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In Rviz/PointCloud2 what is the Position Transformer property. It shows one item XYZ but does not allow it to be modified. I can not find a definition of this property in the documentation.
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-11-19
Post score: 0
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Hi all,
I am using p3joy to get feedback from my ps3 controller on an Odroid u2 running Ubuntu 12.10, however it is incredibly slow. There appears to be a delay of a few seconds before messages arrive regarding changes of the controller. evtest and jstest give me the same kind of delay. I 'debugged' ps3joy_node.py and it does seem like its update function is called often enough, where could this delay then be coming from?
In addition, I noticed that if I don't move the controller (this also happens on a laptop with Ubuntu), no events get sent. For example if I keep the controller laying still and press the X button, no messages/events are being sent. If I then move the controller slightly, I get the message/event.
Any suggestions?
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2013-11-19
Post score: 2
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Hi
I am currently working on a project where I need to control a small robot with an android app via bluetooth. Since the app will later be developed for a bigger robot that uses an ROS running controllor (one that I can not get my hands on) it was recommended that I use ROS. I am trying to setup ROS on a raspberry pi and control a small Lego NXT robot with the app. The NXT wiki suggests installing ROS Electric, but the electric package for Debian seems to be unavailable(or at least it has been moved). Is there anyone who has a suggestion on what to do, and is maybe doing something similar and can give me pointers to how they managed to do this?
Originally posted by bjarkijoha on ROS Answers with karma: 11 on 2013-11-19
Post score: 1
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You used to be able to use backticks for inline code, * for italics and bold, and even name links in comments on this site, but lately, all of these characters just show up as literals in comments.
How can this be fixed?
EDIT
According to answer from @georgebrindeiro there is a github site for reporting these kinds of bugs. Perusing that issue tracker revealed this bug report complaining about this same issue. It was closed with the argument being that significant formatting isn't really expected in the comments.
Originally posted by jarvisschultz on ROS Answers with karma: 9031 on 2013-11-19
Post score: 1
Original comments
Comment by jarvisschultz on 2013-11-19:
inline code italics bold name links
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I was working on a slam algorithm but found there was already a very efficient one(hector_slam) so stopped that work. I am out of problems to work on. I want to work on some problem but could not know where to start.
Originally posted by balakumar-s on ROS Answers with karma: 137 on 2013-11-19
Post score: 0
Original comments
Comment by mirzashah on 2013-11-19:
Are you asking what are the unsolved problems in mobile robotics? That's a pretty deep question...
Comment by balakumar-s on 2013-11-19:
I got into ROS few months back, apart from learning about the packages I have not done anything. I want to contribute to ROS but don't know where to start cause most of the problems have already been solved. I want to contribute in some little way to ROS in mobile robotics. So looking for problems.
Comment by lindzey on 2013-11-20:
If you think most of the problems have already been solved, I'd recommend buying yourself a small mobile robot and trying to actually make it do something useful/interesting =) While "solved" in theory, even mapping your house and going to set locations is not always smooth. Then, improve the docs!
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We are using the scan_height parameter and it seems like nothing is changing at all. From the description we thought that the parameter would change the number of rows being looked at for the scan, thus allowing us to get the minimum distance to an obstacle at desired heights.
Here is the command we are using to run in the terminal:
rosrun depthimage_to_laserscan depthimage_to_larscan image:=camera/depth/image_raw _scan_height:400
Thanks!
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2013-11-19
Post score: 0
Original comments
Comment by lindzey on 2013-11-19:
There's a typo in the command you included here - did you maybe make the same mistake on the command line? It should be ... _scan_height:=4
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Hi all,
I'm getting into doing some SLAM development and I am trying to use the libg2o package that I installed using:
sudo apt-get install ros-hydro-libg2o.
But, when I run catkin_make I get:
Could not find module Findlibg2o.cmake or a configuration file for package
libg2o.
I have tried setting up my CMakeList.txt file several different ways. The above error was obtained using:
find_package(libg2o REQUIRED)
I am running hydro on ubuntu 12.04lts
Thanks
Scott
Originally posted by smishra on ROS Answers with karma: 13 on 2013-11-19
Post score: 1
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Update: rephrase of question:
Why will a static transform not work on a data stream where the relation is fixed. Like base-link to optical-camera frame bringing ZYX into XYZ alignment.
Attempting to avoid programming translations. Would like to translate the optical frame to my base-link. When I do this as a static transform I get a funny results. See video.
<node pkg="tf" type="static_transform_publisher" name="link6_broadcaster"
args="0 0 0 0 0 -1.57 base_link camera_frame 10" />
Video of the result
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-11-19
Post score: 0
Original comments
Comment by rnunziata on 2013-11-21:
inverting the child and parent cause a loop error. There should not be a second broadcaster. I am using the kinetics plugin in gazebo. Though I had not done a ros graph so I will do that now. ....AH...you are correct I was transforming twice in another static transformer.
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I'm working on creating a server map using the tutorial:
http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData
The odometry data is being published, and I have a hokuyo utm-30lx laser scanner published as well. My robot is being modeled with a urdf file.
I made sure the hokuyo was perfectly horizontal and then start recording my bag file with this:
>rosbag record -O mylaserdata /scan /tf
After the recording, it plays back into rviz fairly well. Even with all of the scan overlap, it still resembled the room recorded.
The issue comes when I try to turn it into a map with:
>rosrun gmapping slam_gmapping scan:=scan
as soon as I start playing the bag file, it gives me this warning:
[ WARN] [1384916667.376566157, 1384914870.078301371]: Failed to compute laser pose, aborting initialization ("base_link" passed to lookupTransform argument target_frame does not exist. )
This warning repeatedly keeps coming up as the bag is playing. I've also tried:
>rosrun gmapping slam_gmapping scan:=base_scan _odom_frame:=odom
But it gives me the same warning.
Am I not correctly recording my tf data into the bag file? Shouldn't the urdf provide the laser pose?
The robot_state_publisher is in the topic named '/tf'. Why isn't it my base link from my urdf file? rosbag wouldn't record my base link when I tried.
On a somewhat different note, if my odometry data isn't too accurate, what does it mean for gmapping and using the Navigation Stack?
Advice would be greatly appreciated! Thank you.
Edit: I've tried to create the map live with rviz. Similar to how the map was made here.
http://wiki.ros.org/pr2_simulator/Tutorials/BuildingAMapInSimulation
Unfortunately, it still gives me the same error. I thought the error came from the target frame, and tried setting that on rviz. Still nothing.
I also double checked my urdf file, and I don't believe the issue is there. The laser scan is leveled to the laser scanner visualized modeled on the urdf file.
Originally posted by pwong on ROS Answers with karma: 447 on 2013-11-19
Post score: 0
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Hi, I am using Ubuntu 12.04 and Ros Hydro, also installed Ros fuerte.
now trying Slam:
http://wiki.ros.org/openni/Contests/ROS%203D/RGBD-6D-SLAM
It seems that it needs the earlier ROS version to get rgbdslam installed. Since there is command problem starting from
rosmake --rosdep-install rgbdslam
Or is there any new package application performing the same as the video in the website?
I would like to sketch the 3D map of a big room like the function showed in the website.
Thank you.
Originally posted by Battery on ROS Answers with karma: 25 on 2013-11-19
Post score: 0
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The pcl reader is too slow. Is there another function to load pcd files?
Originally posted by mike_87 on ROS Answers with karma: 1 on 2013-11-19
Post score: 0
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Hello
I would like to use an QT as an user interface for my mobile platform. I have a sensor package consist of IMU , Laser, Kinect and wheel encoders. Would like to have an input button that run a rose node than do some classification with SVM and output button with some classification results. Any help or advice, or code suggestion regarding this?
Thanks
Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-11-19
Post score: 0
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I try to follow the quick start tutorial of the MoveIt. When I use rviz plugin to show the pr2 model and try to interact with the pr2. The tutorial can be found at MoveIt webside.
but the problem is that when I launch the demo.launch file.The rviz show pr2 in disorder (sometime pr2 is lying on the ground,sometime pr2 is hanging in the air),and the pr2 model dynamicly change in the rviz .
what is the problem?who can help me?
Originally posted by ShareIQ on ROS Answers with karma: 16 on 2013-11-19
Post score: 0
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I have turtlebot and I use live USB Install(ROS groovy) which I have got when I buy turtlebot, Now I want to change Kinect to ASUS Xtion Pro , what should I do? I tested with turtle_follower with ASUS Xtion Pro, nothing happens , I aslo use command "rosrun rqt_reconfigure rqt_reconfigure" , it just recognised the follower_velocity parameter, after I do like this step in this web www.isep.ipp.pt/roswiki/turtlebot%282f%29Tutorials%282f%29groovy%282f%29Asus%2820%29Setup.html, and command "rosrun rqt_reconfigure rqt_reconfigure", it recognised the camera parameter, but turtlebot didnt anything.
Must I use 'Deb Installation'? Because I see ' Live USB Installation: This is pending information/testing of the live usb release.' for ASUS Xtion Pro.
Originally posted by domikilo on ROS Answers with karma: 89 on 2013-11-19
Post score: 0
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Hi,
I'm trying to work on iRobot Create. I used the ROS drivers following instructions from the Wiki (Turtlebot_node and irobot_create_2_1)
But, while I was trying to run the python script, an error message popped up saying that irobot create isn't connected into the computer. I am using PL-2303X/H serial port and I plugged the cable accordingly with setting the permission (sudo chmod 777 /dev/ttyUSB0). Is there any driver source I have to install in Ubuntu 12.04 (Kernel 3.5.0-42-generic) for using PL-2303X/H? Any suggestions?
The error message is as follows
Failed to open port /dev/ttyUSB0. Please make sure the Create cable is plugged into the computer.
Thanks!!!
Originally posted by game4cesc on ROS Answers with karma: 1 on 2013-11-19
Post score: 0
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Hi All,
I would like to install two versions of ROS --> Groovy and Hydro (or Groovy and Fuerte for example). Is it fine to work this way or should I have only one version of ROS installed? Has anyone tried this before?
Thanks
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2013-11-20
Post score: 1
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Hi All,
This question is with reference to universal_robot package, I did a fresh installation of ROS Groovy on my Ubuntu PC(12.04) and also cloned the universal_robot stack from git-hub. followed all steps until catkin_make and sourcing setup.bash. The very first time I run this command
$ roslaunch ur_bringup ur5.launch robot_ip:=192.168.1.5
I get the below error, which is apparently a parser.
Traceback (most recent call last):
File "/home/bucky/catkin_ws/src/universal_robot/ur_driver/src/ur_driver/driver.py", line 11, in <module>
from BeautifulSoup import BeautifulSoup
ImportError: No module named BeautifulSoup
During the previous installations, I overcame the same problem by installing the file using
$ sudo easy_install BeautifulSoup
The Question is, which version of the file should I install, BeautifulSoup or BeautifulSoup4 and should I update the PYTHONPATH environment variable? Did anyone face the same issue when proceeding with this installation?
Thanks and Regards,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2013-11-20
Post score: 0
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I tried to install the navigation stack on PandaBoard. First i tried with sudo apt-get install ros-hydro-navigation, then everything seems to work fine, but when starting for example the move_base package by running "roslaunch navigation move_base.launch", errors occurred:
ERROR: cannot launch node of type [map_server/map_server]: can't locate node [map_server] in package [map_server]
ERROR: cannot launch node of type [move_base/move_base]: can't locate node [move_base] in package [move_base]
and so on.
so I tried to build the navigation stack from source. I downloaded from github in my catkin workspace and tried to compile with "catkin_make". After a while it is running in the package "costmap2d", which ends up with errors again:
Could not find a package configuration file provided by "pcl_conversions"
with any of the following names:
pcl_conversionsConfig.cmake
pcl_conversions-config.cmake
Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
set "pcl_conversions_DIR" to a directory containing one of the above files.
If "pcl_conversions" provides a separate development package or SDK, be
sure it has been installed.
Call Stack (most recent call first):
navigation/costmap_2d/CMakeLists.txt:4 (find_package)
It seems for me that pcl_conversions is not installed in the right way. I looked for the files in /opt/ros/hydro/shared/pcl_conversions/cmake/ and they exist!
So i tried installing pcl_conversions first by sudo apt-get install ros-hydro-pcl-conversion (which works fine again) and after getting the same error I tried to build it from source.
I downloaded pcl_conversions from github, created a build directory and runed cmake .. and make out of it, but make does not seem to do anything. so I am not sure if it is really installed in the right way.
Have no clue, hope for any idea.
Originally posted by RodBelaFarin on ROS Answers with karma: 235 on 2013-11-20
Post score: 1
Original comments
Comment by BenediktHeck on 2014-05-15:
Can you tell me how you solved the problem. I have a similar one.
Comment by RodBelaFarin on 2014-05-15:
could you be a bit more precise?if you are using PandaBoard I would really, REALLY recommend to use Ubuntu 12.04 with ROS Hydro.After my experience with ARM hardware, this is the best configuration. There binary install of navigation should work and compilinig from source via catkin also. Good luck!
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Hello all,
I am trying to install the latest NAO stack as instructed in the ros-nao Wiki.
Unfortunately, I am using ROS Fuerte, which does not have catkin installed and I cannot operate under catkin workspace.
As far as I understood, the result is to be unable to properly install the NAO stack 0.2 under rosbuild. Furthermore, when I try the instructions for the 0.1 version, I noticed that it downloads again the 0.2 version.
Could you please help me finding the 0.1 version?
Thank you for your help in advance.
Bast,
Akis
Originally posted by Akis on ROS Answers with karma: 3 on 2013-11-20
Post score: 0
Original comments
Comment by yao on 2018-09-18:
Hello, I want to do the same things with you, I try to use nao_dcm_bringup package, but I got some matters. If i want to control a specific joint of nao, What packages should I install and what topic I need to pub to control the joints? Could you please give me some suggestions? Thank you.
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Hi,
I am trying to use occupancy_grid_utils/ray_tracer.h library in my ros program for localization.But i get an error due to occupancy_grid_utils/ray_tracer.h library does not exist in ros hydro.I got these errors;
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):Could not find a package configuration file provided by occupancy_grid_utils with any of the following names:
occupancy_grid_utilsConfig.cmake
occupancy_grid_utils-config.cmake
Add the installation prefix of "occupancy_grid_utils" to CMAKE_PREFIX_PATH
or set "occupancy_grid_utils_DIR" to a directory containing one of the
above files. If "occupancy_grid_utils" provides a separate development
package or SDK, be sure it has been installed.
Call Stack (most recent call first):
particle_filter/CMakeLists.txt:6 (find_package)`
Is there any way to use this library in ros hydro?
Thanks.
Originally posted by ali ekber celik on ROS Answers with karma: 114 on 2013-11-20
Post score: 1
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I am trying to get win_ros running and am having problems (I plan to have some nodes running on a Windows machine due to some hardware only having Windows support, with the main ROS system on Linux).
I followed the instructions on:
win_ros hydro Msvc SDK
Installing all the python packages, and extracting the precompiled SDK and rosdeps to C:\opt, and adding to my path variable.
Right now I'm trying to test the system before attempting any of my own development following the test instructions: I call C:\opt\ros\hydro\x86\setup.bat, and as a test I ran rospack list and all the expected packages show up in the list. However, when I try to run roscore I get:
ImportError: No module named roslaunch
Is there something I have missed in the setup? Is there other scripts I need to run besides C:\opt\ros\hydro\x86\setup.bat
Originally posted by Chimpien on ROS Answers with karma: 16 on 2013-11-20
Post score: 0
Original comments
Comment by Yeongil Choe on 2013-11-20:
I tried to reproduce your situation on clean pc installed Windows 7, but couldn't reproduce it. Check PYTHONPATH after call c:/opt/ros/hydro/x86/setup.bat like 'echo %PYTHONPATH%' on Windows command prompt, and check you can import roslaunch via command line of python client.
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Hello,
I have tried the mono_depth_odometer node for visual odometry using a kinect in different machines. I have seen the low processing capabilities can severely degrade the odometry.
Are there any parameters which can be modified in order to have a faster visual odometry? I have seen the list in http://docs.fovis.googlecode.com/git/group__FovisCore.html#ga113578b67d3e37bc78f1fffd8440e1ff, can those parameters be modified using "rosrun node param:=value"? Any suggestions on which parameters to modify?
Thanks!
Originally posted by Pino on ROS Answers with karma: 88 on 2013-11-20
Post score: 0
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Hello all,
I am currently working on building a 2D map of lab and office environment. In the lab (approx 5m x 10m) I see really good results and great map created. However, when I extend this slam_gmapping application to outside the lab we see a drastic decrease in the accuracy of the map built.
Here is a link to the map built, it should look like two rectangular hallways.
From reading other questions I believe this is from the drift of the /odom frame and in fact I can see that it has drifted when I run the robot through a loop and bring it back to its initial position.
Therefore, I was wondering if there was a way to update the odometry frame by using estimated robot poses from the slam_gmapping package? Or is there another method towards obtaining a more accurate map of a larger scale environment?
Kind Regards,
Martin
Originally posted by MartinW on ROS Answers with karma: 464 on 2013-11-20
Post score: 1
Original comments
Comment by billy on 2016-06-22:
In my experience slam_gmapping is OK with dealing with slow drift, and miserable with rotation of the robot. Even more sensitive than Hector Slam. When turning corners too fast (I assume you are joysticking robot remotely) the map gets disjointed and rotated like that. Try again with slower turns.
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I am trying to convert a 4x4 transformation matrix (Eigen::Matrix4f) that is an output of PCL's ICP into a tf Transform that I can publish. The 4x4 consists of a 3x3 rotation matrix and a 3x1 translation matrix.
Is there an easy way to make this conversion?
The translation matrix is pretty straightforward to pull out of the 4x4 and then assign to the tf Transform.
I am confused on the data types and functions to get the rotation working. My plan was to create a 3x3 matrix (data type?), assign it proper values from the 4x4 (method?) that I could then convert into a quaternion (function?), which I then could assign to the transform (I've seen an example of this).
Any help is appreciated. Thank you.
Originally posted by TFinleyosu on ROS Answers with karma: 385 on 2013-11-20
Post score: 4
Original comments
Comment by dinosaur on 2015-07-06:
Here's a related question in python: http://answers.ros.org/question/212981/rospy-convert-matrix-to-transform/?answer=212985#post-id-212985
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I am trying to use the laser_assembler node. I am using tutorial on How to assemble laser scan lines into a composite point cloud. I saw one help also. But i dont knw hw to create a rospackage for it. Please help me. I am new to ROS
Originally posted by SAM MATHEW on ROS Answers with karma: 16 on 2013-11-20
Post score: 0
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i need to make a composite point cloud. For that in tutorial and in help i have seen ,i need to create laser_assembler package . i need to launch laser_scan_assembler launch file along with periodic_snapshotter file. but im new to ros and i don know how to create a laser_assembler package ,and to launch laser_scan_assembler file with periodic_snaphotter,
please help me in these two issues .
Originally posted by sivan on ROS Answers with karma: 1 on 2013-11-20
Post score: 0
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Needless to say, http://www.ros.org/debbuild/$ROS_DISTRO$.html (eg. hydro) pages are quite useful for release fans!
I just can't find its repository and issue trackers. Where is it?
In concrete for debbuild web site, I stopped being able to show the search result by reloading the page with the search query left in the textfield; the page used to show the search result after reloading. Maybe these few days, it shows blank search result area.
Originally posted by 130s on ROS Answers with karma: 10937 on 2013-11-20
Post score: 0
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Hello,
I have ubuntu LTS 12.04 and I work on groovy. I tried to build my package with rosmake and then, I have this:
mkdir -p bin
cd build && cmake -Wdev
-DCMAKE_TOOLCHAIN_FILE=/opt/ros/groovy/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package lwr_fri
Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests lwr_fri
[rospack] Error: package/stack 'lwr_fri' depends on non-existent package 'kuka_lwr_fri' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'lwr_fri'. Look
above for errors from rospack itself. Aborting. Please fix the broken
dependency!
Call Stack (most recent call first):
/opt/ros/groovy/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
CMakeLists.txt:25 (rosbuild_init)
-- Configuring incomplete, errors occurred!
For solve the problem, I tried to write this command:
sudo rm -r /opt/ros/groovy/bin/rospack
And it works but I'm not sure if it's a good solution ..
I would like to have some opinions about this, please.
Originally posted by alivero on ROS Answers with karma: 1 on 2013-11-20
Post score: 0
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Hi all,
My name is Andrew and I am new of this community. I would like to know if it exists an off-the-shelf hardware that allows to measure relative distances and bearing among robots. As far as I know ultrasonic sensors are used to meaure relative distances, but it is not possible understand who is my neighbor, they tell me just there is someone over there!
Thank you,
Andrew
Originally posted by -Andrew- on ROS Answers with karma: 3 on 2013-11-21
Post score: 0
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Hi all,
I just went over the tutorials for pre-release tests on the website:
http://wiki.ros.org/bloom/Tutorials/PrereleaseTest
It refers to the possibility of running pre-release tests on the buildfarm, i.e. non-locally. However, the link pointing to the buildfarm's pre-release page is broken:
"Then go to buildfarm's pre-release web site:
wiki.ros.org/prerelease.ros.org "
Is this feature deprecated? If yes, oh no! Is this feature not available, yet? If yes, I can't wait. If the feature is around, where can I find the page of the buildfarm's pre-release site? A quick google search did not help me... Thanks already.
Cheers,
Georg.
Originally posted by Georg Bartels on ROS Answers with karma: 157 on 2013-11-21
Post score: 0
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Hi,
I need to change my code for capturing images from electric to groovy and find that CvBridge has gone. Finding http://answers.ros.org/question/9765/how-to-convert-cvmat-to-sensor_msgsimageptr/?answer=14282#post-id-14282 and http://answers.ros.org/question/60279/sensor_msgscvbridgecvtoimgmsg-in-groovy/ they seem to offer a solution but also raises questions about the use of some variables that are just used without visible declaration. My current code:
sensor_msgs::CvBridge cvbridge; image = cvbridge.imgMsgToCv(msgs_im, "bgr8");.
Can somebody give an explanation ?
Thank you
Originally posted by hvn on ROS Answers with karma: 72 on 2013-11-21
Post score: 0
Original comments
Comment by hvn on 2013-11-21:
My point is that in the first answer in that link i and ci are being used without explanation. That makes it for me hard to understand how it exactly happens. If you can tell me, I'd appreciate it.
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Hi everyone,
I am a newbie and was trying to follow the tutorial from here:moveit.ros.org/wiki/PR2/Rviz_Plugin/Quick_Start and when I tried launching roslaunch pr2_moveit_config demo.launch, I would get this message below:
All is well! Everyone is happy! You can start planning now!
[ INFO] [1385051476.430164298]: Loading robot model 'pr2'...
[ INFO] [1385051481.184719538]: Loading robot model 'pr2'...
[ INFO] [1385051482.547427811]: Loading robot model 'pr2'...
[rviz_cehd_1050011_7612_1188156060-6] process has died [pid 7687, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /opt/ros/hydro/share/pr2_moveit_config/launch/moveit.rviz __name:=rviz_cehd_1050011_7612_1188156060 __log:=/home/willi/.ros/log/50fcfb64-52ca-11e3-b7fb-0024e8bf7cc6/rviz_cehd_1050011_7612_1188156060-6.log].
log file: /home/willi/.ros/log/50fcfb64-52ca-11e3-b7fb-0024e8bf7cc6/rviz_cehd_1050011_7612_1188156060-6.log*
I searched around and it is a similar message but not exactly the same on this one://answers.ros.org/question/75769/ros-moveit-pr2-demo-launch-fails/. It fails at the end after saying all is well etc.
I just reinstall Ubuntu 12.0.4 64 bit because I thought my previous Ubuntu 12.0.4 32 bit is not working (always getting the same error 11) so I just freshly installed ROS Hydro, MoveIt and PR2 full and it is still failing and it's only a tutorial.
Can anyone give me an insights on what to do next?
Thanks a lot.
Originally posted by dragowill on ROS Answers with karma: 5 on 2013-11-21
Post score: 0
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Looking into some sample .world files, I can see that interval_sim value can be set in milliseconds. It seems to be working fine for 100 ms. But when I make it 0.1 ms, it doesn't seem to be running that fast. I am publishing strings via ros topics (by changing code in stageros.cpp) to test how fast it can publish. Either ros publishing or stageros cannot seem to cross the millisec boundary.
Any suggestions, experiences, fixes regarding running stageros simulation (without gui) in the microseconds range?
Originally posted by devesh on ROS Answers with karma: 104 on 2013-11-21
Post score: 0
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I should start by saying that I am very new to linux and ROS. I am working out of Ubuntu 12.04 with ROS hydro. I would like to use Object Recognition Kitchen (ORK) in conjunction with a Kinect for hand grasp studies. I've confirmed that ORK will work with Hydro.
I followed the install instructions for groovy given at the ORK site.
I tried straight from the ROS repositories with ros-*-object-recognition-core but had no luck using rosinstall.Then I tried the rosinstall file and the build kept failing.
Finally I followed the directions to download and build from source for groovy, but replaced all groovy calls with hydro. I installed all the pipelines and ROS stuff and built with catkin_make. I did not receive any errors and it looks as though it built correctly.
Just to see if everything was working I followed the quick guide for ROS packages. I set up the environment as noted, launched roscore, and launched openni successfully.
But when trying to set up the capture workspace I get this:
zarathustra@zarathustra-MS-7693:~$ rosrun object_recognition_capture orb_template -o my_textured_plane
[rospack] Error: stack/package object_recognition_capture not found
zarathustra@zarathustra-MS-7693:~$ rosrun object_recognition_capture orb_track --track_directory my_textured_plane
[rospack] Error: stack/package object_recognition_capture not found
Thanks in advance for any help or suggestions.
Originally posted by chase on ROS Answers with karma: 88 on 2013-11-21
Post score: 1
|
I want to use nav_msg/GridCells.msg and OccupancyGrid in my package,How to use it in the source code. It is not a member of nav_msgs and it is only a .msg and I am unable find documentation for using GridCells as a member variable i.e. I want to initialize occupancy grid and add data to it and publish it as a topic. I want to do in cpp.
Originally posted by balakumar-s on ROS Answers with karma: 137 on 2013-11-21
Post score: 0
Original comments
Comment by tfoote on 2013-11-27:
@balakumar-s please accept the question by using the checkbox at the left of the answer instead of closing it. (the checkbox will implicitly close it, and reward the answerer with karma.
Comment by balakumar-s on 2013-11-27:
@tfoote Thanks I did that now.
|
Someone knows how to discover the pointcloud "pixel"(x,y,z in real world) giving a pixel (v,u) from RGB camera?
I am using a feature descriptor (ORB) in RGB frame (/camera/rgb/image_color) its returns the u,v from the plannar image, I want a relation of this RGB pixel (feature) to get the real world coordinate in pointcloud topic (/camera/depth_registered/points).
Originally posted by barcelosandre on ROS Answers with karma: 168 on 2013-11-21
Post score: 0
|
I am a beginner in ROS.**My operation system is Ubuntu 12.04 and my ROS is hydro.**After I read some chapters about the "talker and listener" of The Beginner Tutorials in ROS.wiki,I try to write a publisher to publish message to topic "turtle1/com_vel" so that I can control the turtle to run round.But when I try to make my code,it fails.The terminal reminds me that
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package ros.
Set ros_DIR to the directory containing a CMake configuration file for ros.
The file will have one of the following names:
rosConfig.cmake
ros-config.cmake
I guess that there is something wrong with my CMakeLists.txt.But after comparing it with the demo in ROS.wiki,I still can't find the error. This is my code in cpp file.In this file,I define a publisher named move_turtle.
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
int main( int argc, char** argv )
{
// initialization
ros::init(argc, argv, "move_turtle");
ros::NodeHandle n;
ros::Publisher move_pub = n.advertise("turtle1/com_vel",100);
ros::Rate loop_rate(10);
//define the moving rule that I want.It is a circle.
geometry_msgs::Twist com_cicle;
com_cicle.linear.x=3.0;
com_cicle.linear.y=com_cicle.linear.z=0.0;
com_cicle.angular.x=com_cicle.angular.y=0.0;
com_cicle.angular.z=2.0;
while(ros::ok())
{
//publish the msg to topic /tuttle1/com_vel
move_pub.pulish(com_cicle);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
And my CMakeLists.txt is as follows:
cmake_minimum_required(VERSION 2.8.3)
project(move_turtle)
find_package(catkin REQUIRED COMPONENTS
ros
geometry_msgs
turtlesim
)
catkin_package()
include_directories(
${catkin_INCLUDE_DIRS}
)
\## Declare a cpp executable
add_executable(move_turtle src/move_turtle.cpp)
\## Specify libraries to link a library or executable target against
target_link_libraries(move_turtle ${catkin_LIBRARIES})
Originally posted by xmfbit on ROS Answers with karma: 1 on 2013-11-21
Post score: 0
|
Hi guys,
What is the difference between static map and map I get from slam or map I draw myself(in .pgm file)?
Because I am using amcl to do known mapping currently and these .pgm image file together with .yaml is working fine to be placed into map_server. And if I were to visualize my map in 3d form (instead of shaded region as wall maybe I can make them looks like a block), is static map what I need?
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2013-11-21
Post score: 0
|
I am running Hokuyo UTM-30LX in real time and getting PointCloud2 published. Each time I move the laser, the previous PointCloud data is lost. How can I save parts of pcl assembled scan?
Originally posted by hali19 on ROS Answers with karma: 1 on 2013-11-21
Post score: 0
|
My problem is similar to this link, however, I do understand how to use messages within the same package. My problem focuses on how to include a message from a separate package. I have created a package with some "CustomMessage" that pulls from other packages and their messages. These messages may be from a common package within my system, or a simple message type within geometry_msgs.
I have tried including the required dependencies in the CMakeLists.txt and Package.xml files, but for the code to work I have to include the package name in the variable type call. For example:
common_package/Variable variable_text
If the package name is not included, I get something like:
Could not find messages which
'../CustomMessage.msg'
depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?
Cannot locate message [PoseArray] in package [mission_control]
Is this the only way to include a custom message from another package, or is there a better way? During my search, I found one other solution that followed this train of though at this link. However, I was under the assumption that by correctly setting the CMakeLists.txt and Package.xml file correctly, it would understand the pathing.
For those who will ask, below is the CMakeLists.txt file:
cmake_minimum_required(VERSION 2.8.3)
project(mission_control)
find_package(catkin REQUIRED COMPONENTS
project_common
roscpp
rospy
geometry_msgs
std_msgs
message_generation
)
add_message_files(
FILES
CustomMessage1.msg
CustomMessage2.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
project_common
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES mission_control
CATKIN_DEPENDS message_runtime project_common geometry_msgs std_msgs
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
Thanks for the help!
Originally posted by orion on ROS Answers with karma: 213 on 2013-11-21
Post score: 3
|
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
#include <iostream>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
namespace enc = sensor_msgs::image_encodings;
int main(int argc, char **argv)
{
int trajectory[3] = {512,612,712};
cv::Mat image(1024,1024,CV_8UC3);
for(int i = 0;i<3;i++)
{
cv::circle(image, cv::Point(trajectory[i],trajectory[i]), 100, CV_RGB(255,0,0));
}
#if 0
cv::namedWindow("image", CV_WINDOW_NORMAL);
cv::resizeWindow("image", 1024,1024);
cv::imshow("image", image);
cv::waitKey(0);
cv::destroyWindow("image");
#endif
#if 1
ros::init(argc, argv, "draw_circle");
ros::NodeHandle n;
image_transport::ImageTransport it_(n);
image_transport::Publisher image_pub_ = it_.advertise("/traj_output", 1);
cv_bridge::CvImagePtr cv_ptr(new cv_bridge::CvImage);
#if 1
ros::Time time = ros::Time::now();
cv_ptr->encoding = "bgr8";
cv_ptr->header.stamp = time;
cv_ptr->header.frame_id = "/traj_output";
#endif
cv_ptr->image = image;
image_pub_.publish(cv_ptr->toImageMsg());
ROS_INFO("ImageMsg Send.");
#endif
ros::spin();
return 0;
}
this is a pseudo code for learning cv_bridge written by myself.
i have create a new image with several circles drew on it
and transform into a image msgs and publish as a topic
however, the image cannot be shown by rviz
anyone have any ideas?
Originally posted by Ronald Chen on ROS Answers with karma: 1 on 2013-11-21
Post score: 0
|
Hey I am trying to follow the ROS tutorials on Navigation Stack
I can successfully compile tf_broadcaster.cpp but it throws a bunch of errors with tf_listener.cpp. Could you please have a look and tell me what should I do?
I have even tried copy/pasting the code from the website, still doesn't work.
Running ros groovy with ubuntu 12.04
[ 80%] Building CXX object robot_setup_tf/CMakeFiles/tf_listener.dir/src/tf_listener.cpp.o
[100%] Building CXX object robot_setup_tf/CMakeFiles/tf_broadcaster.dir/src/tf_broadcaster.cpp.o
Linking CXX executable /home/krunal/turtlebot/Research/Gatech/devel/lib/robot_setup_tf/tf_broadcaster
[100%] Built target tf_broadcaster
Linking CXX executable /home/krunal/turtlebot/Research/Gatech/devel/lib/robot_setup_tf/tf_listener
CMakeFiles/tf_listener.dir/src/tf_listener.cpp.o: In function `transformPoint(tf::TransformListener const&)':
tf_listener.cpp:(.text+0xda): undefined reference to `tf::TransformListener::transformPoint(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::PointStamped_<std::allocator<void> > const&, geometry_msgs::PointStamped_<std::allocator<void> >&) const'
tf_listener.cpp:(.text+0xf9): undefined reference to `ros::console::g_initialized'
tf_listener.cpp:(.text+0x109): undefined reference to `ros::console::initialize()'
tf_listener.cpp:(.text+0x152): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
tf_listener.cpp:(.text+0x18d): undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
tf_listener.cpp:(.text+0x197): undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
tf_listener.cpp:(.text+0x231): undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
tf_listener.cpp:(.text+0x318): undefined reference to `ros::console::g_initialized'
tf_listener.cpp:(.text+0x328): undefined reference to `ros::console::initialize()'
tf_listener.cpp:(.text+0x371): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
tf_listener.cpp:(.text+0x3ac): undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
tf_listener.cpp:(.text+0x3b6): undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
tf_listener.cpp:(.text+0x41a): undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
CMakeFiles/tf_listener.dir/src/tf_listener.cpp.o: In function `main':
tf_listener.cpp:(.text+0x4b5): undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
tf_listener.cpp:(.text+0x511): undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
tf_listener.cpp:(.text+0x564): undefined reference to `tf::TransformListener::TransformListener(ros::Duration, bool)'
tf_listener.cpp:(.text+0x628): undefined reference to `ros::NodeHandle::createTimer(ros::Duration, boost::function<void (ros::TimerEvent const&)> const&, bool, bool) const'
tf_listener.cpp:(.text+0x64b): undefined reference to `ros::spin()'
tf_listener.cpp:(.text+0x65a): undefined reference to `ros::Timer::~Timer()'
tf_listener.cpp:(.text+0x669): undefined reference to `tf::TransformListener::~TransformListener()'
tf_listener.cpp:(.text+0x678): undefined reference to `ros::NodeHandle::~NodeHandle()'
tf_listener.cpp:(.text+0x6ec): undefined reference to `ros::NodeHandle::~NodeHandle()'
tf_listener.cpp:(.text+0x75c): undefined reference to `ros::Timer::~Timer()'
tf_listener.cpp:(.text+0x778): undefined reference to `ros::Timer::~Timer()'
tf_listener.cpp:(.text+0x78c): undefined reference to `tf::TransformListener::~TransformListener()'
tf_listener.cpp:(.text+0x7a0): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/tf_listener.dir/src/tf_listener.cpp.o: In function `ros::Duration::Duration(double)':
tf_listener.cpp:(.text._ZN3ros8DurationC2Ed[_ZN3ros8DurationC5Ed]+0x2b): undefined reference to `ros::DurationBase<ros::Duration>::fromSec(double)'
collect2: ld returned 1 exit status
make[2]: *** [/home/krunal/turtlebot/Research/Gatech/devel/lib/robot_setup_tf/tf_listener] Error 1
make[1]: *** [robot_setup_tf/CMakeFiles/tf_listener.dir/all] Error 2
make: *** [all] Error 2
this is my CMakeLists.txt file
cmake_minimum_required(VERSION 2.8.3)
project(robot_setup_tf)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
tf
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES robot_setup_tf
# CATKIN_DEPENDS geometry_msgs roscpp tf
# DEPENDS system_lib
)
include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(tf_broadcaster src/tf_broadcaster.cpp)
add_executable(tf_listener src/tf_listener.cpp)
target_link_libraries(tf_broadcaster
${catkin_LIBRARIES}
)
target_link_libraries(tf_listener
${catkin_libraries}
)
Originally posted by Krunal Chande on ROS Answers with karma: 1 on 2013-11-21
Post score: 0
Original comments
Comment by Krunal Chande on 2013-11-21:
Tutorial from here http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF
Apparently, I cannot add links because I do not have enough karma.
Comment by dornhege on 2013-11-22:
It's probably not linking tf. What is your CMakeLists.txt and what build system do you use?
Comment by Krunal Chande on 2013-11-22:
Added CMakeLists.txt. I am using catkin.
Comment by Krunal Chande on 2013-11-22:
It builds successfully, and while "Linking CXX executable" it gives these errors. Added the two lines before the error message which says precisely that.
Comment by einrob on 2014-02-04:
Did you found a solution? I ran into the same Problem at the moment.
Comment by Krunal Chande on 2014-02-04:
Sorry I did not. Post the answer here if you do manage to find it!
|
Hi,
I need to install ros fuerte on a computer without internet.
it acts as a controller for a robot and it cannot be connected to the internet.
Originally posted by akrv on ROS Answers with karma: 43 on 2013-11-22
Post score: 3
|
Is there a way to transform LaserScan messages from one frame to another? I'd like to keep the message type (i.e., I don't want a PointCloud message, I want to keep LaserScan). I have a tf tree setup and I simply want my to work with my LaserScan message in a different frame.
Originally posted by kamek on ROS Answers with karma: 79 on 2013-11-22
Post score: 0
|
Hi, i am using stage to simulate two robots. Mapping runs, but if i start move_base for the first roboter, its tf stops working. So i researched a little bit and found out that if i start move_base for robot_0 the map frame is published with a total different time. On the left (robot_0) with move_base started, on the right (robot_1) without move_base.
Why is the Most recent transform changing?
And now move_base throws the following warning:
[ WARN] [1385137274.474605959]: Waiting on transform from /robot_0/base_footprint to /robot_0/map to become available before running costmap, tf error: Unable to lookup transform, cache is empty, when looking up transform from frame [/robot_0/base_footprint] to frame [/robot_0/map]
The tf tree is correct, so i take a look at the move_base source and the error is thrown in costmap_2d_ros.cpp:165
I have tried setting use_sim_time to true and to false, but the result always keep the same. And i used gmapping and hector_mapping, get the same problem by both
Anyone an idea how to solve that?
Originally posted by pkohout on ROS Answers with karma: 336 on 2013-11-22
Post score: 0
Original comments
Comment by pkohout on 2013-11-22:
if you need more information, just tell me
|
I am running a robot pc (NUC) with ros-fuerte and my laptop with ros-hydro. I want to run the main nodes on the robot and the debugging nodes like rqt_plot and some hand made GUIs that use services on my laptop. Following the instructions from the ros wiki on NetworkSetup and MultipleMachines everything gets started and I can see all services and topic doing rostopic/rosservice list on both machines. But if I start my debugging nodes on the laptop (the robot fuerte is running the roscore) the topics and services from the robot seem not reachable. It just doesn't work, I mean there is no output saying connection failed or anything. Only if I try rosservice info <my_service> it says:
Node: /motor_control
URI: rosrpc://NUC:47241
ERROR: Unable to communicate with service [/motor_control/SpeedLeftGainControl], address [rosrpc://NUC:47241]
Can this be due to discompabilities between fuerte and hydro? I have no other idea, since everything else works like described.
Originally posted by rilke on ROS Answers with karma: 35 on 2013-11-22
Post score: 0
|
I am running a p3at in a gazebo with ros plugins. I need to subscribe to the odometry pose and update broadcast the tf between odom and base_link.How do I do it? Should I define a "odom" link in the .xacro file used for simulation? What about the joint type?
Originally posted by balakumar-s on ROS Answers with karma: 137 on 2013-11-22
Post score: 1
Original comments
Comment by MartinW on 2013-11-22:
To my knowledge you don't. As long as you have those frames defined in your urdf/xacro, you shouldn't have to broadcast this information again. It seems redundant if it were!
|
Hi,
I am trying to use pcl in ros, on groovy (ubuntu 12.04 64 bit). I have followed the tutorial here for setting up a package, and have copy-pasted the code verbatim from here (Template Alignment).
Unfortunately, when I try to catkin_make this tutorial, I get a very hard to parse output, with references to tokens I'm not even using (maybe they're in the includes?):
Can someone explain to me how to interpret this output for future reference, and explain to me why it's not compiling?
Edit: I've added my CMakeLists.txt and package.xml files. Example2.cpp is what I'm trying to build as an executable. I've noticed there's a pcl-1.6 folder under ROS that it looks like I might need to include, but I don't know how to do this without it barking at me.
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(my_pcl_tutorial)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
pcl
pcl_ros
roscpp
sensor_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# sensor_msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES my_pcl_tutorial
# CATKIN_DEPENDS pcl pcl_ros roscpp sensor_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(my_pcl_tutorial
# src/${PROJECT_NAME}/my_pcl_tutorial.cpp
# )
## Declare a cpp executable
# add_executable(my_pcl_tutorial_node src/my_pcl_tutorial_node.cpp)
add_executable(example src/example.cpp)
add_executable(example2 src/example2.cpp)
target_link_libraries(example ${catkin_LIBRARIES})
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(my_pcl_tutorial_node my_pcl_tutorial_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(my_pcl_tutorial_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS my_pcl_tutorial my_pcl_tutorial_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pcl_tutorial.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
Package.xml:
<?xml version="1.0"?>
<package>
<name>my_pcl_tutorial</name>
<version>0.0.0</version>
<description>The my_pcl_tutorial package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">aespielberg</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://ros.org/wiki/my_pcl_tutorial</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>pcl</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>pcl</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::PCDReader::PCDReader()':
example2.cpp:(.text._ZN3pcl9PCDReaderC2Ev[_ZN3pcl9PCDReaderC5Ev]+0x1f): undefined reference to `vtable for pcl::PCDReader'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::PCDReader::~PCDReader()':
example2.cpp:(.text._ZN3pcl9PCDReaderD2Ev[_ZN3pcl9PCDReaderD5Ev]+0x13): undefined reference to `vtable for pcl::PCDReader'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::PCDWriter::write(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud2_<std::allocator<void> > const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)':
example2.cpp:(.text._ZN3pcl9PCDWriter5writeERKSsRKN11sensor_msgs12PointCloud2_ISaIvEEERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS9_10QuaternionIfLi0EEEb[pcl::PCDWriter::write(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud2_<std::allocator<void> > const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)]+0x43): undefined reference to `pcl::PCDWriter::writeBinary(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud2_<std::allocator<void> > const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)'
example2.cpp:(.text._ZN3pcl9PCDWriter5writeERKSsRKN11sensor_msgs12PointCloud2_ISaIvEEERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNS9_10QuaternionIfLi0EEEb[pcl::PCDWriter::write(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud2_<std::allocator<void> > const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)]+0x6a): undefined reference to `pcl::PCDWriter::writeASCII(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud2_<std::allocator<void> > const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::Registration<pcl::PointXYZ, pcl::PointXYZ>::setInputTarget(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&)':
example2.cpp:(.text._ZN3pcl12RegistrationINS_8PointXYZES1_E14setInputTargetERKN5boost10shared_ptrIKNS_10PointCloudIS1_EEEE[pcl::Registration<pcl::PointXYZ, pcl::PointXYZ>::setInputTarget(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&)]+0x65): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::setTargetFeatures(boost::shared_ptr<pcl::PointCloud<pcl::FPFHSignature33> const> const&)':
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE17setTargetFeaturesERKN5boost10shared_ptrIKNS_10PointCloudIS2_EEEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::setTargetFeatures(boost::shared_ptr<pcl::PointCloud<pcl::FPFHSignature33> const> const&)]+0x74): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::setSourceFeatures(boost::shared_ptr<pcl::PointCloud<pcl::FPFHSignature33> const> const&)':
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE17setSourceFeaturesERKN5boost10shared_ptrIKNS_10PointCloudIS2_EEEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::setSourceFeatures(boost::shared_ptr<pcl::PointCloud<pcl::FPFHSignature33> const> const&)]+0x71): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::Feature<pcl::PointXYZ, pcl::Normal>::initCompute()':
example2.cpp:(.text._ZN3pcl7FeatureINS_8PointXYZENS_6NormalEE11initComputeEv[pcl::Feature<pcl::PointXYZ, pcl::Normal>::initCompute()]+0x5b): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
example2.cpp:(.text._ZN3pcl7FeatureINS_8PointXYZENS_6NormalEE11initComputeEv[pcl::Feature<pcl::PointXYZ, pcl::Normal>::initCompute()]+0xb6): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o:example2.cpp:(.text._ZN3pcl7FeatureINS_8PointXYZENS_6NormalEE11initComputeEv[pcl::Feature<pcl::PointXYZ, pcl::Normal>::initCompute()]+0x30d): more undefined references to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)' follow
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::~KdTreeFLANN()':
example2.cpp:(.text._ZN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEED2Ev[_ZN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEED5Ev]+0x20): undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::cleanup()'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >::~KdTreeFLANN()':
example2.cpp:(.text._ZN3pcl11KdTreeFLANNINS_15FPFHSignature33EN5flann9L2_SimpleIfEEED2Ev[_ZN3pcl11KdTreeFLANNINS_15FPFHSignature33EN5flann9L2_SimpleIfEEED5Ev]+0x20): undefined reference to `pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >::cleanup()'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::x>()':
example2.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1xEEEvv[void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::x>()]+0x1a1): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::y>()':
example2.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1yEEEvv[void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::y>()]+0x1a1): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::z>()':
example2.cpp:(.text._ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1zEEEvv[void pcl::detail::FieldMapper<pcl::PointXYZ>::operator()<pcl::fields::z>()]+0x1a1): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE[vtable for pcl::search::OrganizedNeighbor<pcl::PointXYZ>]+0x48): undefined reference to `pcl::search::OrganizedNeighbor<pcl::PointXYZ>::nearestKSearch(pcl::PointXYZ const&, int, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE[vtable for pcl::search::OrganizedNeighbor<pcl::PointXYZ>]+0x68): undefined reference to `pcl::search::OrganizedNeighbor<pcl::PointXYZ>::radiusSearch(pcl::PointXYZ const&, double, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&, unsigned int) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >]+0x10): undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >]+0x28): undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::nearestKSearch(pcl::PointXYZ const&, int, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >]+0x40): undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZ, flann::L2_Simple<float> >::radiusSearch(pcl::PointXYZ const&, double, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&, unsigned int) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl9VoxelGridINS_8PointXYZEEE[vtable for pcl::VoxelGrid<pcl::PointXYZ>]+0x28): undefined reference to `pcl::VoxelGrid<pcl::PointXYZ>::applyFilter(pcl::PointCloud<pcl::PointXYZ>&)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11PassThroughINS_8PointXYZEEE[vtable for pcl::PassThrough<pcl::PointXYZ>]+0x28): undefined reference to `pcl::PassThrough<pcl::PointXYZ>::applyFilter(pcl::PointCloud<pcl::PointXYZ>&)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_15FPFHSignature33EN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >]+0x10): undefined reference to `pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::FPFHSignature33> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_15FPFHSignature33EN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >]+0x28): undefined reference to `pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >::nearestKSearch(pcl::FPFHSignature33 const&, int, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl11KdTreeFLANNINS_15FPFHSignature33EN5flann9L2_SimpleIfEEEE[vtable for pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >]+0x40): undefined reference to `pcl::KdTreeFLANN<pcl::FPFHSignature33, flann::L2_Simple<float> >::radiusSearch(pcl::FPFHSignature33 const&, double, std::vector<int, std::allocator<int> >&, std::vector<float, std::allocator<float> >&, unsigned int) const'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl14FPFHEstimationINS_8PointXYZENS_6NormalENS_15FPFHSignature33EEE[vtable for pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33>]+0x38): undefined reference to `pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33>::computeFeature(pcl::PointCloud<pcl::FPFHSignature33>&)'
CMakeFiles/example2.dir/src/example2.cpp.o:(.rodata._ZTVN3pcl16NormalEstimationINS_8PointXYZENS_6NormalEEE[vtable for pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal>]+0x38): undefined reference to `pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal>::computeFeature(pcl::PointCloud<pcl::Normal>&)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::search::OrganizedNeighbor<pcl::PointXYZ>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)':
example2.cpp:(.text._ZN3pcl6search17OrganizedNeighborINS_8PointXYZEE13setInputCloudERKN5boost10shared_ptrIKNS_10PointCloudIS2_EEEERKNS5_IKSt6vectorIiSaIiEEEE[pcl::search::OrganizedNeighbor<pcl::PointXYZ>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> const> const&, boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)]+0x1ce): undefined reference to `pcl::search::OrganizedNeighbor<pcl::PointXYZ>::estimateProjectionMatrix()'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ>::estimateRigidTransformation(pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, pcl::PointCloud<pcl::PointXYZ> const&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&)':
example2.cpp:(.text._ZN3pcl12registration27TransformationEstimationSVDINS_8PointXYZES2_E27estimateRigidTransformationERKNS_10PointCloudIS2_EERKSt6vectorIiSaIiEES7_RN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ>::estimateRigidTransformation(pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, pcl::PointCloud<pcl::PointXYZ> const&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&)]+0x93): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ>::estimateRigidTransformation(pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&)':
example2.cpp:(.text._ZN3pcl12registration27TransformationEstimationSVDINS_8PointXYZES2_E27estimateRigidTransformationERKNS_10PointCloudIS2_EERKSt6vectorIiSaIiEES7_SC_RN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::registration::TransformationEstimationSVD<pcl::PointXYZ, pcl::PointXYZ>::estimateRigidTransformation(pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, pcl::PointCloud<pcl::PointXYZ> const&, std::vector<int, std::allocator<int> > const&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&)]+0x92): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::PassThrough<pcl::PointXYZ>::applyFilter(std::vector<int, std::allocator<int> >&)':
example2.cpp:(.text._ZN3pcl11PassThroughINS_8PointXYZEE11applyFilterERSt6vectorIiSaIiEE[pcl::PassThrough<pcl::PointXYZ>::applyFilter(std::vector<int, std::allocator<int> >&)]+0x1f): undefined reference to `pcl::PassThrough<pcl::PointXYZ>::applyFilterIndices(std::vector<int, std::allocator<int> >&)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::computeTransformation(pcl::PointCloud<pcl::PointXYZ>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)':
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE21computeTransformationERNS_10PointCloudIS1_EERKN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::computeTransformation(pcl::PointCloud<pcl::PointXYZ>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)]+0x6a): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE21computeTransformationERNS_10PointCloudIS1_EERKN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::computeTransformation(pcl::PointCloud<pcl::PointXYZ>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)]+0x7e): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE21computeTransformationERNS_10PointCloudIS1_EERKN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::computeTransformation(pcl::PointCloud<pcl::PointXYZ>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)]+0xca): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
example2.cpp:(.text._ZN3pcl31SampleConsensusInitialAlignmentINS_8PointXYZES1_NS_15FPFHSignature33EE21computeTransformationERNS_10PointCloudIS1_EERKN5Eigen6MatrixIfLi4ELi4ELi0ELi4ELi4EEE[pcl::SampleConsensusInitialAlignment<pcl::PointXYZ, pcl::PointXYZ, pcl::FPFHSignature33>::computeTransformation(pcl::PointCloud<pcl::PointXYZ>&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)]+0xde): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o: In function `pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33>::initCompute()':
example2.cpp:(.text._ZN3pcl18FeatureFromNormalsINS_8PointXYZENS_6NormalENS_15FPFHSignature33EE11initComputeEv[pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33>::initCompute()]+0x47): undefined reference to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)'
CMakeFiles/example2.dir/src/example2.cpp.o:example2.cpp:(.text._ZN3pcl18FeatureFromNormalsINS_8PointXYZENS_6NormalENS_15FPFHSignature33EE11initComputeEv[pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33>::initCompute()]+0x92): more undefined references to `pcl::console::print(pcl::console::VERBOSITY_LEVEL, char const*, ...)' follow
collect2: ld returned 1 exit status
make[2]: *** [devel/lib/my_pcl_tutorial/example2] Error 1
make[1]: *** [CMakeFiles/example2.dir/all] Error 2
make: *** [all] Error 2
Originally posted by aespielberg on ROS Answers with karma: 113 on 2013-11-22
Post score: 0
|
i have installed IPC_Bridge on my ubuntu with Ros fuerte but when i compile the ipc_bridge stack it doesn't make any file ( rosmake ipc_bridge_ros).
Originally posted by Justin NW on ROS Answers with karma: 1 on 2013-11-22
Post score: 0
|
Hi, I am trying to publish a message from rospy to a subscriber in rosjava. I am using ros hydro. I copy pasted the subscriber code from the tutorials into my rosjava folder and built it with catkin_make. I am getting errors related to adding the dependencies. I need to add them in the gradle file i think and i dont know how. can somebody help me with this? thanks
I searched all the old and the new tutorials. I am using the subscriber code found here:
http ://docs.rosjava.googlecode.com/hg/rosjava_core/html/getting_started.html#publishers-and-subscribers
Originally posted by uzair on ROS Answers with karma: 87 on 2013-11-22
Post score: 0
|
Hi guys,
I'm having a problem in my laptop when launching turtlebot gazebo as follows (previously running roscore):
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
All the initialization is right, but just when the interface is displayed, the following message is showed in the terminal:
Warning [parser.cc:356] No <sdf> element in file[data-string]
Segmentation fault (core dumped)
[gazebo-1] process has died [pid 31742, exit code 139, cmd /opt/ros/hydro/lib/gazebo_ros/gzserver /opt/ros/hydro/share/turtlebot_gazebo/worlds/empty.world __name:=gazebo __log:=/home/raul/.ros/log/f0a1a0a2-5428-11e3-899f-00234d4cde76/gazebo-1.log].
log file: /home/raul/.ros/log/f0a1a0a2-5428-11e3-899f-00234d4cde76/gazebo-1*.log
Segmentation fault (core dumped)
[gazebo_gui-2] process has died [pid 31747, exit code 139, cmd /opt/ros/hydro/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/raul/.ros/log/f0a1a0a2-5428-11e3-899f-00234d4cde76/gazebo_gui-2.log].
log file: /home/raul/.ros/log/f0a1a0a2-5428-11e3-899f-00234d4cde76/gazebo_gui-2*.log
Unfortunately, the referred logs doesn't exist. My setup is:
Ubuntu 12.04
ros-hydro-full-desktop
I've not performed any modification to turtlebot and its config files.
Any idea about what could be happening? A clue would be very apreciated! I need to work with it.
Originally posted by jotaraul on ROS Answers with karma: 46 on 2013-11-23
Post score: 0
|
Hi,
I've a piece of software, that I would like to be ros-indipendent (is a library for fuzzy reasoning)
Now, the results of reasoning is a set of variables with the associated values to them.
Now, my implementation of the reasoner gives in output a map<string, double>. But i can use a vector (or an array) of structs.
now, i want to setup my reasoning service, so I've defined two messages, the Input message and the output message. And obviously, in my service I've got two variable as variable lenght arrays:
Reasoning.srv
#definition of the basic Reasoning service
#The input variable for the reasoning
InputVariable[] inputs
---
#The defuzzyfied output
DefuzzyfiedOutput[] results
DefuzzyfiedOutput.msg
#Definition of the defuzzyfied output type
#the name of the input variable
string name
#the defuzzyfied value
float64 value
now, when sending the results, I've to iterate over the map and set each pair of the DefuzzyfiedOutput struct, and then add it to the output vector.
there is a way to avoid that? I would like to set the map/vector/whatever when sending the message, I don't think is very smart to iterate over a map, and then let ros iterate again over the same thing to send the message.
I don't knowif it's clear what I would like to do... but I hope so...
Obviously I would like to avoid using the message as output element of my reasoning service, because I would like it to be independent from ros...
thank you very much :)
Originally posted by Boris_il_forte on ROS Answers with karma: 96 on 2013-11-23
Post score: 0
|
here is the output i get:
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/540b4db592922fcbe585318c6716f7d0
Originally posted by Justin NW on ROS Answers with karma: 1 on 2013-11-23
Post score: 0
|
I want to publish navigation goals to the turtlebot running the amcl_demo.launch with a specific map file.
In general when amcl_demo.launch file is launched with the mapfile, we can send the navigation goals to the turtlebot using the Rviz GUI tool. But i want to send the navigation goals to the turtlebot form a pyhton script that i have written the Navigation Goal parameters in it.
I could figure out that, the Rviz sends the navigation goals to the topic /move_base_simple/goal. I want to know the correct message format of the navigation goal that should be sent to the turtlebot.
How do i get this task done??
Anyone who knows the answer, please help me.
Thank You
Originally posted by bhanodhaynss on ROS Answers with karma: 11 on 2013-11-23
Post score: 1
|
Hi everybody,
I have a project on which I want to control an RX-28 Dynamixel motor with a Raspberry which has installed Raspbian with ROS groovy. The problem is that the Dynamixel packages are not yet available in the raspbian groovy repository mentioned here /repos/rospbian/debbuild/groovy. So I think it would be possible to build the packages by myself and then use them. I already downloaded the packages to my raspberry and put them in /opt/ros/groovy/share. but then when follow the dynamixel_controllers/Tutorials/ConnectingToDynamixelBus tutorial.
I changed the baudrate to 57142 (which I know is correct for my motor I've checked it in windows with Roboplus). After the roslaunch I get this
File "/opt/ros/groovy/share/dynamixel_motor-master/dynamixel_controllers/nodes/controller_manager.py", line 52, in
from dynamixel_driver.dynamixel_serial_proxy import SerialProxy
ImportError: No module named dynamixel_driver.dynamixel_serial_proxy
I know it is maybe a stupid question but I have tried everything and I still cannot communicate with the motor.
Thanks!
Originally posted by Mike Rasp on ROS Answers with karma: 1 on 2013-11-24
Post score: 0
|
Hello,
I am student in vision systems and I would like to go deeper in PTAM algorithm.
Where could I found more informations about this algorithm?
Best regard.
Originally posted by bird12358 on ROS Answers with karma: 1 on 2013-11-24
Post score: 0
Original comments
Comment by AHornung on 2013-11-25:
Have you considered asking the authors of the paper / algorithm directly?
|
How I uninstall ROS, Catkin, all ROS packages, and all other ROS-specific dependencies?
I'm on OS X, and installed ROS Groovy according to http://wiki.ros.org/hydro/Installation/OSX/Homebrew/Source.
Originally posted by Noldorin on ROS Answers with karma: 161 on 2013-11-24
Post score: 0
|
I have used the following pattern a number of times, across a variety of packages:
double my_param_seconds;
ros::param::get("~my_param", my_param_seconds);
my_param_ = ros::Duration(my_param_seconds);
This seems awkward compared to parameterizing integers or doubles. It's fine if it's only one or two, but for a safety state machine which has a half-dozen parameterized timeouts, this is a drag. I can write my own little wrapper function, but perhaps something standard already exists?
Alternatively, is it better to simply store the seconds value, and convert that to a ros::Duration at the point of use?
Thanks.
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2013-11-24
Post score: 0
Original comments
Comment by Thomas on 2013-11-24:
Can you define "awkward" in this context? I am not sure to understand what you would like to see improved here... Having the possibility to directly retrieve a ros::Duration object from the parameter API?
Comment by mikepurvis on 2013-11-24:
Sure, have attempted to clarify the question. I know that parameter types are constrained by the XMLRPC types, but I'm wondering if a general Time/Duration helper already exists before I roll my own.
|
When I follow the tutorials at "Make A Map", I execute the command "roslaunch turtlebot_gazebo turtlebot_playground.launch" in a terminal, but serveral errors are resonsed and the turtlebot environment does not appear as expected as the picture show. What happend? How can i fix it? or just this tutorial needs to be updated.
I am working with ROS-Hydro and the Ubuntu 12.04. The following are executed in a terminal:
$ source /opt/ros/hydro/setup.bash \n
$ export TURTLEBOT_BASE=create \n
$ export TURTLEBOT_STACKS=circles \n
$ export TURTLEBOT_3D_SENSOR=asus_xtion_pro \n
$ roslaunch turtlebot_gazebo turtlebot_playground.launch \n
The Error is as follows:
......
Error [ModelDatabase.cc:408] Unable to download model[model://dumpster/meshes/dumpster.dae]
Error [SystemPaths.cc:371] File or path does not exist[""]
....
....
....
....（Many Warnings and Errors）
Originally posted by [email protected] on ROS Answers with karma: 21 on 2013-11-24
Post score: 2
Original comments
Comment by Tirjen on 2013-11-24:
Which version of ROS are you using? Can you post the errors?
Comment by Neil Traft on 2014-05-15:
Same issue here; models of the cylinder and bookshelf still show up but dumpster, cube_20k, and jersey_barrier are missing or have been moved. Otherwise it works fine.
|
I try to use my own messages. I created msg file named RopEvent:
int32 value
string name
string comment
I can't publish message using rostopic pub. I try to proceed
rostopic pub rop_client rop_client/RopEvent 14 "Test" "Test"
But I receive an error
ERROR: invalid message type: rop_client/RopEvent.
If this is a valid message type, perhaps you need to type 'rosmake rop_client'
I type this, it makes package correctly, but message error still pops up.
If I type rostopic list -v, I can see a string
* /rop_client [rop_client/RopEvent] 1 subscriber
'rosmsg list' shows me that my message exists, 'rosmsg show' finds message and shows it.
What's wrong?
Originally posted by pelment on ROS Answers with karma: 47 on 2013-11-24
Post score: 1
Original comments
Comment by syrnick on 2014-05-26:
I have the same problem. 'rosmsg show package_name/Msgname' works fine 'rostopic pub /xyz package_name/Msgname' doesn't.
UPDATED: After I edited the package.yml and CMakeLists.txt to actually compile the messages, it worked fine.
Comment by pelment on 2014-05-27:
And which commands were missed?
Comment by syrnick on 2014-05-27:
I think, these were the core changes and commands:
in package.xml:
message_generation
message_runtime
In CMakeLists.txt
find_package(catkin REQUIRED COMPONENTS
message_generation std_msgs
)
add_message_files(
FILES
Dummy.msg
Hit.msg
)
Commands from the catkin workspace:
catkin_make
catkin_make install
source devel/setup.bash
|
I try to subscribe a callback function which is a class method, but if I try to do catkin_make I have the following errors:
Base path: /home/kaftan/catkin_ws
Source space: /home/kaftan/catkin_ws/src
Build space: /home/kaftan/catkin_ws/build
Devel space: /home/kaftan/catkin_ws/devel
Install space: /home/kaftan/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/kaftan/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/kaftan/catkin_ws/build"
####
Scanning dependencies of target rop_client
[ 0%] [ 0%] Built target std_msgs_generate_messages_cpp
Built target kobuki_msgs_generate_messages_py
[ 10%] [ 10%] [ 20%] Built target kobuki_msgs_generate_messages_cpp
Building CXX object rop_client/CMakeFiles/rop_client.dir/src/main.cpp.o
Building CXX object rop_client/CMakeFiles/rop_client.dir/src/rop_client.cpp.o
[ 20%] Built target std_msgs_generate_messages_py
[ 20%] Built target std_msgs_generate_messages_lisp
[ 20%] Built target kobuki_msgs_generate_messages_lisp
[ 40%] Built target rop_client_generate_messages_cpp
[ 70%] [ 90%] Built target rop_client_generate_messages_py
Built target rop_client_generate_messages_lisp
[ 90%] Built target rop_client_generate_messages
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp: В функции-члене «void ROP::RopClient::Subscribes()»:
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp:53:74: ошибка: ISO C++ не поддерживает взятие адреса от неквалифицированного элемента-функцииили элемента в скобках для формирования указателя на элемент-функцию.Используйте синтаксис «&ROP::RopClient::RopCallback» [-fpermissive]
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp:53:86: ошибка: нет подходящей функции для вызова «ros::NodeHandle::subscribe(const char [11], int, void (ROP::RopClient::*)(rop_client::RopEvent_<std::allocator<void> >::ConstPtr&))»
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp:53:86: замечание: candidates are:
/opt/ros/groovy/include/ros/node_handle.h:379:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:390:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M)const, T*, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:438:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&), T*, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:448:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&)const, T*, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:498:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:509:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M)const, const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:559:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&), const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:570:14: замечание: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const MReq>&)const, const boost::shared_ptr<U>&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:618:14: замечание: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(M), const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:663:14: замечание: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(const boost::shared_ptr<const M>&), const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:706:14: замечание: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(const boost::shared_ptr<const M>&)>&, const VoidConstPtr&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:752:14: замечание: template<class M, class C> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(C)>&, const VoidConstPtr&, const ros::TransportHints&)
/opt/ros/groovy/include/ros/node_handle.h:785:14: замечание: ros::Subscriber ros::NodeHandle::subscribe(ros::SubscribeOptions&)
/opt/ros/groovy/include/ros/node_handle.h:785:14: замечание: candidate expects 1 argument, 3 provided
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp: At global scope:
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.cpp:88:6: ошибка: прототип для «void ROP::RopClient::RopCallback(const ConstPtr&)» не имеет соответствия в классе «ROP::RopClient»
/home/kaftan/catkin_ws/src/rop_client/src/rop_client.h:43:10: ошибка: претендент: void ROP::RopClient::RopCallback(rop_client::RopEvent_<std::allocator<void> >::ConstPtr&)
make[2]: *** [rop_client/CMakeFiles/rop_client.dir/src/rop_client.cpp.o] Ошибка 1
make[1]: *** [rop_client/CMakeFiles/rop_client.dir/all] Ошибка 2
make: *** [all] Ошибка 2
Invoking "make" failed
Callback function in rop_client.h:
namespace ROP {
class RopClient {
public:
void RopCallback( const rop_client::RopEvent::ConstPtr& msg);
private:
void Subscribes();
std::vector<ros::Subscriber> subscribes_;
ros::NodeHandle* node_listener_;
ros::NodeHandle* node_handle_;
ros::Publisher chatter_pub_;
};
}
Callback function in the rop_client.cpp:
void ROP::RopClient::Subscribes() {
ros::Subscriber sub = node_listener_->subscribe( "rop_client", 1000, &RopCallback);
subscribes_.push_back( sub);
}
void ROP::RopClient::RopCallback( const rop_client::RopEvent::ConstPtr& msg) {
ROS_INFO( "Rop event received");
std::ostringstream ss;
ss << msg->name << " " << msg->value << " " << msg->comment;
ROS_INFO( "Rop event sended correctly: %s \n", ss.str());
}
I followed tutorial step-by-step, but after moves callback from global space into class method. If I move callback into cpp file in global space, it works correctly. I read the answers to the same question, and add '&' in front of callback function name in the subscriber function. But it doesn't change anything. I don't want to use functions in global space :( What's wrong in my code?
Originally posted by pelment on ROS Answers with karma: 47 on 2013-11-24
Post score: 0
|
Hi Everyone,
I have ROSBridge Server and a client I wrote communicating just fine. Now I want to enable authentication.
I set "authenticate" to true in the ROSBridge launch file. I also started rosauth and set the "secret_file_location" param to point to a text file containing a 16 character key (which I use to encrypt my MAC using SHA-256).
When I launch the ROSBridge server, it disconnects any clients which communicate with it unless they have have "auth" in their "op" field. So if I try to "subscribe" or "publish", it will just disconnect the client. Now, the peculiar thing is that ROSBridge will then print to screen: "Unknown operation: auth. Allowed operations: ['call_service', 'publish', 'subscribe', 'unsubscribe', 'unadvertise', 'advertise']"
So it definitely understands that "auth" is an operation... because it does not immediately disconnect my client. However it tells me that "auth" is unknown. What's the deal?
EDIT: Here is my launch file:
<launch>
<arg name="port" default="9090" />
<arg name="ssl" default="false" />
<arg name="certfile" />
<arg name="keyfile" />
<arg name="authenticate" default="true" />
<param name="/rosbridge/port" value="$(arg port)"/>
<group ns="ros_mac_authentication">
<param name="secret_file_location" value="/home/developer/SecretFile.secret" />
<node pkg="rosauth" type="ros_mac_authentication" name="ros_mac_authentication" />
</group>
<group if="$(arg ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="screen">
<param name="certfile" value="$(arg certfile)" />
<param name="keyfile" value="$(arg keyfile)" />
<param name="authenticate" value="$(arg authenticate)" />
</node>
</group>
<group unless="$(arg ssl)">
<node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="screen">
<param name="authenticate" value="$(arg authenticate)" />
</node>
</group>
<node name="rosapi" pkg="rosapi" type="rosapi" />
</launch>
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-11-25
Post score: 0
Original comments
Comment by rtoris288 on 2013-11-25:
Are you using the most recent version of rosbridge from source or debians? What parameters have you set in the launch file?
Comment by trianta2 on 2013-11-25:
I am using the version of rosbridge that I got from "apt-get install ros-hydro-rosbridge-suite". The package.xml file I have says version 0.5.1. As for the launch file, I'll update my post to include its contents.
Comment by rtoris288 on 2013-11-25:
Is the message about awaiting authentication printing when the socket connects? I.e., https://github.com/RobotWebTools/rosbridge_suite/blob/hydro-devel/rosbridge_server/scripts/rosbridge_websocket#L69-L70
Comment by trianta2 on 2013-11-25:
Yes it is. I downloaded the source and I've been poking around as well. It appears that L81 "resp = auth_srv(...)" throws an exception, but I still cannot figure out why.
Comment by rtoris288 on 2013-11-25:
That was going to be my next suggestion. Make sure the message has all the correct fields or it might throw an excepting trying to access something that doesn't exist.
https://github.com/RobotWebTools/rosbridge_suite/blob/hydro-devel/rosbridge_server/scripts/rosbridge_websocket#L81-L83
Comment by trianta2 on 2013-11-25:
I'm currently printing all of the fields to console. An exception was thrown upon printing the time field, yet I'm not sure why. Still investigating...
Comment by rtoris288 on 2013-11-25:
What is your client sending in the time fields? It should be a number (make sure it's not being sent as a string or anything), in seconds.
Comment by trianta2 on 2013-11-25:
My client (for test purposes) is sending t : 1 and end : 2. ROS is printing that the received 't' is 1000000000 and the received 'end' is 2000000000. So the server appears to be appending nine 0's to the end of whatever I send. I suppose that's what rospy.Time() is doing, but why?
Comment by trianta2 on 2013-11-25:
PS - I was sending strings before! I am now sending ints for my time fields. I have been calculating my hash using 1 and 2 as my time fields, not 1000000000 and 2000000000 ... this will surely create a mismatch between the client and ROS SHA-512 hashes.
Comment by trianta2 on 2013-11-25:
I downloaded and built rosauth from source. I am running its unit test and seeing what the SHA512 hash output it. It is different than the one my client generates. Seeing how online SHA512 generators match rosauth, I believe the issue is my SHA512 generator in my client.
|
Hey all,
I've the following Arduino based educational robot:
magabot.cc
which comprises the following specs:
differential drive system w/ encoders on both wheels
2x front bumpers
5x sonar sensors on the front
And I'd like to integrate it with ROS environment. I've already put a laptop on top running ROS and communicating with the robot through rosserial Arduino package and now I'd like to setup it with the 2D Navigation Stack by adding a laser scanner.
While reading this tutorial - Setup and Configuration of the Navigation Stack on a Robot - some questions arise:
Which TF broadcasters should I implement? (I thought of a laser scanner TF + a Sonar TF (group or individual for each sensor?), maybe a bumper TF too?!)
How about odometer TF? Which kind of transformation is correct, since both wheels are paralell to the robot? Just translation? Or maybe rotation to?!
Should all TF broadcasting msgs be published by a single node or different nodes for each frame?!
Regarding sensors and particularly sonar, should I publish their information like a sensor_msgs/PointCloud or sensor_msgs/LaserScan?
Sorry for so many questions and thank you very much in advance. ;)
Originally posted by rflmota on ROS Answers with karma: 11 on 2013-11-25
Post score: 0
|
Hi dear
I'm working with Ubuntu 12.10 and ros hydro
I want to use qt libraries in ros. So I try to use simple library like "QDebug" and I write this program and Cmake
#include "QDebug"
#include "ros/ros.h"
int main(int argc, char** argv)
{
ros::init(argc, argv, "Qt_test");
qDebug()<<"Hello world";
return 0;
}
and cmake file:
cmake_minimum_required(VERSION 2.4.6)
find_package(Qt4 COMPONENTS QtCore QtGui)
INCLUDE(${QT_USE_FILE})
ADD_DEFINITIONS(${QT_DEFINITIONS})
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(first_test src/first_test.cpp)
target_link_libraries(qt_test ${QT_LIBRARIES})
but when I try to make my package with rosmake this error occurd.
{------------------------------------------------------------------------------- mkdir -p bin cd build && cmake -Wdev
-DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake
.. [rosbuild] Building package
qt_test -- Using
CATKIN_DEVEL_PREFIX:
/home/hamid/working_space/qt_test/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro -- This workspace
overlays: /opt/ros/hydro -- Using
Debian Python package layout --
Using CATKIN_ENABLE_TESTING: ON --
Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/hamid/working_space/qt_test/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.77 [rosbuild] Including
/opt/ros/hydro/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including
/opt/ros/hydro/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including
/opt/ros/hydro/share/rospy/rosbuild/rospy.cmake
CMake Error at CMakeLists.txt:34
(target_link_libraries):
Cannot specify link libraries for target "qt_test" which is not built by
this project.
-- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
Is there anyone help me?
I know about cmake a little.Could anyone give me link for cmake that how to do this?
thanks a lot
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2013-11-25
Post score: 0
|
hi,
i want to run "footstep_planner_complete.launch" node in humanoid_navigation stack, but this error appears into my terminal:
"ERROR: cannot launch node of type [footstep_planner/footstep_planner_node]: can't locate node [footstep_planner_node] in package [footstep_planner]"
rviz window opens but the planner does not work due to that error.
besides my ros version is Groovy!.
Error On Groovy
rosmake humanoid_navigation
[rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['humanoid_navigation']
[ rosmake ] Logging to directory /home/hafez/.ros/rosmake/rosmake_output-20131126-194019
[ rosmake ] Expanded args ['humanoid_navigation'] to:
['hrl_kinematics', 'humanoid_localization', 'gridmap_2d', 'footstep_planner']
[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 >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp [ 1 Active 4/71 Complete ]
No Makefile in package gencpp
[rosmake-1] Starting >>> cpp_common [ make ]
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-2] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-1] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-3] Starting >>> roslang [ make ]
[rosmake-0] Starting >>> console_bridge [ make ]
[rosmake-1] Starting >>> rostime [ make ]
[rosmake-2] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-2] Starting >>> roslib [ make ]
[rosmake-3] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-3] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-0] Starting >>> urdfdom_headers [ make ]
[rosmake-1] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-1] Starting >>> roscpp_traits [ make ]
[rosmake-3] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-3] Starting >>> orocos_kdl [ make ]
[rosmake-2] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-2] Starting >>> rosunit [ make ]
[rosmake-0] Finished <<< urdfdom_headers ROS_NOBUILD in package urdfdom_headers
No Makefile in package urdfdom_headers
[rosmake-1] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-0] Starting >>> urdfdom [ make ]
[rosmake-1] Starting >>> roscpp_serialization [ make ]
[rosmake-3] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl
No Makefile in package orocos_kdl
[rosmake-2] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-2] Starting >>> rosconsole [ 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-3] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-3] Starting >>> rosparam [ make ]
[rosmake-0] Finished <<< urdfdom ROS_NOBUILD in package urdfdom
No Makefile in package urdfdom
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-2] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-1] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-1] Starting >>> std_msgs [ make ]
[rosmake-3] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-0] Starting >>> rosclean [ make ]
[rosmake-2] Starting >>> rosconsole_bridge [ make ]
[rosmake-3] Starting >>> angles [ make ]
[rosmake-1] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-1] Starting >>> rosgraph_msgs [ make ]
[rosmake-2] Finished <<< rosconsole_bridge ROS_NOBUILD in package rosconsole_bridge
No Makefile in package rosconsole_bridge
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-1] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Starting >>> class_loader [ make ]
[rosmake-3] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-1] Starting >>> roscpp [ make ]
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-0] Starting >>> kdl_conversions [ make ]
[rosmake-1] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-1] Starting >>> collada_parser [ make ]
[rosmake-2] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-2] Starting >>> rosout [ make ]
[rosmake-3] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< kdl_conversions ROS_NOBUILD in package kdl_conversions
No Makefile in package kdl_conversions
[rosmake-3] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-1] Finished <<< collada_parser ROS_NOBUILD in package collada_parser
No Makefile in package collada_parser
[rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-3] Starting >>> smclib [ make ]
[rosmake-1] Starting >>> urdf [ make ]
[rosmake-1] Finished <<< urdf ROS_NOBUILD in package urdf
No Makefile in package urdf
[rosmake-2] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-2] Starting >>> roslaunch [ make ]
[rosmake-1] Starting >>> kdl_parser [ make ]
[rosmake-3] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-0] Starting >>> bond [ make ]
[rosmake-3] Starting >>> pcl_msgs [ make ]
[rosmake-2] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-2] Starting >>> rostest [ make ]
[rosmake-1] Finished <<< kdl_parser ROS_NOBUILD in package kdl_parser
No Makefile in package kdl_parser
[rosmake-1] Starting >>> flann [ make ]
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-1] Finished <<< flann ROS_NOBUILD in package flann
No Makefile in package flann
[rosmake-2] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-1] Starting >>> hrl_kinematics [ make ]
[rosmake-2] Starting >>> message_filters [ make ]
[rosmake-3] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs
No Makefile in package pcl_msgs
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-3] Starting >>> nodelet [ make ]
[rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools sec ] [ topic_tools: 0.0 sec ] [ nodelet: 0.0 sec ] [ 4 Active 48/71 Complete ]
No Makefile in package topic_tools
[rosmake-0] Starting >>> rosbag [ make ]
[rosmake-2] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-3] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-3] Starting >>> tf [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-2] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-3] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-3] Starting >>> tf_conversions [ make ]
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-2] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-3] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
No Makefile in package tf_conversions
[rosmake-3] Starting >>> robot_state_publisher [ make ]
[rosmake-2] Starting >>> pcl [ make ]
[rosmake-0] Starting >>> rosservice [ make ]
[rosmake-2] Finished <<< pcl ROS_NOBUILD in package pcl
No Makefile in package pcl
[rosmake-2] Starting >>> actionlib [ make ]
[rosmake-3] Finished <<< robot_state_publisher ROS_NOBUILD in package robot_state_publisher
No Makefile in package robot_state_publisher
[rosmake-3] Starting >>> humanoid_nav_msgs [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-0] Starting >>> dynamic_reconfigure [ make ]
[rosmake-2] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-2] Starting >>> nav_msgs [ make ]
[rosmake-3] Finished <<< humanoid_nav_msgs ROS_NOBUILD in package humanoid_nav_msgs
No Makefile in package humanoid_nav_msgs
[rosmake-3] Starting >>> std_srvs [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-0] Starting >>> nodelet_topic_tools [ make ]
[rosmake-3] Finished <<< std_srvs ROS_NOBUILD in package std_srvs
No Makefile in package std_srvs
[rosmake-2] Finished <<< nav_msgs ROS_NOBUILD in package nav_msgs
No Makefile in package nav_msgs
[rosmake-2] Starting >>> gridmap_2d [ make ]
[rosmake-3] Starting >>> map_server [ make ]
[rosmake-0] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
No Makefile in package nodelet_topic_tools
[rosmake-0] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
No Makefile in package pcl_ros
[rosmake-0] Starting >>> humanoid_localization [ make ]
[rosmake-3] Finished <<< map_server ROS_NOBUILD in package map_server
[ rosmake ] All 21 linesrl_kinematics: 0.4 sec ] [ gridmap_2d: 0.4 sec ] [ humanoid_localization: 0.4 sec ] [ 3 Active 67/71 Complete ]
{-------------------------------------------------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/groovy/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package humanoid_localization
Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests humanoid_localization
[rospack] Error: package/stack 'humanoid_localization' depends on non-existent package 'octomap_msgs' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package
'humanoid_localization'. Look above for errors from rospack itself.
Aborting. Please fix the broken dependency!
Call Stack (most recent call first):
/opt/ros/groovy/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
CMakeLists.txt:13 (rosbuild_init)
-- Configuring incomplete, errors occurred!
[ rosmake ] Output from build of package humanoid_localization written to:
[ rosmake ] /home/hafez/.ros/rosmake/rosmake_output-20131126-194019/humanoid_localization/build_output.log
[rosmake-0] Finished <<< humanoid_localization [FAIL] [ 0.38 seconds ]
[ rosmake ] Halting due to failure in package humanoid_localization.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] All 21 linesrl_kinematics: 0.5 sec ] [ gridmap_2d: 0.5 sec ] [ 2 Active 67/71 Complete ]
{-------------------------------------------------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/groovy/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package hrl_kinematics
Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests hrl_kinematics
[rospack] Error: package/stack 'hrl_kinematics' depends on non-existent package 'geometric_shapes' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'hrl_kinematics'.
Look above for errors from rospack itself. Aborting. Please fix the
broken dependency!
Call Stack (most recent call first):
/opt/ros/groovy/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
CMakeLists.txt:12 (rosbuild_init)
-- Configuring incomplete, errors occurred!
[ rosmake ] Output from build of package hrl_kinematics written to:
[ rosmake ] /home/hafez/.ros/rosmake/rosmake_output-20131126-194019/hrl_kinematics/build_output.log
[rosmake-1] Finished <<< hrl_kinematics [FAIL] [ 0.51 seconds ]
[ rosmake ] Halting due to failure in package hrl_kinematics.
[ rosmake ] Waiting for other threads to complete.
[rosmake-2] Finished <<< gridmap_2d [PASS] [ 2.82 seconds ]
[ rosmake ] Results:
[ rosmake ] Built 70 packages with 2 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/hafez/.ros/rosmake/rosmake_output-20131126-194019
any idea?
Originally posted by Hafez Farazi on ROS Answers with karma: 16 on 2013-11-25
Post score: 0
|
How could i do?
Update 1:
Hi my friend, i hava robot location in 2D mapping without any odometry. and i wanna 3d mapping with xtion.
i did it just for launch!
mrl-x200@mrlx200-ThinkPad-X200:~$ roscd
mrl-x200@mrlx200-ThinkPad-X200:~/fuerte_workspace$ roscreate-pkg mapping_3d std_msgs roscpp
mrl-x200@mrlx200-ThinkPad-X200:~/fuerte_workspace$ nautilus mapping_3dstd_msgs/
[/home/mrl-x200/fuerte_workspace/mapping_3dstd_msgs]
[right_click-> create new document-> empty document] && [name=do.launch]
<?xml version="1.0"?>
<launch>
<include file="$(find openni_launch)/launch/openni.launch"/>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
<param name="resolution" value="0.05" />
<param name="frame_id" type="string" value="camera_link" />
<param name="base_frame_id" type="string" value="camera_link" />
<param name="sensor_model/max_range" value="5.0" />
<remap from="cloud_in" to="camera/depth/points" />
</node>
</launch>
mrl-x200@mrlx200-ThinkPad-X200:~/fuerte_workspace$ roslaunch mapping_3d do.launch
mrl-x200@mrlx200-ThinkPad-X200:~/fuerte_workspace$ rosrun rviz rviz
now I trying with hector_mapping
<?xml version="1.0"?>
<launch>
<include file="$(find openni_launch)/launch/openni.launch"/>
<node pkg="tf" type="static_transform_publisher" name="camera_link" args="0 0 0 0 0 0 base_footprint camera_link 100" />
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
<param name="resolution" value="0.1" />
<param name="frame_id" type="string" value="map" />
<param name="base_frame_id" type="string" value="base_footprint" />
<param name="sensor_model/max_range" value="5.0" />
<remap from="cloud_in" to="camera/depth/points" />
</node>
</launch>
What is your opinion? :)
Originally posted by Mohsen Hk on ROS Answers with karma: 139 on 2013-11-25
Post score: 0
|
I created a library in OpenCV where I implemented some image processing.
The *.so file i copied to /usr/local/lib. I'm still using Fuerte.
I want to link on of my node with this library to use my functions. What is the best
way to link the library?
First I complied the library:
$ g++ ``pkg-config --cflags opencv`` -o RailwayImageProcess.o -c RailwayImageProcess.c ``pkg-config --libs opencv``
$ g++ RailwayImageProcess.o -Wall -g -shared -o RailwayImageProcess.so
Than i copied the *.so to /usr/local/lib
I tired adding to my CMakeList.txt the folowing lines:
link_directories(/usr/local/lib)
target_link_libraries(${PROJECT_NAME} RailwayImageProcess)
Finally i run a cmake . and make But I get an error in Linking phase:
Linking CXX executable bin/railDetect
/usr/bin/ld: cannot find -lRailwayImageProcess
collect2: ld returned 1 exit status
make[2]: *** [bin/railDetect] Error 1
make[1]: *** [CMakeFiles/railDetect.dir/all] Error 2
make: *** [all] Error 2
Originally posted by zweistein on ROS Answers with karma: 231 on 2013-11-25
Post score: 0
Original comments
Comment by dornhege on 2013-11-25:
What is your exact linking setup? Which libraries are involved. You have my_lib in the CMakeLists.txt, but you get an error on RailwayImageProcess. Do you have a dependency on that library?
|
Hi, guys:
I launched rgbdslam in ros,and save scene to .g2o file.
Now, I want to open .g2o how can I do.
I found openslam, here is g2o_viewer but I don't know how to use it.
help me,please.
Originally posted by FfoNy on ROS Answers with karma: 62 on 2013-11-25
Post score: 0
|
Hi, All,
A while ago I asked a question on using move base and hector exploration together here. Now, I get some error messages when I run SLAM, hector exploration, movebase together
[ INFO] [1385448000.186189169]:
Exploration Service called [ INFO]
[1385448000.186304532]:
[hector_exploration_planner]
exploration: starting exploration [
INFO] [1385448000.669314882]:
[hector_exploration_planner]
exploration: found 4802 frontiers! [
WARN] [1385448000.799343886]:
[hector_exploration_planner] No path
to the goal could be found by
following gradient! [ INFO]
[1385448000.799741182]:
[hector_exploration_planner]
exploration: could not plan to
frontier, starting inner-exploration [
INFO] [1385448000.799854087]:
[hector_exploration_planner]
inner-exploration: starting
exploration [ WARN]
[1385448000.952170236]:
[hector_exploration_planner]
inner-exploration: no inner-frontiers
have been found! exploration failed!
[INFO] [WallTime: 1385448000.952932]
No frontiers left.
The strange thing is that these warnings and error messages only appear when I start my robot, they will remain there as long as the robot is not moving (teleoped, my robot can be teleoped and explore by itself ). Once I teleop my robot for a while (a few seconds), the error messages disappeared and the robot starts to explore by itself. I am really curious what do these messages mean and how can I get rid of them. Thanks!
Originally posted by BenMa on ROS Answers with karma: 76 on 2013-11-25
Post score: 0
|
Hello,
I'm a newbie on ROS and ROSJava and I'm trying write an app which communicates with ROS on a PC. The PC has ROS Hydro installed. I've followed the steps so now I have rosjava_core and android_core. And I was trying to import the tutorials from android_core in Android Studio to test the waters and start playing around but I get a message about unsupported version of Gradle (which is weird because it's using the one that came with AS). I have v1.8 of Gradle. When I am not getting that problem I get "Could not find any version that matches org.ros.rosjava_bootstrap:gradle_plugins:[0.1,0.2).Required by:android_core:unspecified"
I've followed the tutorials as closely as possible but I can't seem to find a solution.
Any help would be very appreciated.
Originally posted by MariosV on ROS Answers with karma: 11 on 2013-11-26
Post score: 1
Original comments
Comment by MariosV on 2014-02-09:
After a lot of messing around and your help I managed to solve my problems.
a) I was sourcing the wrong setup.bash file so I got the "Could not find..." problem.
b) The Gradle problem seemingly solved itself.
Thanks a lot.
|
Hello,
I am trying to stimulate in 2D a simple robot, and I want to visualize a portion of the state space (the set of inevitable collision states for instance) that changes in real time.
I am using Gazebo as a simulator, and the state space is a simple grid (a regular lattice).
How could this be nicely done using Gazebo or Rviz?
Thanks in advance!!!
Originally posted by mowahed on ROS Answers with karma: 35 on 2013-11-26
Post score: 0
|
Currently, I have a package with a CMake invocation like so:
execute_process(COMMAND catkin_find other_package file/in/package --first-only
OUTPUT_VARIABLE LOCATION_OF_FILE)
This works, but with one important caveat: the catkin_find call fails if the workspace wasn't sourced prior to build. What this means is that setting up a workspace with this package can be an awkward dance of creating and building the empty workspace, sourcing it, and then re-building.
My hypothesis is that there's a better way involving find_package(), but none of the variables which are created by find_package point to the share path. Is there some other catkin macro which fills this niche, or another CMake technique which should be used?
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2013-11-26
Post score: 1
|
I have a set of navigation parameters that works perfectly under Groovy but when I switch to Hydro on the same machine and try to use the same parameters in backward-compatibility mode (i.e. by making no changes at all to my YAML files), I run into two problems:
The (simulated) robot now has a lot of trouble getting to a goal even in an obstacle-free environment. It tends to overshoot the goal location and do a lot of rotation around the goal.
While this is happening, I get a fairly constant stream of messages in the move_base terminal window similar to the following:
[ WARN] [1384802549.335952797]: Map update loop missed its desired rate of
3.0000Hz... the loop actually took 0.7676 seconds
[ WARN] [1384802549.336363131]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.8910 seconds
[ WARN] [1384802550.183853582]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.5146 seconds
[ WARN] [1384802550.184482242]: Control loop missed its desired rate of 3.0000Hz... the loop actually took 0.8481 seconds
etc.
I have posted this as an issue on the ros-planning/navigation Github but so far without solution.
My setup is Ubuntu 12.04 with both Groovy and Hydro Debian installations. I am running a "fake TurtleBot" using the Arbotix package which basically assumes that the robot's odometry is perfect so it's a nice way to test the navigation parameters in an ideal enviroment.
My navigation parameters and move_base launch file can be found at the following links:
base_local_planner_params.yaml
costmap_common_params.yaml
local_costmap_params.yaml
global_costmap_params.yaml
fake_move_base_blank_map.launch
fake_move_base.launch
And my blank map is defined by the two files:
blank_map.yaml
blank_map.pgm
Any ideas on how to get his working in Hydro would be greatly appreciated!
--patrick
UPDATE 1: To reproduce the problem, follow these steps:
First install the arbotix package and the rbx1 stack:
$ sudo apt-get install ros-hydro-arbotix
$ cd ~/ros_workspace (or wherever your rosbuild workspace lives)
$ git clone https://github.com/pirobot/rbx1
$ cd rbx1
$ git checkout hydro-experimental
$ rosmake rbx1
$ rospack profile
Now test moving the fake Turtlebot around the four corners of a square:
$ roscore
$ roslaunch rbx1_bringup fake_turtlebot.launch
$ roslaunch rbx1_nav fake_move_base_blank_map.launch
$ rosrun rviz rviz -d `rospack find rbx1_nav`/nav.rviz
$ rosrun rbx1_nav move_base_square.py
Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2013-11-26
Post score: 1
Original comments
Comment by David Lu on 2013-11-26:
Can you link to the fake turtlebot package so I can try this?
Comment by Pi Robot on 2013-11-26:
Hi @David Lu - I have posted details on how to reproduce as an Update above. Regarding the mangled "git clone" line in the update, I don't know how to escape the tags. It should be 'git clone https://github.com/pirobot/rbx1'
Comment by fergs on 2013-11-26:
Is there data coming from anywhere? It seems that the costmap update should take almost no time if there is no data...
Comment by Pi Robot on 2013-11-26:
@fergs - No data that I'm aware of. The blank map is static and I'm not simulating any sensor data. What topic should I check to see if there is some weird data coming from somewhere?
Comment by Pi Robot on 2013-11-26:
I forgot to push a commit to the hydro-experimental branch of rbx1 after posting Update 1 above. Please do a git pull in rbx1 to get the proper files if you cloned it before the time stamp on this comment.
Comment by David Lu on 2013-11-27:
I have replicated the error and am puzzled. So far I am content to blame the bad driving on the update rate problems, but that's just conjecture. I'm not sure yet why the update rates are so problematic either. Will look into it more.
Comment by Pi Robot on 2013-11-27:
Thanks for taking the time to replicate. I'm glad to know it's not just me! I'm curious to see what the problem turns out to be.
Comment by David Lu on 2013-11-27:
For reference, I made a chart with the command velocities in the two scenarios. http://imgur.com/s2lY3Qu
|
I wanted to exploit the fact that hector_mapping gives pretty accurate position estimate. I used the position estimate to find odometry and now hector_mapping successful publishes the odom message and gives the required tf. But when I run amcl and publish an already created map using map_server everything messes up because now both the hector_mapping and
map_server are publishing maps. Even if I remap the hector mapping map to something else to divert it my tf is disturbed. Please help how to resolve this issue
Originally posted by Fahad on ROS Answers with karma: 111 on 2013-11-26
Post score: 3
Original comments
Comment by ne0h on 2015-11-16:
Hi Fahad,
did you manage to get this working?
Greetings, Max
Comment by quentin on 2015-11-17:
Yes I am also trying to do it...
Comment by ne0h on 2015-11-17:
Do you try to use AMCL?
Comment by ne0h on 2015-11-19:
I got it running by providing the odometry data from hector_mapping as transform from scanmatcher->base_link. Here is my launch file: https://github.com/ne0h/hmmwv/blob/master/ros_workspace/src/hmmwv/launch/prebuildmap.launch
Comment by pJ on 2015-11-20:
Hi ne0h, I am working on a similar task to get amcl working with hector mapping odometry. I see in your repository that you had to make a minor timing delay change in hector mapping source file. Is it something specific to your task or essential to get this combination working?
Comment by ne0h on 2015-11-20:
Hi pJ, the timer delay has nothing to do with the amcl approach. We had to add the delay to get hector_slam working due to some timing errors in hector_slam. Perhabs the cpu was just to slow to meet the ROS timing rate...
Comment by quentin on 2015-11-27:
Hi neOh, I am trying to use your launch (hector_mappping, AMCL, map_server, move_base) combined with a simulated robot (hector_quadrotor_gazebo). But I am getting tf trees errors which i am struggling WITH.
Could you upload a screenshot of both your tf tree and your graph (nodes and topics)?
Comment by ne0h on 2015-11-27:
Hi quentin, no problem. Transform tree (https://ne0h.de/cloud/index.php/s/nwcCiVrQOTk1JOT) and messages tree (https://ne0h.de/cloud/index.php/s/BHSgQMRB3AnqyTW).
Comment by quentin on 2015-11-29:
Thanks for that! In your tf-tree, shouldn't you have a frame listened by the acml (/map?) and one used by hector_mapping to provide you with the odometry information (/odom or /nav?)
And could you explain me how I should do to have your odomtransformer.py working? I struggled all the day with it!
Comment by ne0h on 2015-12-03:
You are right, the transform scanmatcher_odom->map is missing. I can't check at the moment but normally it is there. dodomtransformer.py takes odometry input (in my case from hector_mapping) and outputs this data as transform. How do you get the odometry data?
Comment by quentin on 2015-12-03:
I try two solutions, both using AMCL for the localization (map to odom transfo):
Laser_scan_matcher node provides me an odometry and a tf transform odom -> base_footprint
Hertor_mapping providing odometry and the tf (odom -> base_footprint) is provided by either LSM with odom input or pose_EKF
Comment by mksun on 2015-12-09:
two maps:hector mapping provide a building map, amcl provide an existing map.my question : would the hector slam provide odom information without a building map,because it make the procedure slower
Comment by quentin on 2015-12-09:
according to Stefan is should provide odom information exactly as a simple Laser_scan_matcher would. And therefore without storing the building map... But I cannot find a way to have this working.
Did you figured it out mksun?
Comment by mksun on 2015-12-09:
I have tested the laser_scan_matcher node ,it could publish odom information quickly,but it met "can not locate" problem frequently, and hector slam has such situation now, i cant sovle it. whether the building map and the existing map should have the same params?
Comment by quentin on 2015-12-09:
My understanding is that the building map is not useful by itself if the real localization is achieved by AMCL. So you'd rather remap it somewhere else and the params are not important. At least this what I understand!
Do you try your experiment along with hector_quadrotor simulation with gazebo?
Comment by mksun on 2015-12-09:
i have done some experiment. when two maps have the same params,hector slam and amcl have a good performence. sorry, i don't have quadrotor of experience.
Comment by ne0h on 2015-12-10:
Yes, you need to remap hector_mapping's map and frame topics: and < param name="map_frame" value="/mapcurrent" /> .
Comment by mksun on 2015-12-10:
that's how i do. but now hector mapping have another problem: it may publish a warning message after one hour runtime. MessageFilter[target=mapcurrent]:Dropped 100.00% of messages so far.please turn the ros.hector_mapping.message notifier] rosconsole logger to DEBUG for more information.
Comment by ne0h on 2015-12-10:
I am sorry I never had this warning. Does your CPU have enough power? ROS starts dropping messages when the system load increases dramatically.
Comment by kesuke on 2018-07-04:
@neOh why did you use amcl since hector_slam gives the position ?
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I wanted to exploit the fact that hector_mapping gives pretty accurate position estimate. I used the position estimate to find odometry and now hector_mapping successful publishes the odom message and gives the required tf. But when I run amcl and publish an already created map using map_server everything messes up because now both the hector_mapping and
map_server are publishing maps. Even if I remap the hector mapping map to something else to divert it my tf is disturbed. Please help how to resolve this issue
Originally posted by Fahad on ROS Answers with karma: 111 on 2013-11-26
Post score: 8
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I've built a 7 DOF robotic arm using dynamixels, and the total cost of the motors was about 2000. I think this is way too expensive, I mean we can't commercialize robotics if the motors are so expensive. I think that making the motors cheaper is the key to getting affordable robots out there. The problem is, hobby servos won't do, we need the feedback of robot motors for effective computation of robotic algorithms.
Dynamixels are great, don't get me wrong, but does anyone know of any robot motors that are cheaper?
Originally posted by llSourcell on ROS Answers with karma: 236 on 2013-11-26
Post score: 3
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Hello,
I am trying to remotely control a Husky to do SLAM. I want to control the Husky using RVIZ, but am running into a problem with RVIZ lagging. I looked at the networking tutorial on the wiki, set the IP, HOSTNAME, and MASTER_URI, and have an SSH agent set up between the laptops. I can get rviz to open but it lags horribly. I tested the code locally on the husky to ensure that the problem was not on the husky's end, and it ran fine. Is there a better way to run rviz remotely?
Thanks
Originally posted by Icehawk101 on ROS Answers with karma: 955 on 2013-11-26
Post score: 1
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Hello,
I want to customize the octomap_server with this scenario that just points with yellow color considered as occupied and all others considered as free, so what is the best way to do it ? my mean is i should get the source code of octomap_server and modify it and compile and use it, or is there a easiest way?
Thanks in advance
Originally posted by VahidD on ROS Answers with karma: 72 on 2013-11-26
Post score: 0
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Hi guys,
Regarding to the rviz 2D pose estimation, does anyone have an idea of the yaw angle or direction of robot facing every time we relocate robot position with it?
Is it possible to set the yaw angle to my desired angle?
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2013-11-26
Post score: 0
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I am converting laser Scan points from laser frame to map frame(occupancy grid).The tf between them changes as the robot moves so I need to listen to TF every time the laser callback is called. But the tf doesn't get called every time.It is only listened to once.the code is here. the waitforTransform doesnt get called at all.
Originally posted by balakumar-s on ROS Answers with karma: 137 on 2013-11-26
Post score: 2
Original comments
Comment by BennyRe on 2013-11-26:
Do the transforms get published? Check the output of rostopic echo /tf
Comment by balakumar-s on 2013-11-26:
Tf gets published. The problem is as the mobile robot moves, the tf changes and hence during very laser callback, the tf must be listened to get the current tf. The code is using the tf which was present at the launch of the program and tf doesnt listen to it after that.
Comment by tfoote on 2013-11-27:
tf is used all the time on mobile robots. Please provide the error outputs and what you are expecting. As well as a way to reproduce the problem so we can help you.
Comment by balakumar-s on 2013-11-27:
I just had to put the tf listener inside the callback and it works. But it caches for sometime and then uses that cached tf to convert the laserscan to map. Is there a way to listen to tf in realtime? I am attaching the text file here: http://textuploader.com/d8ma
Comment by balakumar-s on 2013-11-27:
I found a solution and the problem is solved. @tfoote I am new to this, so should I close this question or type the solution as an answer and tick it?
Comment by tfoote on 2013-11-27:
You can put the answer below if you've solved it yourself. However your linked solution with the TransformListener constructed inside the callback function is very fragile and likely not to generalize. It forces the cache to rebuild in every callback. And the incoming data is in a different thead in either implementation. You will need to debug deeper to understand what is actually your problem. You're just masking it with this solution.
Comment by balakumar-s on 2013-11-27:
I forgot the basics of tf of using stamped time from laserscan. i fixed it. I will post it as an answer. Thanks !
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In my rosbuild package I have a dependency one of my catkin packages:
<depend package="myCatkinPackage"/>
Calling rosmake myRosbuildPackage generates an error since the catkin package was not found. I can roscd to both catkin and rosbuild packages. I tried overlaying my rosbuild ws on top of my catkin ws:
$ cd ~/path/to/rosbuild_ws
$ rosws init . ~/path/to/catkin_ws/devel
$ source setup.sh
Now it does not find any rosbuild packages (only the catkin_ws is in the ROS_PACKAGE_PATH).
What is the correct way of depending on catkin packages from rosbuild?
Originally posted by Ola Ringdahl on ROS Answers with karma: 328 on 2013-11-26
Post score: 1
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Hello everybody!
I'm trying to use moveit on ros hydro, I'm on Ubuntu 12.04 32 bit. I installed it using the commands:
sudo apt-get install ros-hydro-moveit-full
sudo apt-get install ros-hydro-moveit-full-pr2
when launching roslaunch pr2_moveit_config demo.launch rviz starts well and it seems all ok, but then the MotionPlanning loads something like another pr2 perpendicular to the first and not completely mounted
following the tutorial I changed some parameters like the Planning Scene Topic and finally the second pr2 disappears. But when I move around the start position and the goal position (making sure they are not in collision) and I click the 'plan' button nothing happen. If I try 'plan and execute' the second pr2 appears again and it seems like something is moving, but with the robot disassembled it's difficult to tell it!
Can someone help me? Thanks!!
Originally posted by Tirjen on ROS Answers with karma: 808 on 2013-11-27
Post score: 1
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We have a PrimeSense Carmine sensor (1.09), it works before under both Groovy and Fuerte following the workaround provied by PrimeSense Carmine doesn't work, but ASUS Xtion does. But after several updates, the openni_launch in Groovy no longer works, while the Fuerte one still do. I did the following experiments to investigate the error:
== under ROS Groovy and Fuerte, original package WITHOUT Sensor-Bin-Linux-x86-v5.1.2.1 ==
Driver won't start with openni.launch, giving such error:
[ INFO] [1385557309.784984535]: No devices connected.... waiting for devices to be connected
== under ROS Groovy, after installing Sensor-Bin-Linux-x86-v5.1.2.1 ==
openni.launch will crash, giving many errors, only sensable ones are listed here:
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
what(): unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/buildd/ros-groovy-openni-camera-1.8.9-0precise-20131016-0128/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:
Image: PrimeSense/SensorV2/5.1.2.1: Failed to set USB interface!
[FATAL] [1385557181.994270107]: Service call failed!
== under ROS Fuerte, after installing Sensor-Bin-Linux-x86-v5.1.2.1, it works smoothly(like the Kinect!) ==
Since we have many other modules work only in ROS Groovy, so we have to make the camera driver working under the same distribution. We are running all these under a 32-bit ubuntu 12.04 machine.
update
I checked the ros-groovy-openni-camera package versions, the current version(20131016) does not work. And I cannot install the old version:
apt-get install ros-groovy-openni-camera=1.8.8-0precise-20130326-0820-+0000
E: Version '1.8.8-0precise-20130326-0820-+0000' for 'ros-groovy-openni-camera' was not found
1.8.8-0precise-20130326-0820-+0000
# this seems to be the start point when it failed
1.8.9-0precise-20130715-0342-+0000
1.8.9-0precise-20130722-0045-+0000
1.8.9-0precise-20130724-2247-+0000
1.8.9-0precise-20130926-0224-+0000
1.8.9-0precise-20131016-0128-+0000
Any suggestions are welcome, thanks in advance!
Originally posted by K Chen on ROS Answers with karma: 391 on 2013-11-27
Post score: 1
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Hi everyone can I publish a 2d projection of the map (occupancy_grid msg) that I loaded on the octomap_server and pass it to map_server or costmap_2d on some topic?
Can you help me?
Thanks
Originally posted by Mattia on ROS Answers with karma: 1 on 2013-11-27
Post score: 0
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Hi All,
Recently I have been working with the Universal Robot Stack, When I tried to test the demo.launch file present ur5_moveit_config package, Everything works fine but then I tried to check the Inter-connectivity between different nodes by typing.
$ rosrun rqt_graph rqt_graph
This Command opens the rqt window and displays the Inter-connectivity between all the Nodes. However the mongodb_wrapper Node does not seem to be connected to any of the Nodes. I would like to understand, as to how one can utilize this database? Any one who has worked on this with other Robots are also requested to share the details. As I understand, This db is used to store Planning information! Please Correct me if I am Wrong.
Thanks and Regards,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2013-11-27
Post score: 0
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Hi everyone!
I configurate eclipse 3.8 for catkin workspace.
talker.cpp and listener.cpp (from examples) compile and work fine (build by eclipse), but herewith eclipse find few errors.
In talker:
LINE: ros::Publisher chatter_pub = n.advertise < std_msgs::String > ("chatter", 1000);
Description Resource Path Location Type
Invalid arguments '
Candidates are:
ros::Publisher advertise(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, bool)
ros::Publisher advertise(ros::AdvertiseOptions &)
ros::Publisher advertise(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, const boost::function<void (const ros::SingleSubscriberPublisher &)> &, const boost::function<void (const ros::SingleSubscriberPublisher &)> &, const boost::shared_ptr<const void> &, bool)
' talker.cpp /Project@build/[Source directory]/beginner_tutorials/src line 45 Semantic Error
In listener:
LINE: ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
Description Resource Path Location Type
Invalid arguments '
Candidates are:
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(#0), #1 *, const ros::TransportHints &)
ros::Subscriber subscribe(ros::SubscribeOptions &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(#0)const, #1 *, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(const boost::shared_ptr<const #0> &), #1 *, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(const boost::shared_ptr<const #0> &)const, #1 *, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(#0), const boost::shared_ptr<#1> &, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(#0)const, const boost::shared_ptr<#1> &, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(const boost::shared_ptr<const #0> &), const boost::shared_ptr<#1> &, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (#1::*)(const boost::shared_ptr<const #0> &)const, const boost::shared_ptr<#1> &, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (*)(#0), const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, void (*)(const boost::shared_ptr<const #0> &), const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, const boost::function<void (const boost::shared_ptr<const #0> &)> &, const boost::shared_ptr<const void> &, const ros::TransportHints &)
ros::Subscriber subscribe(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, ?, const boost::function<void (#1)> &, const boost::shared_ptr<const void> &, const ros::TransportHints &)
' listener.cpp /Project@build/[Source directory]/beginner_tutorials/src line 79 Semantic Error
What's the matter?
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-11-27
Post score: 0
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Hello
I would like to use an QT as an user interface for my mobile platform. I have a sensor package consist of IMU , Laser, Kinect and wheel encoders. Would like to have an input button that run a rose node than do something with the data and gives an output results. Any help or advice, or code suggestion regarding this?
Thanks
Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-11-27
Post score: 0
Original comments
Comment by Hamid Didari on 2013-11-27:
you can add QT library in your pkg and use it like qt
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Hello everybody.
I am developing a mobile base with wheels for a robot and I am thinking different sensors for calculate distances, track people and avoid obstacles.
I found two alternatives: Kinect for Windows (I think that its better that Kinect 360 but I dont know exactly) and Asus Xtion PRO LIVE.
Searching in the web, I dont found a lot of differences between the two: Asus have USB power supply and better RGM image and Kinect are more complet, with a lot of functions (tracking skelletons, near mode, ...) but I dont know what it will be better to my work.
Anyone knows which is better or which fits better with my project?
Thanks!
Originally posted by elseine on ROS Answers with karma: 1 on 2013-11-27
Post score: 0
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Hello,
I have a catkin workspace containing some catkin packages. They were created using catkin_init_workspace and catkin_create_pkg commands respectively.
I want to move them all in another directory but I didn't find any tutorial about it. Is there something I have to do before that? Can I simply mv -r this workspace directory?
I have some doubts because using rosrun ROS I can find my packages everywhere and it doesn't ask me for paths, so I thought it could be possible only with some environment settings. I'm cautios about moving workspace, that's why I'm asking here :)
I'm using ROS Groovy and Ubuntu 12.04
So, briefly my questione are:
How to move packages into another workspace?
How to move the entire workspace with all its packages?
How to remove a package?
How to remove an entire workspace?
Thanks in advance.
Originally posted by eds on ROS Answers with karma: 101 on 2013-11-27
Post score: 10
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Hello everybody!
I was planning to test some of my packages on the ARM-based Odroid-XU (ROS hydro on Linaro 13.05), but experienced some strange behavior when trying to play back a bag file.
When I execute the command rosbag play mybag.bag, I get the following output:
[ INFO] [1385631615.554476003]: Opening mybag.bag
Waiting 0.2 seconds after advertising topics... done.
Hit space to toggle paused, or 's' to step.
The problem is that it never got to the stage that it would say:
[RUNNING] Bag Time: 1381311745.123451 Duration: {time} / 78.856356
But as soon as I quit with ctrl+c, it will display:
[RUNNING] Bag Time: 1381311666.267094 Duration: 0.000000 / 78.856356
^C
I tried fiddling around with the different options and had a minor success with -i (play back all messages without waiting). With this option the bag is plays back in a couple of seconds. I think it is interesting that this works, however it does not help in my case.
I have also tried different bags, all of them have been extensively used on my workstation.
Has anyone else experienced this problem? Any clue about how to fix this?
Best
Tim
Originally posted by timster on ROS Answers with karma: 396 on 2013-11-27
Post score: 0
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Hi,
I have installed ubuntu 12.04 and ros-groovy and when I try to install turtlebot package I get the following problem:
viki@ROS:~$ sudo apt-get install ros-groovy-turtlebot
[sudo] password for viki:
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-groovy-turtlebot : Depends: ros-groovy-zeroconf-avahi-suite (= 0.2.2-0precise-20131015-2213-+0000) but it is not going to be installed
Depends: ros-groovy-navigation (= 1.10.3-s1383961963~precise) but it is not going to be installed
Depends: ros-groovy-multimaster-experimental (= 0.2.1-s1381889748~precise) but it is not going to be installed
Depends: ros-groovy-xacro (= 1.7.4-s1381889842~precise) but it is not going to be installed
Depends: ros-groovy-ros-comm (= 1.9.50-0precise-20131016-0131-+0000) but 1.9.39-0precise-20121230-1434-+0000 is to be installed
Depends: ros-groovy-turtlebot-create (= 2.0.1-s1381895136~precise) but it is not going to be installed
Depends: ros-groovy-kobuki (= 0.3.9-1precise-20131016-0554-+0000) but it is not going to be installed
Depends: ros-groovy-kobuki-description (= 0.3.2-s1381895153~precise) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Please, Can help me someone to resolve this problem? I don't know what should I do.
thanks,
Originally posted by Maikel on ROS Answers with karma: 3 on 2013-11-28
Post score: 0
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I want to write a C++ program to switch the control from keyboard to autonomous and vice-versa. Will it be feasible in ROS?
Because, my program need to communicate through two packages namely move_base and brown_remotelab (http://wiki.ros.org/brown_remotelab). I can’t visualize the whole scenario and it’s complexity.
Can you give some insight about the situation and some idea to design the program?
Originally posted by RB on ROS Answers with karma: 229 on 2013-11-28
Post score: 1
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Hi all,
i have a problem, may be someone knows about it, when i install binary octomap_server and run it the result map is excellent but when i use from source and compile it in catkin the result is not continuously, many shots are lost! also the problem is not from tf. I’ve attached the pictures of two situation, the first one is generate by compiled octomap_server and second one is by binary octomap_server. also i downloaded the source from here. also the parameters for both of them are same.
mu ubuntu is 12.04 and my ros is hydro.
thanks in advance
Originally posted by VahidD on ROS Answers with karma: 72 on 2013-11-28
Post score: 0
|
Hi,
I am trying to install object_recognition_core by following the instructions on this website wg-perception.github.io/object_recognition_core/install.html#install
Upon running catkin_make it gets to 100% then fails with the following link errors:
/home/aly/workspace/ork/devel/lib/libobject_recognition_core_common.so: error: undefined reference to 'PyObject_Size'
/home/aly/workspace/ork/devel/lib/libobject_recognition_core_common.so: error: undefined reference to 'PyErr_Occurred'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_python.so: error: undefined reference to 'PyList_Insert'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_python.so: error: undefined reference to 'PyExc_ImportError'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_python.so: error: undefined reference to 'PyString_InternFromString'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_python.so: error: undefined reference to 'PyProperty_Type'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libboost_python.so: error: undefined reference to 'PyString_AsString'
and many more similar errors followed by:
collect2: ld returned 1 exit status
make[2]: *** [ork/devel/lib/object_recognition_ros/object_information_server] Error 1
make[1]: *** [object_recognition_ros/src/info_service/CMakeFiles/object_information_server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Any idea why these are failing, my python version is 2.7.3
Thanks
Originally posted by o3p7s5 on ROS Answers with karma: 86 on 2013-11-28
Post score: 0
|
Having trouble getting python to accept a custom message. I have performed, what I believe to be, the necessary steps to package.xml and CMakelists.txt. I feel that I perform the task as outlined in the tutorials: catkin_make etc.
I am able to find my custom message:
$rosmsg package ssimsim
ssimsim/parsedDiagMsg
when attempting to invoke this custom message type, i am met with:
Traceback (most recent call last):
File "/home/traxx/catkin_ws/src/ssimsim/scripts/nmeaparser.py", line 7, in <module>
from ssimsim.msg import parsedDiagMsg
ImportError: No module named msg
I am calling it as follows:
import roslib; roslib.load_manifest('ssimsim')
import rospy
from std_msgs.msg import String
from ssimsim.msg import parsedDiagMsg
I have tried several permutations of the from/import, based off various ROS help topics with little success. The .msg throwing the error I am finding more than odd.
help greatly appreciated
Originally posted by arlenn on ROS Answers with karma: 71 on 2013-11-28
Post score: 7
Original comments
Comment by felix k on 2013-11-29:
Does the output from catkin_make show that the messages from your package are built successfully?
Comment by Dirk Thomas on 2013-12-30:
With catkin you should remove the "roslib.load_manifest" line since it is not necessary anymore.
|
I am working up a URDF file and hoping to put together a new robot model along with a tutorial describing the ROS development process.
I am using ROS-Groovy.
Right now I have a URDF that compiles and a state_publisher that fails to link. The message reads:
"… undefined reference to 'tf::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_std::allocator<void > const&)' "
I expect that I will also need a launch file, but have no clue what it will need to contain.
First question is how do I fix this build error?
Next question is do I have the correct directory layout?
Current file organization is:
…_ws/src/rbot_description/urdf/rbot.urdf
…_ws/src/rbot_description/src/state_publisher.cpp
The state publisher is just a simulation stub at the moment, so knowing how to have a simulator sometimes and real control other times would be nice to know.
Finally I need to know where to put the launch file and what to put into it to get RVIZ running?
Again my assumption is that I really only need the 3 files: URDF, state_publisher and launch; is this correct?
Originally posted by flb on ROS Answers with karma: 30 on 2013-11-28
Post score: 0
|
Hello,
I have been trying to make hector slam work on my turtlebot with a hokuyo 04lx laser.
I am using ROS fuerte, ubuntu 12.04.
Steps I followed:
Did rosmake to hector_slam package with no errors.
I already have a urdf of my turtlebot with laser installed. (I can use gmapping)
I did try the hector_turtlebot gazebo tutorials successfully.
I launched the files in this order.
turtlebot.launch file
hokuyo.launch file
hector_slam_launch tutorial.launch
The mapping_default.launch file is like this:
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="nav"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="true"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
<param name="scan_topic" value="hokuyo_scan"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>
I can see the laser scan and robot model on rviz. But the fixed frame and target from gives error on /map topic. If I change both of them to /odom the laser scans are shown.
Also the Map field gives error. I cannot see the map being built.
Also on the terminal in the tutorial.launch file I get strange errors like this:
SUMMARY
========
PARAMETERS
* /hector_geotiff_node/draw_background_checkerboard
* /hector_geotiff_node/draw_free_space_grid
* /hector_geotiff_node/geotiff_save_period
* /hector_geotiff_node/map_file_base_name
* /hector_geotiff_node/map_file_path
* /hector_mapping/advertise_map_service
* /hector_mapping/base_frame
* /hector_mapping/laser_z_max_value
* /hector_mapping/laser_z_min_value
* /hector_mapping/map_frame
* /hector_mapping/map_multi_res_levels
* /hector_mapping/map_resolution
* /hector_mapping/map_size
* /hector_mapping/map_start_x
* /hector_mapping/map_start_y
* /hector_mapping/map_update_angle_thresh
* /hector_mapping/map_update_distance_thresh
* /hector_mapping/odom_frame
* /hector_mapping/pub_map_odom_transform
* /hector_mapping/scan_subscriber_queue_size
* /hector_mapping/scan_topic
* /hector_mapping/tf_map_scanmatch_transform_frame_name
* /hector_mapping/update_factor_free
* /hector_mapping/update_factor_occupied
* /hector_mapping/use_tf_pose_start_estimate
* /hector_mapping/use_tf_scan_transformation
* /hector_trajectory_server/source_frame_name
* /hector_trajectory_server/target_frame_name
* /hector_trajectory_server/trajectory_publish_rate
* /hector_trajectory_server/trajectory_update_rate
* /rosdistro
* /rosversion
* /use_sim_time
NODES
/
hector_geotiff_node (hector_geotiff/geotiff_node)
hector_mapping (hector_mapping/hector_mapping)
hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
rviz (rviz/rviz)
ROS_MASTER_URI=http://192.168.111.21:11311
core service [/rosout] found
process[rviz-1]: started with pid [16501]
process[hector_mapping-2]: started with pid [16502]
process[hector_trajectory_server-3]: started with pid [16563]
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1385693168.936804322]: HectorSM p_base_frame_: base_link
[ INFO] [1385693168.936939784]: HectorSM p_map_frame_: map
[ INFO] [1385693168.937028939]: HectorSM p_odom_frame_: odom
[ INFO] [1385693168.937128850]: HectorSM p_scan_topic_: hokuyo_scan
[ INFO] [1385693168.937212180]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1385693168.937281717]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1385693168.937360377]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1385693168.937426493]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1385693168.937492279]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1385693168.937555392]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1385693168.937628583]: HectorSM p_map_update_distance_threshold_: 0.400000
[ INFO] [1385693168.937708414]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1385693168.937776160]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1385693168.937842333]: HectorSM p_laser_z_max_value_: 1.000000
process[hector_geotiff_node-4]: started with pid [16620]
[ INFO] [1385693170.824508362]: No plugins loaded for geotiff node
[ INFO] [1385693170.824670229]: Geotiff node started
Got bus address: "unix:abstract=/tmp/dbus-2hLnz9fcNf,guid=bb9cbab66e8849381861c23a00000019"
Connected to accessibility bus at: "unix:abstract=/tmp/dbus-2hLnz9fcNf,guid=bb9cbab66e8849381861c23a00000019"
Registered DEC: true
Registered event listener change listener: true
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QComboBoxListView(0x1fd6e50) ""
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QComboBoxListView(0x205e6a0) ""
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
QSpiAccessible::accessibleEvent not handled: "8008" obj: QComboBoxListView(0x22dd9d0) ""
QSpiAccessible::accessibleEvent not handled: "8008" obj: QObject(0x0) " invalid interface!"
FIXME: handle dialog start.
FIXME: handle dialog end.
I do not understand what is this??
My TF tree and Rviz shot are attached here.
TF tree (https://www.dropbox.com/s/xr6ziffncbh0ptd/frames.pdf)
RViz-Screenshot from 2013-11-29 11:31:31.png
Can someone help me point out the errors and how to solve it. Also how to solve the error I am getting on the terminal.
Thanks in advance!!
Ankit
Originally posted by Vegeta on ROS Answers with karma: 340 on 2013-11-28
Post score: 0
|
Hi,
Does anyone know how to run segbot in Rviz and Gazebo from this segbot package(https://github.com/utexas-bwi/segbot)?
I have tried the:
$rosrun xacro xacro.py segbot.urdf.xacro > segbot.urdf
But it turned out that the segbot.urdf is blank.
Thank you in advance!
Cheers,
Lili
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2013-11-28
Post score: 0
|
My ros version is fuerte and I installed the knowrob stack by "apt-get install ros-fuerte-knowrob".
I ran "rosrun rosprolog rosprolog mod_srdl"
% library(swi_hooks) compiled into pce_swi_hooks 0.00 sec, 2,224 bytes
% library(error) compiled into error 0.00 sec, 10,220 bytes
% library(lists) compiled into lists 0.01 sec, 25,320 bytes
% library(shlib) compiled into shlib 0.01 sec, 37,148 bytes
% library(option) compiled into swi_option 0.00 sec, 8,468 bytes
% library(process) compiled into process 0.01 sec, 55,748 bytes
% /opt/ros/fuerte/stacks/knowrob/rosprolog/prolog/init.pl compiled 0.01 sec, 60,268 bytes
% library(jpl) compiled into jpl 0.02 sec, 171,564 bytes
% library(sgml) compiled into sgml 0.01 sec, 24,220 bytes
% library(quintus) compiled into quintus 0.00 sec, 11,676 bytes
% rewrite compiled into rewrite 0.00 sec, 19,112 bytes
% library(uri) compiled into uri 0.00 sec, 8,036 bytes
% library(record) compiled into record 0.00 sec, 18,936 bytes
% rdf_parser compiled into rdf_parser 0.01 sec, 85,024 bytes
% library(gensym) compiled into gensym 0.00 sec, 2,580 bytes
% rdf_triple compiled into rdf_triple 0.00 sec, 21,524 bytes
% library(rdf) compiled into rdf 0.02 sec, 149,888 bytes
% library(debug) compiled into prolog_debug 0.00 sec, 12,180 bytes
% library(assoc) compiled into assoc 0.00 sec, 19,484 bytes
% library(sgml_write) compiled into sgml_write 0.00 sec, 66,928 bytes
% library(nb_set) compiled into nb_set 0.00 sec, 3,400 bytes
% library(utf8) compiled into utf8 0.00 sec, 7,108 bytes
% library(url) compiled into url 0.00 sec, 62,812 bytes
% rdf_cache compiled into rdf_cache 0.00 sec, 9,016 bytes
% library(semweb/rdf_db) compiled into rdf_db 0.04 sec, 388,832 bytes
% comp_similarity compiled into comp_similarity 0.04 sec, 405,148 bytes
% /opt/ros/fuerte/stacks/knowrob/ias_prolog_addons/prolog/init.pl compiled 0.04 sec, 407,180 bytes
% library(broadcast) compiled into broadcast 0.00 sec, 4,156 bytes
% library(semweb/rdf_edit) compiled into rdf_edit 0.01 sec, 48,176 bytes
% library(semweb/rdfs) compiled into rdfs 0.00 sec, 14,256 bytes
% library(semweb/owl) compiled into t20_owl 0.01 sec, 37,936 bytes
% library(socket) compiled into socket 0.00 sec, 7,012 bytes
% library(base64) compiled into base64 0.00 sec, 9,640 bytes
% library(http/http_open.pl) compiled into http_open 0.01 sec, 58,700 bytes
% library(thea/owl_parser) compiled into owl_parser 0.02 sec, 105,276 bytes
% library(odbc) compiled into odbc 0.00 sec, 21,508 bytes
% library(semweb/rdfs_computable) compiled into rdfs_computable 0.00 sec, 57,604 bytes
% /opt/ros/fuerte/stacks/knowrob/semweb/prolog/init.pl compiled 0.10 sec, 874,864 bytes
% library(tf_prolog) compiled into tf_prolog 0.01 sec, 13,080 bytes
% /opt/ros/fuerte/stacks/knowrob/tf_prolog/prolog/init.pl compiled 0.01 sec, 15,428 bytes
% library(knowrob_owl) compiled into knowrob_owl 0.00 sec, 7,420 bytes
% library(knowrob_perception) compiled into knowrob_perception 0.01 sec, 13,176 bytes
% Parsed "knowrob_objects.owl" in 0.00 sec; 202 triples
Warning: /opt/ros/fuerte/stacks/knowrob/knowrob_objects/prolog/knowrob_objects.pl:84:
Goal (directive) failed: knowrob_objects:owl_parser:owl_parse(../owl/knowrob_objects.owl,false,false,true)
% library(knowrob_objects) compiled into knowrob_objects 0.02 sec, 108,844 bytes
% library(owl_export) compiled into owl_export 0.00 sec, 11,944 bytes
% library(knowrob_coordinates) compiled into knowrob_coordinates 0.01 sec, 22,856 bytes
% /opt/ros/fuerte/stacks/knowrob/knowrob_objects/prolog/init.pl compiled 0.04 sec, 159,544 bytes
% /opt/ros/fuerte/stacks/knowrob/knowrob_common/prolog/init.pl compiled 0.04 sec, 168,460 bytes
% library(knowrob_actions) compiled into knowrob_actions 0.00 sec, 7,012 bytes
% /opt/ros/fuerte/stacks/knowrob/knowrob_actions/prolog/init.pl compiled 0.05 sec, 185,720 bytes
% library(util) compiled into util 0.00 sec, 15,440 bytes
% library(classifiers) compiled into classifiers 0.00 sec, 29,908 bytes
% library(jython) compiled into jython 0.00 sec, 13,348 bytes
% Parsed "owl.owl" in 0.00 sec; 169 triples
Warning: /opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/prolog/init.pl:35:
Goal (directive) failed: user:owl_parser:owl_parse(/opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl,false,false,true)
% Parsed "knowrob.owl" in 0.07 sec; 3,763 triples
Warning: /opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/prolog/init.pl:36:
Goal (directive) failed: user:owl_parser:owl_parse(/opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/knowrob.owl,false,false,true)
% /opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/prolog/init.pl compiled 0.12 sec, 439,188 bytes
% Parsed "srdl2-action.owl" in 0.01 sec; 78 triples
Warning: /opt/ros/fuerte/stacks/knowrob/mod_srdl/prolog/srdl2.pl:39:
Goal (directive) failed: srdl2:owl_parser:owl_parse(../owl/srdl2-action.owl,false,false,true)
% Parsed "PR2.owl" in 0.01 sec; 771 triples
Warning: /opt/ros/fuerte/stacks/knowrob/mod_srdl/prolog/srdl2.pl:40:
Goal (directive) failed: srdl2:owl_parser:owl_parse(../owl/PR2.owl,false,false,true)
% library(srdl2) compiled into srdl2 0.02 sec, 46,052 bytes
% /opt/ros/fuerte/stacks/knowrob/mod_srdl/prolog/init.pl compiled 0.24 sec, 1,372,112 bytes
?-
There seems no problems expect 5 Warnings. Then I follow the tutorial.
[I delete the link like words for my karma is insufficient to publish links. Orz]
?- srdl2:sub_component('TUM_Rosie.owl#TUM_Rosie1',Sub).
false.
?- srdl2:comp_type_available('TUM_Rosie.owl#TUM_Rosie1',CompT).
false.
?- srdl2:cap_available_on_robot(Cap,'TUM_Rosie.owl#TUM_Rosie1').
Cap = 'srdl2-cap.owl#Capability' ;
false.
?- srdl2:required_comp_for_action('TableSetting.owl#TableSetting',Cap).
false.
Why can't I get the same result as follows.
?- srdl2:sub_component(tumrosie:'TUM_Rosie1', Sub).
Sub = 'TUM_Rosie.owl#TUM_Rosie_WheeledOmnidirPlatform1' ;
Sub = 'TUM_Rosie.owl#TUM_Rosie_Torso1' .
?- srdl2:comp_type_available(tumrosie:'TUM_Rosie1', CompT).
CompT = 'srdl2-comp.owl#VectorFieldArmController' ;
CompT = 'srdl2-comp.owl#ArmMotionController' ;
CompT = 'srdl2-comp.owl#MotionControllerComponent' ;
...
?- srdl2:cap_available_on_robot(Cap, tumrosie:'TUM_Rosie1').
Cap = 'srdl2-cap.owl#ArmMotionCapability' ;
Cap = 'srdl2-cap.owl#BaseMotionCapability' ;
Cap = 'srdl2-cap.owl#GripperMotionCapability' ;
Cap = 'srdl2-cap.owl#HeadMotionCapability' ;
...
Then I try the PR2.owl. Though I get some results, they look weird.
?- srdl2:sub_component('PR2.owl#PR2Robot1',Sub).
Sub = 'PR2.owl#PR2_BaseComposition' ;
Sub = 'PR2.owl#PR2_l_ArmComposition' ;
Sub = 'PR2.owl#PR2_r_ArmComposition' ;
Sub = 'PR2.owl#PR2_l_GripperComposition' ;
Sub = 'PR2.owl#PR2_r_GripperComposition' ;
Sub = 'PR2.owl#LeftArmController' ;
Sub = 'PR2.owl#RightArmController' ;
false.
?- srdl2:comp_type_available('PR2.owl#PR2Robot1',CompT).
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'srdl2-comp.owl#Pr2Base' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#Pr2Base' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'srdl2-comp.owl#Pr2Arm' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#Pr2Arm' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'srdl2-comp.owl#Pr2Arm' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#Pr2Arm' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'srdl2-comp.owl#Pr2Gripper' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#Pr2Gripper' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'srdl2-comp.owl#Pr2Gripper' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ComponentComposition' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#Pr2Gripper' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ArmMotionController' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ArmMotionController' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
CompT = 'owl#Thing' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'srdl2-comp.owl#ArmMotionController' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'srdl2-comp.owl#ArmMotionController' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#NamedIndividual' ;
CompT = 'rdf-schema#Resource' ;
CompT = 'owl#Thing' ;
CompT = '__file:///opt/ros/fuerte/stacks/knowrob/ias_knowledge_base/owl/owl.owl#__Description1' ;
false.
?- srdl2:cap_available_on_robot(Cap,'PR2.owl#PR2Robot1').
Cap = 'srdl2-cap.owl#ClosingADoorCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#OpeningADoorCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#GraspingCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#move_arm' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#move_base' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#ClosingADoorCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#OpeningADoorCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#GraspingCapability' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#move_arm' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#move_base' ;
Cap = 'rdf-schema#Resource' ;
Cap = 'srdl2-cap.owl#Capability' ;
false.
Is it the problem of the owl files?
Can anybody help me? Thank you, and sorry for my poor English.
Originally posted by fuchangjie on ROS Answers with karma: 3 on 2013-11-28
Post score: 0
|
I am using the ROS from Live USB installation Ubuntu12.04. I have already installed NITE-Bin-Dev-Linux-x86-v1.5.2.23, OpenNI-Bin-Dev-Linux-x86-v1.5.7.10, Sensor-Bin-Linux-x86-v5.1.2.1, and I aslo already run NiViewer, It can get data from ASUS Xtion Pro Live, but when I launched openni.launch, I see some problems:
core service [/rosout] found
process[camera_nodelet_manager-1]: started with pid [14790]
process[camera/driver-2]: started with pid [14792]
process[camera/rgb/debayer-3]: started with pid [14817]
process[camera/rgb/rectify_mono-4]: started with pid [14852]
process[camera/rgb/rectify_color-5]: started with pid [14917]
process[camera/ir/rectify_ir-6]: started with pid [14977]
[ INFO] [1385713903.884362113]: Initializing nodelet with 4 worker threads.
process[camera/depth/rectify_depth-7]: started with pid [15034]
process[camera/depth/metric_rect-8]: started with pid [15081]
process[camera/depth/metric-9]: started with pid [15114]
process[camera/depth/points-10]: started with pid [15165]
process[camera/register_depth_rgb-11]: started with pid [15216]
process[camera/depth_registered/rectify_depth-12]: started with pid [15254]
process[camera/depth_registered/metric_rect-13]: started with pid [15299]
process[camera/depth_registered/metric-14]: started with pid [15332]
process[camera/points_xyzrgb_depth_rgb-15]: started with pid [15414]
process[camera/disparity_depth-16]: started with pid [15477]
process[camera/disparity_depth_registered-17]: started with pid [15513]
process[camera_base_link-18]: started with pid [15544]
process[camera_base_link1-19]: started with pid [15593]
process[camera_base_link2-20]: started with pid [15636]
process[camera_base_link3-21]: started with pid [15685]
[FATAL] [1385713907.143789132]: Service call failed!
[FATAL] [1385713907.143789051]: Service call failed!
[FATAL] [1385713907.143883422]: Service call failed!
[FATAL] [1385713907.144111234]: Service call failed!
[FATAL] [1385713907.144144695]: Service call failed!
[FATAL] [1385713907.144381389]: Service call failed!
[FATAL] [1385713907.144551054]: Service call failed!
[FATAL] [1385713907.144673336]: Service call failed!
[FATAL] [1385713907.144761994]: Service call failed!
[FATAL] [1385713907.144776231]: Service call failed!
[camera_nodelet_manager-1] process has died [pid 14790, exit code -11, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera_nodelet_manager-1.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera_nodelet_manager-1*.log
[camera/depth/metric_rect-8] process has died [pid 15081, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/convert_metric /camera_nodelet_manager --no-bond image_raw:=image_rect_raw image:=image_rect __name:=metric_rect __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-metric_rect-8.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-metric_rect-8*.log
[camera/depth/metric-9] process has died [pid 15114, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/convert_metric /camera_nodelet_manager --no-bond __name:=metric __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-metric-9.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-metric-9*.log
[camera/depth_registered/rectify_depth-12] process has died [pid 15254, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load image_proc/rectify /camera_nodelet_manager --no-bond image_mono:=image_raw image_rect:=image_rect_raw __name:=rectify_depth __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-rectify_depth-12.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-rectify_depth-12*.log
[camera/depth/points-10] process has died [pid 15165, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz /camera_nodelet_manager --no-bond image_rect:=image_rect_raw __name:=points __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-points-10.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth-points-10*.log
[camera/register_depth_rgb-11] process has died [pid 15216, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/register /camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-register_depth_rgb-11.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-register_depth_rgb-11*.log
[camera/depth_registered/metric-14] process has died [pid 15332, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/convert_metric /camera_nodelet_manager --no-bond __name:=metric __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-metric-14.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-metric-14*.log
[camera/points_xyzrgb_depth_rgb-15] process has died [pid 15414, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb /camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_depth_rgb __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-points_xyzrgb_depth_rgb-15.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-points_xyzrgb_depth_rgb-15*.log
[camera/disparity_depth_registered-17] process has died [pid 15513, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/disparity /camera_nodelet_manager --no-bond left/image_rect:=depth_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_depth_registered __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-disparity_depth_registered-17.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-disparity_depth_registered-17*.log
[camera/depth_registered/metric_rect-13] process has died [pid 15299, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/convert_metric /camera_nodelet_manager --no-bond image_raw:=image_rect_raw image:=image_rect __name:=metric_rect __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-metric_rect-13.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-depth_registered-metric_rect-13*.log
[camera/disparity_depth-16] process has died [pid 15477, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load depth_image_proc/disparity /camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-disparity_depth-16.log].
log file: /home/turtlebot/.ros/log/4eabffd0-58cf-11e3-bbaa-70f1a10ec189/camera-disparity_depth-16*.log
Originally posted by domikilo on ROS Answers with karma: 89 on 2013-11-28
Post score: 0
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