::PointXYZ >] );
[pcl::PointCloud< pcl::PointXYZ >] = [const pcl::PCLPointCloud2ConstPtr&].makeShared();
Both throw an error, and I've also tried calling fromROSMsg with namespace pcl_conversions. I'm assuming that I am missing something in some piece of documentation, but I can't seem to figure it out. Any help would be appreciated.
Originally posted by teddybouch on ROS Answers with karma: 320 on 2013-11-05
Post score: 0
|
Hi
I am trying to install ROS from source on UBUNTU 13.10, and gets stock on the qt_qui_cpp package and gives this error:
==> Processing catkin package: 'qt_gui_cpp'
==> Building with env: '/home/ltorabi/ros_catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/ltorabi/ros_catkin_ws/build_isolated/qt_gui_cpp'
==> make -j2 -l2 in '/home/ltorabi/ros_catkin_ws/build_isolated/qt_gui_cpp'
[ 76%] Built target qt_gui_cpp
[ 84%] Running SIP generator for qt_gui_cpp_sip Python bindings...
sip: Deprecation warning: qt_gui_cpp.sip:1: %Module version number should be specified using the 'version' argument
sip: Unable to find file "QtCore/QtCoremod.sip"
Error: Unable to open
"/ros_catkin_ws/build_isolated/qt_gui_cpp/sip/qt_gui_cpp_sip/pyqtscripting.sbf"
make[2]: *** [sip/qt_gui_cpp_sip/Makefile] Error 1
make[1]: *** [src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'qt_gui_cpp':
Originally posted by ltorabi on ROS Answers with karma: 11 on 2013-11-05
Post score: 1
|
Hi,
I need to know please, the correct Naeto XV11 firmware version to run this ROS driver, http://wiki.ros.org/neato_robot?distro=fuerte
I allready try im my Naeto XV11, but it doesn't work. After analyze the problem i notice for example in "xv11_motor_info" expected messages, i only receive 15 values, instead the 30 values expected in the driver code.
getmotors response:
Parameter,Value
Brush_RPM,0
Brush_mA,0
Vacuum_RPM,0
Vacuum_mA,0
LeftWheel_RPM,0
LeftWheel_Load%,0
LeftWheel_PositionInMM,0
LeftWheel_Speed,0
RightWheel_RPM,0
RightWheel_Load%,0
RightWheel_PositionInMM,0
RightWheel_Speed,0
Charger_mAH, 0
SideBrush_mA,0
Naeto Information:
SW 3.2.18755
LDS V2.6.15295
Board Rev 64
Board SW 18077
I need to downgrade or upgrade the Naeto Firmware?
Best regards.
Originally posted by Andre Araujo on ROS Answers with karma: 43 on 2013-11-05
Post score: 0
|
We’re planning to use rqt_rviz as part of a laymen-facing robot GUI. The current plan is to create a .rviz configuration for RViz that limits what ROS stuff the user sees and then use rqt_rviz with additional rqt plugins to provide an integrated UI. Ideally the RViz menu bar would not be visible to the user either.
Is it possible to load the rqt_rviz plugin with an RViz config file? Also, is there an easy way to remove the menu bar from the rqt_rviz plugin?
Originally posted by abencz on ROS Answers with karma: 83 on 2013-11-05
Post score: 1
|
I keep getting an error that ROS can't find the messages which the message I am trying to publish from my executable depends on. The compiler suggests that maybe I forgot to specify them in generate_messages() but I did. Here is a copy of my CMakeLists.txt. Any help will be appreciated.
cmake_minimum_required(VERSION 2.8.3)
project(uuv_words)
find_package(catkin REQUIRED COMPONENTS message_generation roscpp
std_msgs turtlesim)
add_message_files(FILES away.msg)
generate_messages(DEPENDENCIES std_msgs roscpp turtlesim)
catkin_package(
INCLUDE_DIRS ##include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp message_runtime std_msgs turtlesim
##DEPENDS system_lib
)
include_directories(${catkin_INCLUDE_DIRS})
add_executable(away src/away.cpp)
add_dependencies(away uuv_words_generate_messages_cpp)
target_link_libraries(away ${catkin_LIBRARIES})
Originally posted by ayslegacy on ROS Answers with karma: 1 on 2013-11-05
Post score: 0
|
Hi guys,
I am now working in a robot which has Caterpillar track instead of normal wheels and i want to make odometry with him. I was hoping that you had some sugestions about how to make a aproximated model.
Thank You
Originally posted by trbf on ROS Answers with karma: 16 on 2013-11-05
Post score: 0
|
I am following the beginner tutorial
--Getting start with ROS for the Nao, including NAOqi and rviz.
I was unable to download the 1.14.3 sdk from the aldebaran website so i did it from some other site. When i am trying to run naoqi and executing this command:
$ ~/naoqi/naoqi-sdk-1.12.3-linux32/naoqi
I get an error saying no such file or directory. WHen I cehck the home folder, the file is there in the folder. How do I proceed? How do I install naoqi?
Originally posted by uzair on ROS Answers with karma: 87 on 2013-11-05
Post score: 0
Original comments
Comment by Menglord on 2013-12-02:
where did you find the SDK?
|
hi,i want to buy a kinect to control the NAO robot,there are two kinds of kinect i can but:1,kinect for xbox360.2,kinect for windows.
i want to use openni and kinect to develop a application to control the NAO.is there anyone know whitch kind of the kinect should buy?
Originally posted by doudoushuixiu on ROS Answers with karma: 31 on 2013-11-05
Post score: 0
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I'm reading amcl document on ROS Wiki. In its subscribed topics there is not odometry topic, why? It works only with laser?
**Subscribed Topics:**
scan (sensor_msgs/LaserScan)
tf (tf/tfMessage)
initialpose (geometry_msgs/PoseWithCovarianceStamped)
map (nav_msgs/OccupancyGrid)
Originally posted by maysamsh on ROS Answers with karma: 139 on 2013-11-05
Post score: 1
|
Hi there
I'm new in working with ROS. I'm trying to create a package by the following command:
roscreate-pkg beginner_tutorials std_msgs rospy roscpp
but I get the following error
roscreate-pkg: command not found
I appreciate if you help me.
Originally posted by Reza1984 on ROS Answers with karma: 70 on 2013-11-06
Post score: 0
Original comments
Comment by BennyRe on 2013-11-06:
Do other ROS bash command work? Like roscd/rosmsg/...
Comment by Reza1984 on 2013-11-06:
Yes, but rospack and roscreate-pkg doesn't work. Btw I'm working with fuerte in ubuntu 12.04
Comment by BennyRe on 2013-11-06:
Did you source the setup.bash?
Comment by Reza1984 on 2013-11-06:
Thanks aloooot, I forgot to do it!
Comment by BennyRe on 2013-11-06:
Ok great I'll post it as an answer, so you can accept it.
Comment by meriemm on 2015-04-17:
hi,i have the same problem i have add the " source /opt/ros/hydro/setup.bash
source ~/hydro_workspace/sandbox/setup.bash " but i still have the same problem,can you please help me.
|
Is there any docker containers for ROS? I googled but didn't find anything.
If there is no containers what is the best way to start building one and share with you guys?
Thanks!
Originally posted by Oleg on ROS Answers with karma: 11 on 2013-11-06
Post score: 2
Original comments
Comment by linas on 2016-02-20:
Its not that hard to set up ROS in a docker container. The problem is that it doesn't work very well, due to networking issues: ROS and Docker clash over how they want to do networking. A long, detailed analysis is here: https://github.com/opencog/docker/tree/master/indigo (about half-way down).
|
Hi,
I created a metapackage wrapping some of our own ros packages by declaring a run_depend on them. When I then run rosdep check my_metapackage everything is fine despite some system requirements of those run_depend packages are not met.
I know I could change the run_depend to build_depend, but then I get a warning for doing so. So ... I want to install the system-dependencies of a whole 'stack' aka metapackage with one command like rosdep install my_metapackage and not running the rosdep install for every single package ... is that possible?
Originally posted by stfn on ROS Answers with karma: 287 on 2013-11-06
Post score: 2
|
I've recorded a bag file from a custom robot (in real world) that does not provide covariane matrix and I want to use /odom to feed an ekf, but covariance matrix is 0. How can I calculate it?
It's a sample of /odom:
pose:
pose:
position:
x: 0.082
y: 0.507
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.789272088731
w: 0.614043622188
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.104
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0663225115758
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Originally posted by maysamsh on ROS Answers with karma: 139 on 2013-11-06
Post score: 0
Original comments
Comment by KDROS on 2015-01-15:
which package you are using? Your question may help me in some points. I am also facing same problem. I want to use robot_localization package.
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I'm reading PointCloud2 sensor messages from a robot in Gazebo. However, the point cloud given by the message is always unorganized (width=307200, height=1). In the urdf file, the size of the image is set to 640x480. Is there some way to guarantee organization?
At the moment, my code does the "reorganization" of the cloud manually (using a for loop).
Originally posted by atp on ROS Answers with karma: 529 on 2013-11-06
Post score: 1
|
Dear Ros experts!
I want to install the rqt Package to my fuerte ROS version in ubuntu precise.
I am following the instructions on
see wiki.ros.org/rqt/UserGuide/Install/Groovy
(At the end of the page)
Then I have problems with the sentence:
"Clone the git repositories qt_gui_core and rqt"
As far as I know to clone a git repository you need to specify the target directory.
The question:
what is the target directory where to clone the git rqt and qt_gui_core repository?
I am really new in ROS so I hope the question makes sense if not just tell me what I am not understanding.
THANK YOU!
Originally posted by LovedByJesus on ROS Answers with karma: 86 on 2013-11-06
Post score: 1
Original comments
Comment by LovedByJesus on 2013-11-07:
My question is quite similar to the one on this link
http://answers.ros.org/question/66255/install-rqt-on-fuerte-from-source-help/
I think we both stumbled upon the same problem:
'The instructions to install rqt on Fuerte are not detailed enough for beginners'. Please fix it or answer the question.
|
According to this post the global_planner package is a refactoring of the NavFn package.
The global_planner package also has an A* planner implemented and seems to be much cleaner than the NavFn package.
What is the status of the global_planner package?
Is it going to eventually replace the navfn package as the default global_planner?
Is the global_planner package a drop in replacement for the navfn package?
If not, how should the global_planner package be setup?
I noticed that the global_planner package does not get pulled down with the navigation stack and needs to be pulled separately with "sudo apt-get install ros-hydro-global-planner". For using with move_base the package does not have the pluginlib xml file that goes with it and it does not export the library as a nav_core plugin in its package.xml. Is there a reason for this? Is this something that is going to be added?
Thank you.
Originally posted by Raptor on ROS Answers with karma: 377 on 2013-11-06
Post score: 1
|
Hello.
I want to track a object that is moving inside a room and color the pixel in the cam-image, where the object has moved to. Instead of detect colors etc. I want to do this with markers from ar_pose.
My setup is a simple web_cam and one printed marker.
I can start tracking and I do get values on the topic "ar_pose_marker". My problem is that I do not understand what the values "ar_pose_marker" is publishing to me.
Yes, I did read that "The current pose of the marker relative to the camera." My interpretation is that the cam is located at (0,0.0) and the values are the offset to that origin (in world coordinates). Is that correct?
One example:
Lets say my setup is running with a 640x480px image.
When i move the marker to the most left: {ar_pose_marker}.x = -1.16
The the rightmost place {ar_pose_marker}.x = -0.75
This values change when i increase/decrease the distance: marker<->camera. Whay?
What does the values ^^ tell me?
How do I transform a detected marker position to a specific pixel position in the cam-image?
Thanks for any hints
Originally posted by pr2rp on ROS Answers with karma: 36 on 2013-11-06
Post score: 1
|
Hey everybody!
While trying to create a dynamic reconfigure node in ROS Hydro, I followed this tutorial:
wiki.ros.org/dynamic_reconfigure/Tutorials/SettingUpDynamicReconfigureForANode
I tried to catkin_make my package and I get various errors, mainly because it seems to be an outdated version and the packages of dynamic_reconfigure still have commands like rosbuild which I cannot compile (e.g. I include the following lines in the CMakeLists.txt:
# add dynamic reconfigure api
include(/opt/ros/hydro/share/dynamic_reconfigure/cmake/cfgbuild.cmake)
gencfg()
and catkin_make gives me the following errors:
CMake Error at /opt/ros/hydro/share/dynamic_reconfigure/cmake/cfgbuild.cmake:23
(add_dependencies):
add_dependencies Adding dependency to non-existent target:
rospack_genmsg_libexe
Call Stack (most recent call first):
imagepub/CMakeLists.txt:195 (include)
CMake Error at /opt/ros/hydro/share/dynamic_reconfigure/cmake/cfgbuild.cmake:31 (rosbuild_find_ros_package):
Unknown CMake command "rosbuild_find_ros_package".
Call Stack (most recent call first):
imagepub/CMakeLists.txt:195 (include)
Is there a newer tutorial I can look at?
Or if not, are there new packages/cmake files I should use?
Thank you!
Originally posted by sotirios on ROS Answers with karma: 43 on 2013-11-06
Post score: 0
|
while I want to record kinect data, using
rosbag record camera/depth_registered/image_raw camera/depth_registered/camera_info camera/rgb/image_raw camera/rgb/camera_info --limit=60 -O kinect
The terminal shows that
[ERROR] [1383809202.109712616]: Less than 1GB of space free on disk with kinect.bag.active. Disabling recording.
[ WARN] [1383809202.622705490]: Not logging message because logging disabled. Most likely cause is a full disk.
Why is it? I check my File Systems under System monitor
Device Directory type Total Free Available Used
/dev/sda7 /host fuseblk 97.4GiB 57.6Gib 57.6GiB 39.8GiB 40%
/dev/loop0 / ext3 5.4GiB 482.0MiB 482.0MiB 5.0GiB 92%
How could I fix it?
Thanks!
edited:
'rosbag record' directly creats the kinect.bag under 'Home' of Ubuntu, I don't know how to change the location.
The location is also shown in the 'kinect.bag properties' window with 'Location: /root'.
And when I try
rosbag info kinect.bag
It shows that
path: kinect.bag
version: 2.0
size: 4.0 KB
Is there any command to change the kinect.bag location?
To be summarized,
it implies that the disk space is not enough.
how can I change the location of the recorded kinect.bag file into a larger disk location?
[edit]
I try
rosparam set use_sim_time true
and then run rviz and then
rosbag play kinect.bag --clock
But cant visualize the data.
And what is '--limit=60' means? And now I just only record only 2 seconds, how to make it longer?
Thank you!
[edit 2]
I tried
rosbag record camera/depth_registered/image camera/depth_registered/camera_info camera/rgb/image_color camera/rgb/camera_info -O /media/8676FBBC76FBAB57/ kinect
slightly different from the above one by changing image_raw to image.
And I run rosbag record and it started to record but then gave this
[ WARN] [1383921498.365058698]: rosbag record buffer exceeded. Dropping oldest queued message.
Now I cant see new kinect.bag file in the directory. It is the old one.
I have set false.
Why is it?
[edit 3]
I followed the play back data tutorial http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback
Found that ROS time in rviz is the same as the running play back bag time in the terminal.
But there was nothing shown in the rviz.
So either I did not record anything or I used a wrong topic. I checked the recorded file, it is 276.5 MB. So I could use a wrong topic to show it?
Originally posted by Battery on ROS Answers with karma: 25 on 2013-11-06
Post score: 1
|
hi,there:
i found that all packages in ros/groovy/share contains a "cmake" directory which has several .cmake files. while packages in ros/groovy/stacks did not. So i am wondering what is the difference between share and stacks. put differently, how can we decide which directroy(share or stacks) to put a package in?
Originally posted by zhongjin616 on ROS Answers with karma: 1 on 2013-11-06
Post score: 0
|
hi,there:
i am following "kobuki/Tutorials/Write your own controller for Kobuki" to write an nodelet，In CMakelists.txt,it called function:find_package(catkin REQUIRED COMPONENTS kobuki_msgs nodelet roscpp std_msgs yocs_controllers)，But it comes a ERROR: Could not find a configuration file for package kobuki_msgs. Set kobuki_msgs_DIR to the directory containing a CMake configuration file for kobuki_msgs. The file will have one of the following names: kobuki_msgsConfig.cmake kobuki_msgs-config.cmake.
but the question is that in kobuki_msgs, there is no .camke file. And i also found that packages in ros/groovy/share all contains a corresponding .cmake file, while in ros/groovy/stacks did not. but the kobuki_msgs package is located in ros/groovy/stacks.
so what can i do? is anyone else encounter this ERROR?
Originally posted by zhongjin616 on ROS Answers with karma: 1 on 2013-11-06
Post score: 0
Original comments
Comment by Tirjen on 2013-11-06:
The error should be that you are asking catkin to find a rosbuild package (in fact kobuki_msgs is in the /stacks folder). You should remove kobuki_msgs from the line find_package() in your CMakeLists.txt, but I don't know if this will be enough to solve the problem. Let me know!
Comment by zhongjin616 on 2013-11-07:
thanks for your advise. I do remove kobuki_msgs from the find_package(), and truely the CMake did not warn me that cannot find a configuration file for package kobuki_msgs. but it does not fix my problem , as i do need kobuki_msgs.today ,i download a catkin_version of kobuki_msgs,problem solved.ThX
|
Hey,
Is it possible, using rosws, to install just a single package from a repository? For example I need just the map_server package form the navigation repository. Right now I clone the entire navigation repository, move the map server out of there and remove the navigation repository again, but there must be a better way?
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2013-11-06
Post score: 1
|
I have some urdf files of surgical robot Raven. When I open it in RViz I get the error :
[rospack] Error: stack/package raven_visualization not found
[librospack]: error while executing command
[ERROR] [1383833639.703512879]: Could not load resource [package://raven_visualization/Raven_files/left_arm/wrist.dae]: Unable to open file "package://raven_visualization/Raven_files/left_arm/wrist.dae".
[ERROR] [1383833639.703785780]: Could not load model 'package://raven_visualization/Raven_files/left_arm/wrist.dae' for link 'wrist_L': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://raven_visualization/Raven_files/left_arm/wrist.dae in resource group >Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.7.4/OgreMain/src/OgreResourceGroupManager.cpp (line 753)
[ERROR] [1383833639.703993963]: Could not load model 'package://raven_visualization/Raven_files/left_arm/wrist.dae' for link 'wrist_L': OGRE >EXCEPTION(6:FileNotFoundException): Cannot locate resource package://raven_visualization/Raven_files/left_arm/wrist.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.7.4/OgreMain/src/OgreResourceGroupManager.cpp (line 753)
Please help!
Originally posted by Akshay_Bhardwaj_nsit on ROS Answers with karma: 3 on 2013-11-07
Post score: 0
|
Greetings, I am using AMCL for localisation purposes, along with the lase scan matcher in order to use the robot's Hokuyo for odometry. When I run the LSM alone or with Hector mapping the results are satisfying, which means that I get real and precise odometry and localisation.
What I want is to load a map made with the above method and use AMCL to localise. So I need to have the local scan matcher working along with AMCL and the map server. The problem is that when AMCL begins its /amcl_pose topic will explode with impossible values such as :
header:
seq: 59
stamp:
secs: 1383831717
nsecs: 913606750
frame_id: map
pose:
pose:
position:
x: -6544630.80033
y: 3216474.76088
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.702181212802
w: 0.711998275552
covariance: [35307899258837.086, 3493650456763.3486, 0.0, 0.0, 0.0, 0.0, 3493650456763.3496, 26413591121546.38, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.113657631539715]
, and promptly crash.
The transforms provided can be seen in the following launch files:
Firstly, the lase scan matcher launch file :
<launch>
<!-- <node pkg="tf" type="static_transform_publisher" name="world_odom" args="0.10 0 0 0.0 0.0 0.0 /world /map 40"/> -->
<node pkg="tf" type="static_transform_publisher" name="map_odom" args="0.10 0 0 0.0 0.0 0.0 /map /odom 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_bl" args="0.10 0 0 0.0 0.0 0.0 /odom /base_link 100" />
<node pkg="tf" type="static_transform_publisher" name="bl_laser" args="0.0 0 0 0.0 0.0 0.0 /base_link /laser 100" />
<node name="map_server" pkg="map_server" type="map_server" args="/home/****/test.yaml"/>
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
<!-- <param name="fixed_frame" value = "odom"/> -->
<param name="base_frame" value = "/base_link"/>
<param name="fixed_frame" value = "map"/>
<param name="use_cloud_input" value="false"/>
<param name="publish_tf" value="true"/>
<param name="publish_odom" value="true"/>
<param name="use_odom" value="false"/>
<param name="use_imu" value="false"/>
<param name="use_alpha_beta" value="true"/>
<param name="max_iterations" value="10"/>
</node>
<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node">
<param name="intensity" type="bool" value="true"/>
</node>
</launch>
And secondly the AMCL launch file :
<launch>
<!--- Run AMCL -->
<include file="/home/******/navigation-hydro-devel/amcl/examples/amcl_diff.launch" />
<node pkg="sek_drive" type="drive_base" respawn="true" name="sek_drive" output="screen">
<rosparam file="$(find sek_drive)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find sek_drive)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find sek_drive)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find sek_drive)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find sek_drive)/launch/base_local_planner_params.yaml" command="load" />
</node>
</launch>
What I notice is that the odometry provided by LSM has always all-zero covariance. Could that be a problem. If so, is there any way to calculate covariance from laser scans ?
If you have any ideas or need more info, please respond and I will provide it. Thanks !
Originally posted by AndreasLydakis on ROS Answers with karma: 140 on 2013-11-07
Post score: 5
|
Is there any detailed documentation for audio_common_msgs/AudioData.msg?
I need information for example:
What is the layout for these data?
How many channels are there?
What is the data format (U8 OR S16_LE)?
I assume one message is one data frame. Then, how many samples are in one frame?
Thank you!
Originally posted by hwp on ROS Answers with karma: 13 on 2013-11-07
Post score: 1
|
Does this exist?
The use case is packages which provide cmake/xxx-extras.cmake files. An obvious example is the message_generation macros throwing a warning/error if you didn't run_depend on message_runtime, but there are similar cases where a build_depend package provides a macro which does something in a dependent package that will then need some other run_depend.
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2013-11-07
Post score: 1
|
hi all
i have an ueye UI-1221-M camera and i am trying to use ueye_cam to drive it.
i have installed the IDS driver and can use the driver to open the camera.
when i use "roslaunch ueye_cam rgb8.launch" the erro comes as follow.
process[nodelet_manager-1]: started with pid [2384]
process[ueye_cam_nodelet-2]: started with pid [2385]
[ INFO] [1383891971.818538867]: Initializing nodelet with 4 worker threads.
[ERROR] [1383891971.834649094]: Failed to load nodelet [/ueye_cam_nodelet] of type [ueye_cam/include/ueye_cam_nodelet]: According to the loaded plugin descriptions the class ueye_cam/include/ueye_cam_nodelet with base class type nodelet::Nodelet does not exist. Declared types are asctec_autopilot/AutoPilotNodelet asctec_proc/AsctecProcNodelet depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 ueye_cam/ueye_cam_nodelet
[FATAL] [1383891971.834927628]: Service call failed!
[ueye_cam_nodelet-2] process has died [pid 2385, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load ueye_cam/include/ueye_cam_nodelet nodelet_manager __name:=ueye_cam_nodelet __log:=/home/uav/.ros/log/91855d0c-483e-11e3-9892-9c4e3647a14c/ueye_cam_nodelet-2.log].
log file: /home/uav/.ros/log/91855d0c-483e-11e3-9892-9c4e3647a14c/ueye_cam_nodelet-2*.log
** It seems that missing lib file how to deal with the problem? any help is appriciate**
[Update]
Hi, thanks for your reply
I have re-cloned the code and the error didn't disappear:
[ INFO] [1383981887.637572692]: Initializing nodelet with 4 worker threads.
[ERROR] [1383981887.726106300]: Failed to load nodelet [/ueye_cam_nodelet] of type [ueye_cam/ueye_cam_nodelet]: Could not find library corresponding to plugin ueye_cam/ueye_cam_nodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1383981887.726402185]: Service call failed!
[ueye_cam_nodelet-2] process has died [pid 6465, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load ueye_cam/ueye_cam_nodelet nodelet_manager __name:=ueye_cam_nodelet __log:=/home/uav/.ros/log/fda46e70-490f-11e3-bba7-9c4e3647a14c/ueye_cam_nodelet-2.log].
log file: /home/uav/.ros/log/fda46e70-490f-11e3-bba7-9c4e3647a14c/ueye_cam_nodelet-2*.log
And i find problems when i build the package"rosmake ueye_cam" The MAKE process is really fast , i think many of the file did not MAKE correctly...
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['ueye_cam']
[ rosmake ] Logging to directory /home/uav/.ros/rosmake/rosmake_output-20131109-153613
[ rosmake ] Expanded args ['ueye_cam'] to:
['ueye_cam']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-1] Starting >>> cpp_common [ make ]
[rosmake-2] Starting >>> genlisp [ make ]
[rosmake-3] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-1] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-1] Starting >>> rostime [ make ]
[rosmake-1] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-1] Starting >>> roscpp_traits [ make ]
[rosmake-1] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-1] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-1] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-1] Starting >>> message_runtime [ make ]
[rosmake-2] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-2] Starting >>> roslang [ make ]
[rosmake-3] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-3] Starting >>> message_generation [ make ]
[rosmake-1] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-2] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-1] Starting >>> xmlrpcpp [ make ]
[rosmake-2] Starting >>> rosgraph [ make ]
[rosmake-3] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-2] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-1] Starting >>> rosclean [ make ]
[rosmake-2] Starting >>> rosparam [ make ]
[rosmake-3] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-3] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-1] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-1] Starting >>> rosmaster [ make ]
[rosmake-3] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-2] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-1] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-1] Starting >>> console_bridge [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> rosout [ make ]
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-3] Starting >>> opencv2 [ make ]
[rosmake-1] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-1] Starting >>> class_loader [ make ]
[rosmake-0] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-2] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-2] Starting >>> camera_calibration_parsers [ make ]
[rosmake-3] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-3] Starting >>> smclib [ make ]
[rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-1] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-1] Starting >>> pluginlib [ make ]
[rosmake-3] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-3] Starting >>> bond [ make ]
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-2] Finished <<< camera_calibration_parsers ROS_NOBUILD in package camera_calibration_parsers
No Makefile in package camera_calibration_parsers
[rosmake-1] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-3] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-3] Starting >>> bondcpp [ make ]
[rosmake-3] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-3] Starting >>> nodelet [ make ]
[rosmake-3] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-3] Starting >>> topic_tools [ make ]
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-0] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-3] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-0] Starting >>> image_transport [ make ]
[rosmake-3] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-3] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-0] Starting >>> camera_info_manager [ make ]
[rosmake-3] Starting >>> rosmsg [ make ]
[rosmake-3] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-0] Finished <<< camera_info_manager ROS_NOBUILD in package camera_info_manager
No Makefile in package camera_info_manager
[rosmake-3] Starting >>> rosservice [ make ]
[rosmake-3] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-3] Starting >>> dynamic_reconfigure [ make ]
[rosmake-3] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-3] Starting >>> ueye_cam [ make ]
[rosmake-3] Finished <<< ueye_cam ROS_NOBUILD in package ueye_cam
No Makefile in package ueye_cam
[ rosmake ] Results:
[ rosmake ] Built 48 packages with 0 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/uav/.ros/rosmake/rosmake_output-20131109-153613
Originally posted by vippt on ROS Answers with karma: 11 on 2013-11-07
Post score: 1
Original comments
Comment by vippt on 2013-11-07:
@anqixu please help me with it
Comment by anqixu on 2013-11-09:
Your new run shows the correct nodelet type of ueye_cam/ueye_cam_nodelet rather than ueye_cam/include/ueye_cam_nodelet. Also, the default repo branch is for catkin, not rosmake. So either use catkin_make (groovy&up) or switch branch: git clone https://github.com/anqixu/ueye_cam.git --branch fuerte
Comment by vippt on 2013-11-10:
hi anqixu thanks
i am useing the groovy but i can't config the catkin_make (i'm new here), so i downloaded the fuerte code and it works with my ueye.
Comment by Vero on 2014-01-10:
Hi anqixu. I'm using ROS hydro, compiling the package with catkin_make, but I still have the same problem:
[ERROR] [1389397299.178431342]: Failed to load nodelet [/ueye_cam_nodelet] of type [ueye_cam/ueye_cam_nodelet]: Could not find library corresponding to plugin ueye_cam/ueye_cam_nodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
The library exist and it is in the right path.
How can I solve this problem?
Comment by anqixu on 2014-01-11:
@Vero: hmm that's very weird. try checking out the fuerte branch and compiling (with rosbuild). Please also confirm that under the path [catkin_ws]/devel/lib, you have the files libueye_cam_nodelet.so libueye_wrapper.so
Comment by Vero on 2014-01-11:
The package ueye_came-fuerte compiles and runs. The hydro version still has a problem. I can confirm that under the path [catkin_ws]/devel/lib there are the files libueye_cam_nodelet.so libueye_wrapper.so
Comment by Dirk Thomas on 2014-01-12:
Since the libraries exist but are not getting found we need some more information to narrow it down. Can you please add the output of the following commands from the shell where your roslaunch invocation failed to your question? "rospack plugins --attrib=plugin nodelet | grep ueye" and "env | grep CMAKE_PREFIX_PATH" and "".
Comment by anqixu on 2014-01-17:
Since your CMAKE_PREFIX_PATH does not contain the path of your workspace it looks like that you have not sourced the workspace/devel/setup.bash file. Can you make sure to do that and try again?
Comment by anqixu on 2014-01-20:
Please make sure to source your [catkin_workspace]/devel/setup.bash file prior to compiling and running any catkin-based ROS packages, such as ueye_cam. The erroneous behaviors resulting from not sourcing this file appears to be consistent with several of the symptoms reported here.
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I am trying to process color kinect frames following the tutorial from the link working with cv bridge. I have a training image juice_color.png which I can visualize as RGB. I specified the encoding as cv_img.encoding = "rgb8";
Going by the same logic, I used rgb8 for the incoming kinect frames, but the display window imshow( WINDOW2, cv_ptr_frames->image ); shows the kinect frames in gray scale. How do I work with RGB kinect frames ? How to prevent the color format change to gray scale? Thanking you.
static const std::string OPENCV_WINDOW1 = "Good Matches";
static const std::string WINDOW1 = "Training Image ";
static const std::string WINDOW2 = "Test Frames ";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;
public:
ImageConverter()
: it_(nh_)
{
// Subscrive to input video feed and publish output video feed
image_sub_ = it_.subscribe("/camera/rgb/image_rect", 1,
&ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_converter/output_video", 1);
cv::namedWindow(OPENCV_WINDOW1);
}
~ImageConverter()
{
cv::destroyWindow(OPENCV_WINDOW1);
}
void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImage cv_img; // training image
cv_bridge::CvImage cv_img_proc;
cv_bridge::CvImagePtr cv_ptr_frames; // kinect frames
cv::Mat object = imread( "juice_color.png" );
imshow( WINDOW1, object ); //Displayed in RGB color
cv_img.header.stamp = ros::Time::now();
cv_img.header.frame_id=msg->header.frame_id;
cv_img.encoding = "rgb8";
cv_img.encoding = sensor_msgs::image_encodings::RGB8;
cv_img.image = object;
sensor_msgs::Image im;
cv_img.toImageMsg(im);
try
{
cv_ptr_frames = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
imshow( WINDOW2, cv_ptr_frames->image );
}
Originally posted by SM on ROS Answers with karma: 15 on 2013-11-07
Post score: 0
|
I have installed ros(electric), old version ,I know, so I wanna upgrade to ros(hydro), Is there a simple way.
I have google a lot, can't find a good answer.(ps. I am in Ubuntu 11.10)
Thanks in advance!!
Originally posted by Yum.my on ROS Answers with karma: 11 on 2013-11-07
Post score: 0
|
I'm using the following code to generate a time-dependent velocity command for the turtle
%%%%%%%%%%%%%%%%%%%
int main(int argc, char**argv)
{
ros::init(argc, argv, "pub_one");
ros::NodeHandle n;
ros::Publisher pub = n.advertiseturtlesim::Velocity("/turtle1/command_velocity", 1000);
srand(time(0));
double secs1 =ros::Time::now().toSec();
while(pub.getNumSubscribers() == 0) ros::Duration(0.1).sleep();
ros::Rate r(1);
while(true)
{
turtlesim::Velocity msg;
double secs2 =ros::Time::now().toSec();
double secs3=secs2-secs1;
msg.linear=.2*secs3;
msg.angular=.2*secs3;
pub.publish(msg);
ROS_INFO("Sending random velocity command: linear=%f angular=%f time=%f",
msg.linear, msg.angular,secs3);
ros::spinOnce();
r.sleep();
}
}
%%%%%%%%%%%%%%%%
I don't know how I can change the code to get the position of the turtle at each time?
In fact, I wanna make a feedback control by using the position of the turtle and a desired position.
I really appreciate if you help me in this case!
Originally posted by Reza1984 on ROS Answers with karma: 70 on 2013-11-07
Post score: 0
|
Hello!
I use my own images to run libviso2, but the result is not very well. There existed a scale problem in both mono and stereo program. There are two sample rates in my experiments. One is 5 m/frame, another is 1 m/frame. The results showed between two consecutive frames, the distance in stereo system are about 10 meters and 2 meters respectively. However, in mono system the distance are about 1 meters and 0.2 meters respectively. How can I solve it?
Thank you!
Originally posted by Lily on ROS Answers with karma: 1 on 2013-11-07
Post score: 0
|
Hi folk,
I am using the current Nao-ROS stack (fuerte). I want to control the Nao in an abstract way. Now, I am trying to send commands to the nao_controller to move the left arm from the Nao. I found only one option to do this. Namely to create a JointTrajectory message for the left arm and this message as goal to the ActionServer of the nao_controller. This message requires to define 6 radians for each joint of the left arm:
(LShoulderPitch,LShoulderRoll,LElbowYaw,LElbowRoll,LWristYaw2,LHand2)
But, I don`t want to control the joints seperately. I want to say: moveLeftArmToPosition (x,y,z) So, do I have to solve this mapping on my own, or, has the nao_driver this task already done?
I want to ask as well, if the nao_driver provides a node to start face detection. I havn`t found it in the documentation.
Thanks a lot.
Best Regards
Florian
Originally posted by FlorianJo on ROS Answers with karma: 11 on 2013-11-08
Post score: 0
|
I'm cross compiling ROS Comm Hydro for an i.MX53 Cortex A8 ARM board. I've configured yujin_tools (thanks Daniel) to correctly cross-compile the ROS sources and build-time dependencies and prep them for inclusion into my target's rootfs. Unfortunately, the version of Python provided with the Digi developer tools doesn't have a couple of ROS run-time dependencies, so I'm also cross-compiling Python (2.7). I've done this as well, but I'm unsure how to properly cross-compile/build extra Python modules (like PyYAML). I can build them on-target, but that's not ideal. These modules generally install via "python setup.py install", but I see no way to give a PREFIX argument, among other things.
So, what's the 'correct' way to build third party Python modules that ROS depends on (i.e., PyYAML, setuptools, rospkg, and catkin_pkg), on my host machine, in a way that they can be included in a rootfs image along with the rest of my cross-compiled artifacts?
Originally posted by dustingooding on ROS Answers with karma: 139 on 2013-11-08
Post score: 0
|
Hi,
I had serious problems with saving and loading parameter while using rqt_reconfigure. To find my problem I broke the code down to the following:
Start the node with the dynamic_reconfigure server
rosparam set /node_name/myparam 42
rosparam get /node_name/myparam (returns 42 and everything works)
rosrun rqt_reconfigure rqt_reconfigure
rosparam get /node_name/myparam (returns value saved in .cfg file)
I do not know why rqt_reconfigure does that. I also checked out its wiki page and as far as I see it should read the values from the parameter server and not set them back to the default from the .cfg file. I am lost.
Originally posted by kalectro on ROS Answers with karma: 1554 on 2013-11-08
Post score: 2
|
I'm trying to follow the sick laser tutorial, but I get this error "Couldn't find executable named sicklms" when i type rosrun sicktoolbox sicklms
I am using ros hydro on ubuntu 12.04
I am following the tutorial for the sicktoolbox_wrapper.
*I ran rosrun sicktoolbox_wrapper sicklms , that's were the output comes from
Thank you, I am getting a timeout when trying to connecting to the Laser. This is the screen.
*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0
SickLMS2xx::_setTerminalBaud: ioctl() failed while trying to set serial port info!
NOTE: This is normal when connected via USB!
Device opened!
Attempting to start buffer monitor...
Buffer monitor started!
Attempting to set requested baud rate...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Failed to set requested baud rate...
Attempting to detect LMS baud rate...
Checking 19200bps...
SickLMS2xx::_setTerminalBaud: ioctl() failed while trying to set serial port info!
NOTE: This is normal when connected via USB!
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Checking 38400bps...
SickLMS2xx::_setTerminalBaud: ioctl() failed while trying to set serial port info!
NOTE: This is normal when connected via USB!
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Checking 500Kbps...
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: ioctl() failed!
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: ioctl() failed!
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: ioctl() failed!
[ERROR] [1383940385.005614654]: Initialize failed! are you using the correct device path?
terminate called after throwing an instance of 'SickToolbox::SickThreadException'
Aborted (core dumped)
I'm using a Plugable USB to RS-232 connector to connect the laser, I'll RS directly.
Originally posted by iceburg6628 on ROS Answers with karma: 16 on 2013-11-08
Post score: 0
Original comments
Comment by Chad Rockey on 2013-11-08:
Please edit the main question instead of posting more information in the answer.
|
When I try anything at all with catkin, the system is unable to find it, unable to download it, unable to install it, anything at all. I need it in order to do a custom build gazebo-ros-pkgs, and I am unable to do anything with catkin because it cannot be found.
dev@dev-700Z7C:~$ catkin_
catkin_create_pkg catkin_tag_changelog
catkin_find_pkg catkin_test_changelog
catkin_generate_changelog
dev@dev-700Z7C:~$ cd Code/
dev@dev-700Z7C:~/Code$ cd catkin/
dev@dev-700Z7C:~/Code/catkin$ cd src
dev@dev-700Z7C:~/Code/catkin/src$ catkin_init_workspace
catkin_init_workspace: command not found
dev@dev-700Z7C:~/Code/catkin/src$ ^C
dev@dev-700Z7C:~/Code/catkin/src$
Originally posted by quantumrobotics on ROS Answers with karma: 1 on 2013-11-08
Post score: 0
|
What can make move_base not using plugin????
When i launch my move_base on hydro i see alot of ROS_INFO "using plugin..." and rosparam tells me they are really loaded.
But when i launch move_base on another pc using groovy nothing was loaded...
Thanks
Originally posted by NunoFialho on ROS Answers with karma: 1 on 2013-11-08
Post score: 0
|
I am configuring a user account on a Fedora machine to use ROS which is installed in the administer account.
When I use
$rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
... (couple of lines that I am not allowed to put here, they are online link)
Ignore legacy gbpdistro "groovy"
Ignore legacy gbpdistro "hydro"
Query rosdistro index ...
Add distro "groovy"
Add distro "hydro"
updated cache in /home/solmaz/.ros/rosdep/sources.cache
Then when I try
$ source /opt/ros/grooby/setup.bash
I get
CATKIN_SHELL=bash: Command not found.
Illegal variable name.
or when I try
$ export | grep ROS
I get
export: Command not found.
I need help in fixing this. Please explain your solution a bit in detail.
Originally posted by Solmaz on ROS Answers with karma: 3 on 2013-11-08
Post score: 0
|
I'm a newbie to ROS and Linux. I have Lubuntu 13.10 installed on my laptop and I want to install ROS. When I go to install ROS (Precise version), I get "unmet dependencies" and the install fails.
Should I be installing ROS on Lubuntu in the first place? This is an old laptop so I wanted as thin a version of Ubuntu as possible and I believe that Lubuntu 13.10 (Saucy Salamander) has the same core as Ubuntu 12.04 (Precise).
Am I headed in the right direction? How can I resolve these "unmet dependencies"? I believe the "sudo apt-get update" was successful.
Incidentally, these are the unmet dependencies I'm getting:
The following packages have unmet dependencies:
ros-hydro-desktop-full : Depends: ros-hydro-desktop but it is not going to be installed
Depends: ros-hydro-mobile but it is not going to be installed
Depends: ros-hydro-perception but it is not going to be installed
Depends: ros-hydro-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Originally posted by altemir on ROS Answers with karma: 48 on 2013-11-08
Post score: 0
|
Below program will perfectly subscribe /GPSFIX value from rosbag and print Latitude Longitude values. I want this program to print the value 0 always even in the absence of /GPSFIX publisher. Because always i want to print 0 at first then followed by Lat/Long if publisher is available otherwise 0 alone always .
EDIT:
Using this code how to check whether /GPS message is available through c++ program?
First i want to check availability of /GPSFix messagge after that i want to print LatLong like this format. That is value zero followed by lat/long message.
Program:
#include "ros/ros.h"
#include <gps_common/GPSFix.h>
using namespace std;
void GPSCallback(const gps_common::GPSFix::ConstPtr& msg)
{
printf("%f\n", msg->longitude);
printf("%f\n", msg->latitude);
fflush(stdout);
sleep(2);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/GPSFix", 10, GPSCallback);
ros::spin();
return 0;
}
Current Output:
Longitude: 80.0910
Latitude: 13.1289
Longitude: 80.0911
Latitude: 13.1289
Longitude: 80.0912
Latitude: 13.1290
Longitude: 80.0913
Latitude: 13.1289
Longitude: 80.0912
Latitude: 13.1288
My expected output format if /GPSFix is available:
0
Longitude: 80.0910
Latitude: 13.1289
0
Longitude: 80.0911
Latitude: 13.1289
0
Longitude: 80.0912
Latitude: 13.1290
0
Longitude: 80.0913
Latitude: 13.1289
0
Longitude: 80.0912
Latitude: 13.1288
Incase /GPSFix is not available output should be like
0
0
0
0
0
Originally posted by Bindu on ROS Answers with karma: 26 on 2013-11-08
Post score: 0
|
Hey all,
I have a point cloud from my laser LMS100 and an Image from a camera both can be transformed to the same tf. How can I combine both image and a laser point cloud to create a colourful point cloud.
Thanks in advance
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-11-09
Post score: 1
|
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