instruction
stringlengths 40
28.9k
|
|---|
Hi,
I have a URDF model for my robot and two cameras mounted on the robot's head (a Bumblebee and an Asus Xtion). My question is, how do I define the camera link frames and the frames for each of the cameras? Do I estimate the location of each, e.g. in solidworks?
Any help would be really appreciated!
Thanks
Originally posted by sofiad on ROS Answers with karma: 58 on 2013-11-29
Post score: 0
|
According to the following question:
http://answers.ros.org/question/91111/rgbdslam-in-ros-hydro/
I changed in my manifest.xml the line
<depend package="pcl"/>
to
<depend package="pcl_conversions"/>
This seems working for me. Thanks for the hint with migration of pcl with pcl_conversions.
And after the ugly thing of adding the old header file OctomapROS.h in the folder /opt/ros/hydro/include/octomap_ros/, this worked, too.
But now I get some conversion errors:
.../src/rgbdslam_freiburg/rgbdslam/src/graph_mgr_io.cpp:542:67: error: request for member ‘toSec’ in ‘node->Node::pc_col.boost::shared_ptr<T>::operator-> [with T = pcl::PointCloud<pcl::PointXYZRGB>]()->pcl::PointCloud<pcl::PointXYZRGB>::header.pcl::PCLHeader::stamp’, which is of non-class type ‘uint64_t {aka long unsigned int}’
.../src/rgbdslam_freiburg/rgbdslam/src/graph_mgr_io.cpp:881:42: error: conversion from ‘uint64_t {aka long unsigned int}’ to non-scalar type ‘ros::Time’ requested
.../src/rgbdslam_freiburg/rgbdslam/src/graph_mgr_io.cpp:882:32: error: cannot convert ‘ros::Time’ to ‘uint64_t {aka long unsigned int}’ in assignment
.../src/rgbdslam_freiburg/rgbdslam/src/graph_mgr_io.cpp:884:32: error: cannot convert ‘ros::Time’ to ‘uint64_t {aka long unsigned int}’ in assignment
and so on. Similiar conversion errors with ccny_rgbd and viso2_ros after changing from pcl to pcl_conversions.
So I am pretty sure something went wrong with my migration from pcl to pcl_conversions. Or is it maybe more then just editing the manifest.xml / package.xml from
<depend package="pcl"/> to <depend package="pcl_conversions"/>
?
Originally posted by RodBelaFarin on ROS Answers with karma: 235 on 2013-11-29
Post score: 1
Original comments
Comment by pinocchio on 2014-03-26:
@RodBelaFarin Thanks for sharing this. I am doing the similar thing with you. However, as a beginner, I do not know how to do exactly. Could you please give me a step by step instruction? (i.e. where can I find the old header file OctomapROS.h) I appreciate it. Many thanks.
Comment by pinocchio on 2014-03-26:
@RodBelaFarin Also, Could you please tell me which workspace you install the package? I use catkin workspace in hydro, but some guys say that only rosbuild ws is available for this package. However the rosbuild is for fuerture.http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
Comment by RodBelaFarin on 2014-03-26:
old octomapROS.h:
https://code.google.com/p/alufr-ros-pkg/source/browse/branches/octomap_stacks-groovy-devel/octomap_ros/include/octomap_ros/OctomapROS.h?r=3074
In the end I was NOT able to finish with RGBDSLAM. If you "just" need the 3D pointcloud, I recommend to switch to CCNY. It is much easier.
Comment by pinocchio on 2014-03-27:
Hi @RodBelaFarin, thanks for your reply. I read the paper of CCNY, but I am not sure whether this method can generate a map of the indoor environment. There are some results of mapping on the paper, but maybe no algorithm shown. So, how can I achieve mapping use this package? Many thanks.
Comment by pinocchio on 2014-03-27:
Hi @RodBelaFarin, I tried CCNY by your recommandation, but some errors occur, as shown in http://answers.ros.org/question/145411/error-on-installing-ccny-package-on-hydro/. Could you please tell me how to intall in on hydro?
Comment by RodBelaFarin on 2014-03-27:
http://wiki.ros.org/ccny_rgbd?distro=groovy use the quick usage guide from there. the last step "rosservice call /save_pcd_map /home/your_user_name/my_map.pcd" shows you how to save the 3D pointlcloud from your environment.
|
My adviser had pointed me in the direction of these but it looks like they require their own OS/program. Has anyone used these in conjunction with ROS and could speak to their performance or ease of use?
ROSHydro with 12.04, three Kinects I'm trying to combine into one universal frame and image.
Edit: http://wiki.ros.org/april_tk http://mirror.umd.edu/roswiki/april_tags_node.html looks like some tools have been developed. Has anyone used these as well?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2013-11-29
Post score: 1
|
I have a Recorded rosbag file which contains Laserscan data (LMS100) linked to base_link. I trying to use amcl and localize the robot in the map, but amcl needs odom->baselink so that it can publish map->odom. But currently there is no link between odom and base_link.
I loaded the map in rviz, when set the global options to
base_link -> I am getting scan data ; when set to odom -> I getting odometry data in rviz; when set map-> nothing is happening. I want to integrate in the way map->odom->base_link.
I could not able to figure out the way to link the odom -> base_link. Can anyone help me to solve above problem.
Originally posted by Arunkumar on ROS Answers with karma: 1 on 2013-11-29
Post score: 1
Original comments
Comment by Arunkumar on 2013-11-29:
Link to files as below:
"https://www.dropbox.com/sh/iezxmpehxs11qbl/4kVXtOGaU7"
|
I am actually trying to put together enough to visualize my URDF model in RVIZ.
I currently have two files in my workspace:
…_ws/src/rbot_description/urdf/rbot.urdf
…_ws/src/rbot_description/src/state_publisher.cpp
When I call catkin_make the state_publisher fails to build. The failure message reads:
"… undefined reference to 'tf::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_std::allocator<void > const&)' "
What do I need to do to fix this error?
Originally posted by flb on ROS Answers with karma: 30 on 2013-11-29
Post score: 0
|
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkin_package.cmake:156 (message):
catkin_package() DEPENDS on 'TinyXML' which must be find_package()-ed
before. If it is a catkin package it can be declared as CATKIN_DEPENDS
instead without find_package()-ing it.
please i need help .
Originally posted by M Samir on ROS Answers with karma: 1 on 2013-11-29
Post score: 0
|
I use groovy distribution & catkin
first , I wrote the simple publisher & subscriber example that in beginner tutorials
then I tried to examine it following the following steps
typing command roscore in catkin
I made sure I have sourced my
workspace's setup.sh file after
calling catkin_make but before
trying to my applications:
> In your catkin workspace
> cd ~/catkin_ws
> source ./devel/setup.bash
run the node talker using command
rosrun beginner_tutorials talker
but, when I typed command rosrun beginner_tutorials talker
I recevied in output:
[rosrun] Couldn't find executable named talker below /home/eman/catkin_ws/src/beginner_tutorials
even though the node talker exists in the src of begibnner_turorials package
& my CMakeLists.txt file looks like that:-
cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
## 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 std_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 beginner_tutorials
# CATKIN_DEPENDS roscpp rospy std_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(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(beginner_tutorials
# src/${PROJECT_NAME}/beginner_tutorials.cpp
# )
## Declare a cpp executable
# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(beginner_tutorials_node beginner_tutorials_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(beginner_tutorials_node
# ${catkin_LIBRARIES}
# ries(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
any help,please
I wonder what is the reason for having that error??
I made sure that Ros can find my
package ( beginner_tutorials ) using command
rospack find beginner_tutorials & it
returns its path
/home/eman/catkin_ws/src/beginner_tutorials
so, that mean ros can see & find my package .
I also made sure that the code of 2
nodes talker & listener exits in the
src folder of my package
, but when I tried to build the code
using command catkin_make
typing 1st command cd ~/catkin_ws/src
then typing 2nd command catkin_make
I had that error :-
> The specified base path
> "/home/eman/catkin_ws/src" contains a
> CMakeLists.txt but "catkin_make" must
> be invoked in the root of workspace
I tried also
1-typing 1st command cd ~/catkin_ws
2- then typing 2nd command catkin_make
but, I had error
CMake Error at /opt/ros/groovy/share/roscpp/cmake/roscppConfig.cmake:130 (message):
Project 'beginner_tutorials' tried to find library 'pthread'. The library
is neither a target nor built/installed properly. Did you compile project
'roscpp'? Did you find_package() it before the subdirectory containing its
code is included?
Call Stack (most recent call first):
/opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
beginner_tutorials/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
what should I do ??
should I rebuild the catkin_ws & the package???
Originally posted by Eman on ROS Answers with karma: 164 on 2013-11-30
Post score: 1
Original comments
Comment by BennyRe on 2013-11-30:
Do you see build output from your node when executing catkin_make? In your src folder there only should be the source code of your node, because catkin does out-of-source-builds.
Comment by Eman on 2013-11-30:
@BennyRe
firstly, thank you very much for your help & your note.God bless you amen After I had executed catkin_make , I had the following output eman@eman-K52F:~$ catkin_make Base path: /home/eman Source space: /home/eman/src Build space: /home/eman/build Devel space: /home/eman/devel Install space: /home/eman/install #### #### Running command: "make cmake_check_build_system" in "/home/eman/build" #### #### #### Running command: "make -j4 -l4" in "/home/eman/build" #### eman@eman-K52F:~$ you mean by src folder ( the src folder of the package beginner_tutorials ) ??? am I right ?
Comment by Eman on 2013-11-30:
@BennyRe
I made sure that the code of 2 nodes ( talker & listener ) are found in the src folder of the package beginner_tutorials
,but I still having the same error
[rosrun] Couldn't find executable named talker below /home/eman/catkin_ws/src/beginner_tutorials
I am really sorry for disturbance , but I have the same error & I don't know what to do
Comment by BennyRe on 2013-12-01:
The output of catkin_make looks strange. There should be some output of your package. Did you create the package and your workspace correctly. Did you follow the catkin workspace tutorial? I mean, because your src/build/devel folders are located directly in your home folder.
Comment by lindzey on 2013-12-02:
It'll probably help if you can edit your question to include your CMakeLists.txt file.
Comment by Eman on 2013-12-02:
@BennyRe
Thank you very much for your response . God bless you amen.
I am sorry for being late to reply , but I had a problem with my internet connection .
I suppose I created the package and my workspace correctly .
&yes, I followed the catkin workspace tutorial and every thing was going well similar to the outputs of the tutorial at that time .
Comment by Eman on 2013-12-02:
@BennyRe
The output may look strange because I didn't type the command " cd ~/catkin_ws/ before typing command " catkin_make " I am not sure about that ,but may be that was the reason. That output after 1-typing command " cd ~/catkin_ws/ " 2- then typing command " catkin_make " eman@eman-K52F:~/catkin_ws/src$ cd ~/catkin_ws/ eman@eman-K52F:~/catkin_ws$ catkin_make Base path: /home/eman/catkin_ws Source space: /home/eman/catkin_ws/src Build space: /home/eman/catkin_ws/build Devel space: /home/eman/catkin_ws/devel Install space: /home/eman/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/eman/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/eman/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/eman/catkin_ws/devel;/opt/ros/groovy -- This workspace overlays: /home/eman/catkin_ws/devel;/opt/ros/groovy -- Using Debian Python package layout -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing()
Comment by Eman on 2013-12-02:
@BennyRe
but there is error at the end of the output -- +++ processing catkin package: 'beginner_tutorials' -- ==> add_subdirectory(beginner_tutorials) CMake Error at /opt/ros/groovy/share/roscpp/cmake/roscppConfig.cmake:130 (message): Project 'beginner_tutorials' tried to find library 'pthread'. The library is neither a target nor built/installed properly. Did you compile project 'roscpp'? Did you find_package() it before the subdirectory containing its code is included? Call Stack (most recent call first): /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package) beginner_tutorials/CMakeLists.txt:7 (find_package) -- Configuring incomplete, errors occurred! make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed
Comment by Eman on 2013-12-02:
@lindzey
Thank you for your response & your note . God bless you amen . Ok , I will edit my question to include my CMakeLists.txt file
Comment by BennyRe on 2013-12-02:
Please put the content of your CMakeLists.txt into a code environment. It's very hard to read at the moment.
Comment by BennyRe on 2013-12-03:
Thanks joq. Don't have enough karma to edit.
Comment by joq on 2013-12-03:
You should always be able to edit your own question. If that does not work, send an admin message.
Comment by Eman on 2013-12-03:
@BennyRe
Sorry I tried to edit it ,but it didn't work
& Thanks alot for your response . I really appreciate that . God bless you amen.
Comment by Eman on 2013-12-03:
@joq
Thanks alot for your edit , I really appreciate that . God bless you amen
& Thanks for your note , I will take care about that
|
I am trying to read the altitude of the drone using the navdata, but the height is always 0. Could someone help out in this regard. The other values such as acceleration etc. are fine. I am printing out the data on the terminal using rostopic echo, so there shouldn't be an error with data types either. Please help
Originally posted by venturi on ROS Answers with karma: 16 on 2013-11-30
Post score: 0
|
I'm trying to use the Asus Xtion Pro camera with openni on Ubuntu 12.04. It does not work. Running dmesg in the terminal gives:
[15844.380294] usb 3-9: new high-speed USB device number 13 using xhci_hcd
[15844.400319] usb 3-9: New USB device found, idVendor=1d27, idProduct=0600
[15844.400327] usb 3-9: New USB device strings: Mfr=2, Product=1, SerialNumber=0
[15844.400333] usb 3-9: Product: PrimeSense Device
[15844.400337] usb 3-9: Manufacturer: PrimeSense
[15844.401720] usb 3-9: Not enough bandwidth for new device state.
[15844.401738] usb 3-9: can't set config #1, error -28
I've tried all the USB ports on the computer. It always gives the same error.
Originally posted by atp on ROS Answers with karma: 529 on 2013-11-30
Post score: 0
|
I am settting up covariance matrices and don't understand some of the entries used for turtlebot.
from:
/opt/ros/groovy/stacks/turtlebot_create/create_node/src/create_node/covariances.py
first, we have :
> ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
> 0, 1e-3, 0, 0, 0, 0,
> 0, 0, 1e6, 0, 0, 0,
> 0, 0, 0, 1e6, 0, 0,
> 0, 0, 0, 0, 1e6, 0,
> 0, 0, 0, 0, 0, 1e3]
Why is the covariance on z axis (last row) rotation = 1e3? This is large considering the gyro accuracy. Seems like it should be more like 1e-3.
next, we have the covariance used when the robot is stopped, so we know some parameters much more accurately:
ODOM_POSE_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
I don't understand the entries here for covariance y (second row). Seems like the diagonal entry should be the same as x (1e-9 instead of 1e-3) and I don't understand why there is an off-diagonal nonzero (but close, at 1e-9) entry for y-z. Are those axes coupled somehow?
Next, we have the twist ones:
ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
Since odom twist is reported in the child (robot, typically base_footprint) frame, for a turtlebot, there is no y or z velocity, only x. So why does the y velocity covariance (second row) = 1e-3 instead of 1e6? And again, why is the z rotation (last row) covariance (1e3) so large?
Finally, for twist when stopped:
ODOM_TWIST_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
Again, I don't understand why the y twist covariance (2nd row) is 1e-3 instead of 1e6 and also why there is an off-diagonal entry (1e-9) y-z coupling instead of just 0 there.
Originally posted by dan on ROS Answers with karma: 875 on 2013-11-30
Post score: 0
|
Hi.I have to make a node that publishes a service and its callback is a function that communicates with an embedded device (non running ROS) through TCP, send some bytes and close the connection. I want to make the node in C++, so I' have to write the code to create and use a socket. But, as far as I know, ROS uses TCP to communicate nodes, so:
Is there a way to use ROS functionalities to communicate through TCP, instead of code my own sockets?
Thanks
Originally posted by crpizarr on ROS Answers with karma: 229 on 2013-11-30
Post score: 0
|
I am using ubuntu 12.04, ROS hydro and gscam to read webcam.
I can get color image easily by make
GSCAM_CONFIG="v4l2src device=/dev/video1 ! video/x-raw-yuv,framerate=30/1 ! ffmpegcolorspace"
Then I run gscam, rostopic /camera/image_raw gives me images.
However, I want to get single channel grayscale image from webcam directly, because my subsequent algorithms can only handle grayscale image (in opencv, the mat entries are CV_8UC1).
I tried
GSCAM_CONFIG="v4l2src device=/dev/video1 ! video/x-raw-yuv,framerate=30/1 ! videobalance saturation=0.0 ! ffmpegcolorspace"
It does make the output image looks as grayscale, but rostopic /camera/image_raw still have 3 channels instead of channel 1. (/camera/image_raw/step is three times of /camera/image_raw/width).
How can I get single channel image from gscam? (/camera/image_raw/step equals to /camera/image_raw/width)
Originally posted by PaulYang on ROS Answers with karma: 1 on 2013-12-01
Post score: 0
|
I have ORK all setup and appears to be working pretty well. I have identified a plane and saved a mesh of it. However, when trying to capture an object for detection, the pose fram shows up but the mask frame appears all black. From what I've read, it should display only the new object in the frame, correct? Has anybody else had this problem?
If anybody knows of other forums or documentation related to ORK I would appreciate it - the community seems somewhat small right now and I'm not to sure where to go with questions.
Thanks in advance.
Originally posted by chase on ROS Answers with karma: 88 on 2013-12-01
Post score: 0
Original comments
Comment by chase on 2013-12-01:
For anyone else interested in ORK, take a look at the newly created ORK google group here: https://groups.google.com/forum/#!forum/object-recognition-kitchen
It was just started, but it would be cool if the ORK community also started to post here so we can all help each other with ORK specific questions.
|
I am trying to use robot_pose_ekf with imu data but it does not produce any output .
output of :rostopic hz /robot_pose_ekf/odom
subscribed to [/robot_pose_ekf/odom]
launch file :
< launch> < node pkg="robot_pose_ekf"
type="robot_pose_ekf"
name="robot_pose_ekf" output="screen">
<param name="output_frame"
value="odom"/> < param name="freq"
value="30.0"/> <param
name="sensor_timeout" value="1.0"/>
<param name="publish_tf"
value="true"/> < param
name="odom_used" value="false"/>
< param name="imu_used" value="true"/>
< param name="vo_used" value="false"/>
output of : rostopic hz /imu_data
subscribed to [/imu_data] average
rate: 8.382 min: 0.115s max:
0.126s std dev: 0.00357s window: 8 average rate: 8.350 min:
0.115s max: 0.126s std dev: 0.00306s window: 16 average rate:
8.333 min: 0.115s max: 0.126s std dev: 0.00301s window: 24
output of : rostopic echo /imu_data
header: seq: 780 stamp:
secs: 1385929326
nsecs: 189629077 frame_id: base_link orientation: x:
0.103565725066 y: 0.10414370554 z: 0.000989699922996 w: 0.989154815831 orientation_covariance: [0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0 y: 0.0 z: 0.0 angular_velocity_covariance: [0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: 40.0 y: -39.0 z:
-1004.0 linear_acceleration_covariance: [0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
Please help
Originally posted by 7mdan92 on ROS Answers with karma: 13 on 2013-12-01
Post score: 1
Original comments
Comment by Ahmed_Desoky on 2020-05-31:
Are you solve this problem?
|
Hi! Still getting acquainted so please be patient.
From ROS electric (have to deal with legacy code, can't upgrade), I'm trying to simply move my turtlebot around using the move_base_simple topic. At first, I tried using actionlib, succeeded in connecting to the server, setting up a goal but sending it actually had no effect. For debugging purposes, I'm now trying to simply publish the goal from command line.
Here is my current setup:
First ran:
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation move_base_turtlebot.launch
now from rostopic list I have:
/move_base/goal
/move_base_node/current_goal
/move_base_simple/goal
I then try to publish the goal as follows:
rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{ header: { frame_id: "/base_link"}, pose: { position: { x: 0.2, y: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } } }'
Nothing happens. If I try: rostopic echo /move_base_simple/goal, I can see that the goal is set. I tried changing the turtlebot_drive_mode to either drive, twist or turtle, no effect. I also tried to teleop the bot with the keyboard, it works.
Tried to send velocity commands, also works.
If anyone can shed some light on why the robot isn't responding to the commands, it'll be greatly appreciated! (I've spent more than 5 hours digging on this issue).
Thanks!
Originally posted by Strav on ROS Answers with karma: 11 on 2013-12-01
Post score: 1
Original comments
Comment by Tirjen on 2013-12-03:
Could it be some problem with costmaps? Did you try to visualize them in rviz?
Comment by Strav on 2013-12-03:
costmaps? Forgive me if this is obvious, but I thought I could use move_base without providing any map nor transformation frame other than base_link. I am somewhat loosely following this tutorial: http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals; haven't saw anything in that code that involved a map of any kind.
|
We have a robot with a 6DOF arm and a 1 DOF neck joint and want to perform hand/eye calibration for this system. Before switching to the real system, we´d like to make sure things work using Gazebo. As the configuration used is very similar to ours, we started with the maxwell_calibration package and adapted it for our needs. We recorded a datasets of 25 checkerboard poses in Gazebo and tried running it through the estimation pipeline using a two-stage approach as in estimation_config.launch for maxwell. Unfortunately, the first step of calculating the checkerboard pose fails with a singular matrix error. Any ideas what could be the cause of this? The data should be close to ground truth, as everything is recorded in Gazebo pretty much without noise. Does a proper checkerboard transform start estimate have to be provided? If so, what is the coordinate frame convention for the checkerboard?
/edit: Even with just one sample, optimization is not converging. Is there any way I can find out why the RMS error stays high?
/edit: This is the camera_info of my simulated camera in Gazebo:
header:
seq: 9744
stamp:
secs: 558
nsecs: 490000000
frame_id: left_camera_optical_frame
height: 800
width: 800
distortion_model: plumb_bob
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [476.7030836014194, 0.0, 400.5, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [476.7030836014194, 0.0, 400.5, -0.0, 0.0, 476.7030836014194, 400.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
Can´t really see anything wrong with that, so my current hypotheses are:
Calibration does not like the one
joint neck chain
Calibration does not
like a fixed joint in my arm chain
Originally posted by Stefan Kohlbrecher on ROS Answers with karma: 24361 on 2013-12-01
Post score: 1
|
Hello,
I am trying to use multiple PrimeSense sensors for a project. I am having trouble launching them as it appears they do not use deivce ID's like the Kinect does. I tried this launch file and got this error.
<launch>
<!-- Parameters possible to change-->
<arg name="camera1_id" default="1d27/0601@2/3" /><!-- here you can change 1@0 by the serial number -->
<arg name="camera2_id" default="1d27/0601@3/4" /><!-- here you can change 2@0 by the serial number -->
<arg name="camera3_id" default="3@0" /><!-- here you can change 3@0 by the serial number -->
<arg name="depth_registration" default="true" />
<!-- Default parameters-->
<arg name="camera1_name" default="primesense1" />
<arg name="camera2_name" default="primesense2" />
<arg name="camera3_name" default="primesense3" />
<!-- Putting the time back to real time-->
<rosparam>
/use_sim_time : false
</rosparam>
<remap from="image" to="/camera/depth/image_raw"/> <!--Correct remap for depthimage launch -->
<!-- Openning Rviz for visualization-->
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find parbot_depthimage_to_laserscan)/rviz_cfg/parbot_demo.rviz"/><!--This will launch rviz with the configuration saved from rviz-->
<!-- Launch depthimage with the proper parameters -->
<node pkg="parbot_depthimage_to_laserscan" type="parbot_depthimage_to_laserscan" name="parbot_depthimage_to_laserscan">
<param name="scan_height" value="471" />
</node>
<!-- Launching first kinect-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="device_id" value="$(arg camera1_id)" />
<arg name="camera" value="$(arg camera1_name)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
<!-- Launching second kinect-->
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="device_id" value="$(arg camera2_id)" />
<arg name="camera" value="$(arg camera2_name)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>
<!-- Launching third kinect
<include file="$(find openni2_launch)/launch/openni2.launch">
<arg name="device_id" value="$(arg camera3_id)" />
<arg name="camera" value="$(arg camera3_name)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
</include>-->
</launch>
The error:
[ INFO] [1385943021.299596903]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/buildd/ros-hydro-openni2-camera-0.1.0-0precise-20131015-2304/src/openni2_driver.cpp @ 672 : Device not found 1d27/0601@2/3
[ INFO] [1385943021.889858369]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/buildd/ros-hydro-openni2-camera-0.1.0-0precise-20131015-2304/src/openni2_driver.cpp @ 672 : Device not found 1d27/0601@3/4
I'm not really sure where to go from here? Has it ever been done?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2013-12-01
Post score: 0
|
Hi
I currently have ROS Groovy installed on ubuntu 12.04. I am trying to install another library which needs libboost-1.48-all-dev, however installing ROS has installed the libbost-1.46-all-dev.
Is it possible to upgrade the boost library without getting problems with ROS ?
Because the third party library won't install without libboost 1.48 being on the system
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2013-12-01
Post score: 1
|
Hello
Im trying to use Qt as an user interface for a moving robot platform. So trying to integrate it in ROS. Im totally new beginner in QT and pretty advanced in ROS. So I dont know from where to start first?I have created ROS package and all works fine. So now what should I do with QT side?From where to start with QT? I was told to add QT library in my ROS pkg use it like qt.
And when using http://wiki.ros.org/qt_ros what is the difference when add Qt library to ROS pkg? I found that for qt_create there is no documentation for fuerte.Im using Fuerte version of ROS so means it does not works for Fuerte??
Any help as Im bit lost
Thanks
Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-12-01
Post score: 0
|
Its my first time trying to get the navigation stack up and running. After fiddling with the .yaml files, I've gotten it to move with RVIZ. There are some issues I'm running into.
The robot is having issues localizing. My set up follows the http://wiki.ros.org/navigation/Tutorials/RobotSetup tutorials, but only have a laser scanner as an input.
Here's the error generated by move_base.launch.
[ERROR] [1385945596.417775629]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1385945596.400712013 but the latest data is at time 1385945596.309387000, when looking up transform from frame [odom] to frame [map]
[ERROR] [1385945596.417830096]: Global Frame: odom Plan Frame size 305: map
[ WARN] [1385945596.417853423]: Could not transform the global plan to the frame of the controller
After reading up on some other posts on answers.ros, to see what could be the problem, I took a look at my transforms, and I don't think thats it.
Here is the tf_monitor report.
RESULTS: for all Frames
Frames:
Frame: /base published by /base_ctrl_odom Average Delay: 0.000454951 Max Delay: 0.000718333
Frame: body published by /robot_state_publisher Average Delay: -0.499598 Max Delay: 0
Frame: bracket published by /robot_state_publisher Average Delay: 0.000529436 Max Delay: 0.000995636
Frame: bracket_90 published by /robot_state_publisher Average Delay: -0.499596 Max Delay: 0
Frame: hokuyo published by /robot_state_publisher Average Delay: -0.499597 Max Delay: 0
Frame: hokuyo_90 published by /robot_state_publisher Average Delay: -0.499597 Max Delay: 0
Frame: left_wheel published by /robot_state_publisher Average Delay: 0.000526063 Max Delay: 0.000993213
Frame: odom published by /amcl Average Delay: 0.0103003 Max Delay: 0.0867516
Frame: right_wheel published by /robot_state_publisher Average Delay: 0.000528483 Max Delay: 0.000995021
Frame: servo published by /robot_state_publisher Average Delay: -0.4996 Max Delay: 0
All Broadcasters:
Node: /amcl 41.432 Hz, Average Delay: 0.0103003 Max Delay: 0.0867516
Node: /base_ctrl_odom 5.82941 Hz, Average Delay: 0.000454951 Max Delay: 0.000718333
Node: /robot_state_publisher 60.1176 Hz, Average Delay: -0.420926 Max Delay: 0.000994623
I also ran
>rosrun tf tf_echo odom map
But there wasn't anything that threw a red flag at me.
There were three of those errors thrown when I was running the navigation stack. The room I'm using was fairly large. I used rviz to set an initialpose. After I did that, sending a it a goal didn't go too well. It moved a lot farther than it was suppose to, and I had to shut it off before it had a chance to try to complete the path. It also did a lot of extra rotating even though it was sent a straight path.
What additional information would be helpful to debug this issue? I'm not too sure where to look myself.
Thank you!
Edit:
After reducing the size of the local cost map back down to the original size of 6x6 @ 0.5 resolution, the extrapolatoin error went away.
There weren't any grid cells with obstacles/inflated obstacles, but I took a look at the local cost map.
http://i.imgur.com/2chPFoC.png
It looks like that is the issue and it encloses itself off in a circle. So it tries to inch forward a little, but mostly spins in a circle.
I'm unsure if it's the laser scanner. It's frame_id is correctly on the urdf and is linked to the base of the robot.
Edit2:
One of the problems was with the AMCL/odometry.
The 'anti-clockwise' really threw me off. I had to adjust the dead reckoning formula a bit. So now with a remote control, AMCL localizes for me very well! I have about a 2-5 degree error with the odometry, but it was all corrected
Although, running the navigation stack still have issues. Instead of the image above, the local costmap creates something more like a sharp wall.
Originally posted by pwong on ROS Answers with karma: 447 on 2013-12-01
Post score: 1
|
Hello,everyone!
I'm fresh new in ROS. I have been followinig the tutorials. When I was tring to install ros for nao "Installing ROS on a remote PC to control Nao", I got stuck. How can I get the NaoQi Python SDK? I tried to search on google,but I didn't get it.
I installed the ros-hydro-desktop-full. I wondered if the SDK is integrated already.
best regards
Originally posted by Menglord on ROS Answers with karma: 1 on 2013-12-01
Post score: 0
|
I followed the instruction here rosjava.github.io/rosjava_core/latest/installing.html
and I failed at this command line at Non-ROS installation :
git checkout -b hydro origin/hydro
the error is:
Fatal: not a git repository (or any of the parent directories) .git
Can anybody help me with this?
I just want to set up the developing environment of rosjava for Android.
I have installed ROS hydro on Ubuntu 12.04.
Thanks!
Originally posted by Lunbo on ROS Answers with karma: 93 on 2013-12-01
Post score: 0
|
I want to work in ROS with QTCreator. I have to packages A and B in ros workspace. its location is /home/it/Desktop/rosspace/sandbox/A and /home/it/Desktop/rosspace/sandbox/B.
my environment variables are
declare -x ROSLISP_PACKAGE_DIRECTORY="/opt/ros/fuerte/share/common-lisp/ros"
declare -x ROS_DISTRO="fuerte"
declare -x ROS_ETC_DIR="/opt/ros/fuerte/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/it/Desktop/gps/sandbox/gps_sub:/home/it/Desktop/rosspace/sandbox:/opt/ros/fuerte/stacks:/opt/ros/fuerte/share:/opt/ros/fuerte/share/ros"
declare -x ROS_ROOT="/opt/ros/fuerte/share/ros"
declare -x ROS_WORKSPACE="/home/it/Desktop/rosspace"
I have written this to ./bashrc
source /home/mit/Desktop/rosspace/setup.bash
export ROS_PACKAGE_PATH=/home/it/Desktop/rosspace/sandbox:$ROS_PACKAGE_PATH
I opened QTCreator from terminal.
then open file or project->/home/it/Desktop/rosspace/sandbox/A/cmakelist.text
after choosing qt build directory and running cmake
i got following error:
CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/private.cmake:99 (message):
[rosbuild] rospack found package "A" at "", but the
current directory is
"/home/it/Desktop/rosspace/sandbox/A". You should
double-check your ROS_PACKAGE_PATH to ensure that packages are found in the
correct precedence order.
Call Stack (most recent call first):
/opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:177(_rosbuild_check_package_location)
CMakeLists.txt:12 (rosbuild_init)
[rosbuild] Building package A
please help me to open my project in QT
I am using Ubuntu 12.04, QTCreator latest version and ROS-Fuerte
Originally posted by Bindu on ROS Answers with karma: 26 on 2013-12-01
Post score: 0
|
In catkin workspace I create package:
catkin_create_pkg leg_kinematics std_msgs rospy roscpp kdl_parser
In leg_kinematics/src/leg_kinematics.cpp:
#include "ros/ros.h"
#include <kdl_parser/kdl_parser.hpp>
int main(int argc, char **argv)
{
KDL::Tree my_tree;
ros::NodeHandle node;
return 0;
}
In CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(leg_kinematics)
find_package(catkin REQUIRED COMPONENTS
kdl_parser
roscpp
rospy
std_msgs
)
catkin_package()
include_directories( include ${catkin_INCLUDE_DIRS})
add_executable(leg_kinematics src/leg_kinematics.cpp)
target_link_libraries(leg_kinematics ${catkin_LIBRARIES})
After catkin_make I got error:
CMakeFiles/leg_kinematics.dir/src/leg_kinematics.cpp.o: In function `main':
leg_kinematics.cpp:(.text+0x58): undefined reference to `KDL::Tree::Tree(std::string const&)'
CMakeFiles/leg_kinematics.dir/src/leg_kinematics.cpp.o: In function `KDL::TreeElement::~TreeElement()':
leg_kinematics.cpp:(.text._ZN3KDL11TreeElementD2Ev[_ZN3KDL11TreeElementD5Ev]+0x27): undefined reference to `KDL::Segment::~Segment()'
leg_kinematics.cpp:(.text._ZN3KDL11TreeElementD2Ev[_ZN3KDL11TreeElementD5Ev]+0x38): undefined reference to `KDL::Segment::~Segment()'
Why?)
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-12-02
Post score: 0
|
I was so happy to see that there is a tutorial teaching you how to develop from Android Studio without a ROS environment.
h ttp://wiki.ros.org/android/Tutorials/hydro/Installation%20-%20Android%20Studio%20Development%20Environment
Follow the spec, I changed the build.gradle in the new project to the following
> buildscript {
> repositories {
> mavenCentral()
> }
> dependencies {
> classpath 'com.android.tools.build:gradle:0.6.+'
> } } apply plugin: 'android' repositories {
> maven {
> url 'h ttps://github.com/rosjava/rosjava_mvn_repo/tree/master'
> }
> mavenCentral() } android {
> compileSdkVersion 19
> buildToolsVersion "19.0.0"
> defaultConfig {
> minSdkVersion 7
> targetSdkVersion 19
> } } dependencies {
> compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
> compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
> compile 'org.ros.rosjava_core:rosjava:0.1.+'
> compile 'com.android.support:appcompat-v7:+'
> }
Then there is an error when i tried to build it:
> Gradle: A problem occurred configuring project ':CameraImuManager'.
> Failed to notify project evaluation listener.
> Could not resolve all dependencies for configuration ':CameraImuManager:_DebugCompile'.
> Could not resolve org.ros.android_core:android_gingerbread_mr1:0.1.+.
Required by:
CameraImuManagerProject:CameraImuManager:unspecified
> Could not resolve org.ros.android_core:android_gingerbread_mr1:0.1.+.
> Could not parse POM h ttps://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/android_core/android_gingerbread_mr1/0.1.2/android_gingerbread_mr1-0.1.2.pom
> 已经看到 doctype。
> Could not resolve org.ros.android_core:android_honeycomb_mr2:0.1.+.
Required by:
CameraImuManagerProject:CameraImuManager:unspecified
> Could not resolve org.ros.android_core:android_honeycomb_mr2:0.1.+.
> Could not parse POM h ttps://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/android_core/android_honeycomb_mr2/0.1.2/android_honeycomb_mr2-0.1.2.pom
> 已经看到 doctype。
> Could not resolve org.ros.rosjava_core:rosjava:0.1.+.
Required by:
CameraImuManagerProject:CameraImuManager:unspecified
> Could not resolve org.ros.rosjava_core:rosjava:0.1.+.
> Could not parse POM h ttps://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/rosjava_core/rosjava/0.1.6/rosjava-0.1.6.pom
> 已经看到 doctype。
I use Android Studio on Ubuntu 12.04, thanks!
Originally posted by Lunbo on ROS Answers with karma: 93 on 2013-12-02
Post score: 1
|
I'm using hydro with catkin (v. 0.5.77) and I'm using a metapackage because I want to enhance a rosbuild-stack, which I catkinized. My problem is, that catkin_make recognizes my metapackage, but doesn't touch (in terms of compile) the package within the metapackage.
To show the problem, I created a metapackage called "metapackage" in catkins source directory (~/catkin_ws/src/metapackage) and a package "package1" in the directory of the metapackage (~/catkin_ws/src/metapackage/package1).
The package "package1" is working fine and compiling, when I move it in catkins source directory. But if it's in the metapackages directory, it isn't touched by catkin.
I went through all the ros-answers questions and the wiki, but I didn't find another way telling catkin about my package except the run_depend-tag, which doesn't change anything.
Thanks in advance.
Information
- That's the CMakeLists.txt of my metapackage:
cmake_minimum_required(VERSION 2.8.3)
project(metapackage)
find_package(catkin REQUIRED)
catkin_metapackage()
That's the package.xml of my metapackage:
<?xml version="1.0"?>
<package>
<name>metapackage</name>
<version>0.0.0</version>
<description>The metapackage package</description>
<maintainer email="[email protected]">user</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>package1</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>
If it's interesting, that's my toplevel CMakeLists.txt: pastebin.com/h6ssccXC
(it needs a http:// prefix as I do not have enough karma to post links, but it's too long to post it here)
Originally posted by MatthiasMayr on ROS Answers with karma: 48 on 2013-12-02
Post score: 1
|
I'm trying my first implementation of nodelets for faster camera image acquisition and publishing. I have followed the nodelet implementation for the camera1394 ROS driver, and I have made this into a separate package. My doubt was regarding the subscriber. From what I understand, I can have the subscriber as its own package just inheriting from nodelet class and overloading the onInit method. Then for running the nodelets, I simply launch one nodelet_manager and launch the nodelet-publisher and nodelet-subscriber in that. The subscriber package does not need to depend on the publisher package. Is this correct?
The launch sequence on command-line would be:
rosrun nodelet nodelet manager __name:=nodelet_manager
rosrun nodelet nodelet load publisher_nodelet/image_publisher nodelet_manager __name:=image_publisher
rosrun nodelet nodelet load subscriber_nodelet/image_subscriber nodelet_manager __name:=image_subscriber
All the tutorials on nodelets that I have seen show the subscriber and the publisher in the same package - which is what has caused this doubt. I was wondering if that was a requirement or just a simplification for the tutorials.
Thank you.
Originally posted by NikhilD on ROS Answers with karma: 11 on 2013-12-02
Post score: 1
|
Hi,
I've been following the ipc_bridge package (https://alliance.seas.upenn.edu/~meam620/wiki/index.php?n=Roslab.IpcBridge) in order to connect MATLAB to ROS. I've installed MEX Compiler and able to compile every package with the correct version of GCC (with the help of linking mex compiler with the correct gcc version). Note that I'm using Groovy on Ubuntu 12.04.
However, when I try to run the ~/catkin_ws/src/ipc-bridge/ipc_bridge_stack/ipc_bridge_example/example_publisher.m from MATLAB, I get the following errors:
Warning: Name is nonexistent or not a directory: rospack.
> In path at 110
In addpath at 87
In example_publisher at 9
Warning: Directory access failure:
/usr/local/MATLAB/R2012a/sys/os/glnxa64/libstdc++.so.6.
> In path at 110
In addpath at 87
In example_publisher at 9
Warning: Name is nonexistent or not a directory: version `GLIBCXX_3.4.15' not found
(required by /opt/ros/groovy/lib/librospack.so)/bin.
> In path at 110
In addpath at 87
In example_publisher at 9
Undefined function 'geometry_msgs_Twist' for input arguments of type 'char'.
Error in example_publisher (line 13)
pid=geometry_msgs_Twist('connect','publisher','example_module','twist');
What should I do to overcome this? Any help will be greately appreciated.
Originally posted by mozcelikors on ROS Answers with karma: 181 on 2013-12-02
Post score: 1
Original comments
Comment by ZYS on 2016-01-20:
Did you solve this problem? I met a problem which is the same as yours.
Comment by gvdhoorn on 2016-01-21:
@ZYS: please don't post answers, unless you can actually answer a question. Use comments for these kind of things. Thanks.
|
Hello everyone,
Currently i'm taking care of a project from another student, who just vanished since two months - but my dep still needs the project finished. So i have to dig into the system fast und get the whole simulation to run.
The setup is - as far as i can see - an ROS Hydro server with a husky as robot. The client from gazebo is used to view the simulation. The problem is, that i only get the husky to move via the rostopic command, but not through code.
The goal of the simulation-setup is to run java code, that controls the robot depending on the output of the sensors. I already understood that rosjava will be needed, but this isn't installed on the server - i will have to take care of that.
So, my question is - how can i control the robot via c++ code? In the tutorials i only got information about how to send messages and about the filesystem and so on. Did i missread the whole thing? It would be really nice if someone could dip my face into it :D
Thanks in advance,
Nathan
Originally posted by Nathan Schwarz on ROS Answers with karma: 3 on 2013-12-02
Post score: 0
|
Hi,
I am trying to install Hydro on Ubuntu 12.04.
When I enter sudo apt-get install ros-hydro-desktop-full, I am getting the following error messages.
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-hydro-desktop-full : Depends: ros-hydro-desktop but it is not going to be installed
Depends: ros-hydro-mobile but it is not going to be installed
Depends: ros-hydro-perception but it is not going to be installed
Depends: ros-hydro-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
I tried apt-get update, apt-get upgrade, and apt-get -f install, but I am still getting the same error.
Can anybody know how to solve this problem?
When I use aptitude instead I got the following result: (it is really long..)
The following NEW packages will be installed:
collada-dom-dev{a} collada-dom2.4-dp-base{a} collada-dom2.4-dp-dev{a}
docgenerator{a} ffmpeg{a} fltk1.3-doc{a} fluid{a} gazebo{a}
generatorrunner{a} hddtemp{a} libapiextractor-dev{a} libapiextractor0.10{a}
libasound2-dev{ab} libassimp-dev{a} libassimp2{a} libatk1.0-dev{a}
libav-tools{a} libavcodec-dev{a} libavcodec-extra-53{ab} libavdevice53{a}
libavfilter2{a} libavformat-dev{a} libavformat-extra-53{ab}
libavutil-dev{a} libavutil-extra-51{ab} libbullet{a} libbullet-dev{a}
libcaca-dev{a} libcairo2-dev{ab} libcegui-mk2-0.7.5{a} libcegui-mk2-dev{a}
libcppunit-1.12-1{a} libcppunit-dev{a} libcurl4-openssl-dev{a}
libdevil-dev{a} libdevil1c2{a} libflann-dev{a} libflann1{a}
libfltk-cairo1.3{a} libfltk-forms1.3{a} libfltk-gl1.3{a}
libfltk-images1.3{a} libfltk1.1-dev{ab} libfltk1.3{a} libfltk1.3-dev{ab}
libfontconfig1-dev{ab} libfreeimage-dev{a} libfreeimage3{a}
libfreetype6-dev{ab} libgdk-pixbuf2.0-dev{a} libgenrunner-dev{a}
libgenrunner0.6{a} libgeos-3.2.2{a} libgeos-c1{a} libgl2ps-dev{a}
libgl2ps0{a} libglib2.0-dev{ab} libgnutls-dev{ab} libgtk2.0-dev{a}
libhdf5-serial-1.8.4{a} libidn11-dev{a} libjasper-dev{a} libjpeg-dev{a}
libjpeg-turbo8-dev{ab} libjpeg8-dev{a} libjs-sphinxdoc{a}
libjs-underscore{a} liblcms1-dev{a} liblodo3.0{a} liblua5.1-0-dev{a}
libmng-dev{a} libnetcdf-dev{a} libnetcdf6{a} libodbc1{a} libogg-dev{a}
libogre-1.7.4{a} libogre-dev{a} libois-1.3.0{a} libopencv-core2.3{a}
libopencv-highgui2.3{a} libopencv-imgproc2.3{a} libopenjpeg2{a}
libopenni-dev{a} libopenni-sensor-primesense0{a} libopenni0{a}
libpango1.0-dev{ab} libpcl-1.7-all{a} libpcl-1.7-all-dev{a}
libpcl-1.7-bin{a} libpcl-1.7-doc{a} libpcl-apps-1.7{a}
libpcl-apps-1.7-dev{a} libpcl-common-1.7{a} libpcl-common-1.7-dev{a}
libpcl-features-1.7{a} libpcl-features-1.7-dev{a} libpcl-filters-1.7{a}
libpcl-filters-1.7-dev{a} libpcl-geometry-1.7-dev{a} libpcl-io-1.7{a}
libpcl-io-1.7-dev{a} libpcl-kdtree-1.7{a} libpcl-kdtree-1.7-dev{a}
libpcl-keypoints-1.7{a} libpcl-keypoints-1.7-dev{a} libpcl-octree-1.7{a}
libpcl-octree-1.7-dev{a} libpcl-outofcore-1.7{a}
libpcl-outofcore-1.7-dev{a} libpcl-people-1.7{a} libpcl-people-1.7-dev{a}
libpcl-recognition-1.7{a} libpcl-recognition-1.7-dev{a}
libpcl-registration-1.7{a} libpcl-registration-1.7-dev{a}
libpcl-sample-consensus-1.7{a} libpcl-sample-consensus-1.7-dev{a}
libpcl-search-1.7{a} libpcl-search-1.7-dev{a} libpcl-segmentation-1.7{a}
libpcl-segmentation-1.7-dev{a} libpcl-surface-1.7{a}
libpcl-surface-1.7-dev{a} libpcl-tracking-1.7{a} libpcl-tracking-1.7-dev{a}
libpcl-visualization-1.7{a} libpcl-visualization-1.7-dev{a}
libplayerc++3.0{a} libplayerc3.0{a} libplayercommon3.0{a}
libplayercore3.0{a} libplayerdrivers3.0{a} libplayerinterface3.0{a}
libplayerjpeg3.0{a} libplayertcp3.0{a} libplayerwkb3.0{a} libpmap3.0{a}
libpng12-dev{a} libpoco-dev{a} libpococrypto9{a} libpocodata9{a}
libpocofoundation9{a} libpocomysql9{a} libpoconet9{a} libpoconetssl9{a}
libpocoodbc9{a} libpocosqlite9{a} libpocoutil9{a} libpocoxml9{a}
libpocozip9{a} libpostproc-extra-52{ab} libprotobuf-dev{a}
libprotobuf-lite7{a} libpulse-dev{ab} libpyside-dev{a} libpyside-py3-1.1{a}
libpyside1.1{a} libpython3.2{a} libqhull-dev{a} libqhull5{a} libqwt-dev{a}
libqwt5-qt4{a} libqwt6{a} libreadline-dev{a} librtmp-dev{a}
libsdl-image1.2-dev{a} libsdl1.2-dev{a} libshiboken-dev{a}
libshiboken-py3-1.1{a} libshiboken1.1{a} libsilly{a} libslang2-dev{a}
libstatgrab6{a} libswscale-dev{a} libswscale-extra-2{ab} libtbb-dev{a}
libtbb2{a} libtheora-dev{a} libtiff4-dev{ab} libusb-1.0-0-dev{a}
libv4l-dev{ab} libvtk5-dev{a} libvtk5-qt4-dev{a} libvtk5.8{a}
libvtk5.8-qt4{a} libxaw7-dev{a} libxcomposite-dev{a} libxcursor-dev{a}
libxdamage-dev{a} libxerces-c3.1{a} libxfixes-dev{a} libxft-dev{a}
libxi-dev{a} libxml2-dev{ab} libxpm-dev{a} libxrandr-dev{a}
libxrender-dev{a} libxss-dev{a} libzzip-0-13{a} libzzip-dev{a}
openni-utils{a} python-epydoc{a} python-jinja2{a} python-kitchen{a}
python-netifaces{a} python-opengl{a} python-psutil{a} python-pydot{a}
python-pyside{a} python-pyside.phonon{a} python-pyside.qtcore{a}
python-pyside.qtdeclarative{a} python-pyside.qtgui{a}
python-pyside.qthelp{a} python-pyside.qtnetwork{a}
python-pyside.qtopengl{a} python-pyside.qtscript{a} python-pyside.qtsql{a}
python-pyside.qtsvg{a} python-pyside.qttest{a} python-pyside.qtuitools{a}
python-pyside.qtwebkit{a} python-pyside.qtxml{a} python-qt4-dev{a}
python-qt4-gl{a} python-qwt5-qt4{a} python-sip-dev{a} python-sphinx{a}
python3.2{a} python3.2-minimal{a} robot-player{a} ros-hydro-actionlib{a}
ros-hydro-actionlib-msgs{a} ros-hydro-actionlib-tutorials{a}
ros-hydro-amcl{a} ros-hydro-angles{a} ros-hydro-base-local-planner{a}
ros-hydro-bfl{a} ros-hydro-bond{a} ros-hydro-bond-core{a}
ros-hydro-bondcpp{a} ros-hydro-bondpy{a} ros-hydro-camera-calibration{a}
ros-hydro-camera-calibration-parsers{a} ros-hydro-camera-info-manager{a}
ros-hydro-carrot-planner{a} ros-hydro-catkin{a} ros-hydro-class-loader{a}
ros-hydro-clear-costmap-recovery{a} ros-hydro-collada-parser{a}
ros-hydro-collada-urdf{a} ros-hydro-common-msgs{a}
ros-hydro-common-tutorials{a} ros-hydro-compressed-depth-image-transport{a}
ros-hydro-compressed-image-transport{a} ros-hydro-console-bridge{a}
ros-hydro-control-msgs{a} ros-hydro-costmap-2d{a} ros-hydro-cpp-common{a}
ros-hydro-cv-bridge{a} ros-hydro-depth-image-proc{a} ros-hydro-desktop{a}
ros-hydro-desktop-full ros-hydro-diagnostic-aggregator{a}
ros-hydro-diagnostic-analysis{a} ros-hydro-diagnostic-common-diagnostics{a}
ros-hydro-diagnostic-msgs{a} ros-hydro-diagnostic-updater{a}
ros-hydro-diagnostics{a} ros-hydro-driver-base{a}
ros-hydro-driver-common{a} ros-hydro-dwa-local-planner{a}
ros-hydro-dynamic-reconfigure{a} ros-hydro-eigen-conversions{a}
ros-hydro-eigen-stl-containers{a} ros-hydro-executive-smach{a}
ros-hydro-fake-localization{a} ros-hydro-filters{a}
ros-hydro-gazebo-msgs{a} ros-hydro-gazebo-plugins{a}
ros-hydro-gazebo-ros{a} ros-hydro-gazebo-ros-pkgs{a} ros-hydro-gencpp{a}
ros-hydro-genlisp{a} ros-hydro-genmsg{a} ros-hydro-genpy{a}
ros-hydro-geometric-shapes{a} ros-hydro-geometry{a}
ros-hydro-geometry-experimental{a} ros-hydro-geometry-msgs{a}
ros-hydro-geometry-tutorials{a} ros-hydro-gmapping{a}
ros-hydro-image-common{a} ros-hydro-image-geometry{a}
ros-hydro-image-pipeline{a} ros-hydro-image-proc{a}
ros-hydro-image-rotate{a} ros-hydro-image-transport{a}
ros-hydro-image-transport-plugins{a} ros-hydro-image-view{a}
ros-hydro-interactive-marker-tutorials{a} ros-hydro-interactive-markers{a}
ros-hydro-joint-state-publisher{a} ros-hydro-kdl-conversions{a}
ros-hydro-kdl-parser{a} ros-hydro-laser-assembler{a}
ros-hydro-laser-filters{a} ros-hydro-laser-geometry{a}
ros-hydro-laser-pipeline{a} ros-hydro-librviz-tutorial{a}
ros-hydro-map-msgs{a} ros-hydro-map-server{a} ros-hydro-media-export{a}
ros-hydro-message-filters{a} ros-hydro-message-generation{a}
ros-hydro-message-runtime{a} ros-hydro-mk{a} ros-hydro-mobile{a}
ros-hydro-move-base{a} ros-hydro-move-base-msgs{a}
ros-hydro-move-slow-and-clear{a} ros-hydro-nav-core{a}
ros-hydro-nav-msgs{a} ros-hydro-navfn{a} ros-hydro-navigation{a}
ros-hydro-nodelet{a} ros-hydro-nodelet-core{a}
ros-hydro-nodelet-topic-tools{a} ros-hydro-nodelet-tutorial-math{a}
ros-hydro-octomap{a} ros-hydro-opencv2{a} ros-hydro-openslam-gmapping{a}
ros-hydro-orocos-kdl{a} ros-hydro-pcl-conversions{a} ros-hydro-pcl-msgs{a}
ros-hydro-pcl-ros{a} ros-hydro-perception{a} ros-hydro-perception-pcl{a}
ros-hydro-pluginlib{a} ros-hydro-pluginlib-tutorials{a}
ros-hydro-polled-camera{a} ros-hydro-python-qt-binding{a}
ros-hydro-qt-dotgraph{a} ros-hydro-qt-gui{a} ros-hydro-qt-gui-app{a}
ros-hydro-qt-gui-core{a} ros-hydro-qt-gui-cpp{a}
ros-hydro-qt-gui-py-common{a} ros-hydro-random-numbers{a}
ros-hydro-resource-retriever{a} ros-hydro-robot{a} ros-hydro-robot-model{a}
ros-hydro-robot-pose-ekf{a} ros-hydro-robot-state-publisher{a}
ros-hydro-ros{a} ros-hydro-ros-base{a} ros-hydro-ros-comm{a}
ros-hydro-ros-full{a} ros-hydro-ros-tutorials{a} ros-hydro-rosbag{a}
ros-hydro-rosbag-migration-rule{a} ros-hydro-rosbash{a}
ros-hydro-rosboost-cfg{a} ros-hydro-rosbuild{a} ros-hydro-rosclean{a}
ros-hydro-rosconsole{a} ros-hydro-rosconsole-bridge{a} ros-hydro-roscpp{a}
ros-hydro-roscpp-serialization{a} ros-hydro-roscpp-traits{a}
ros-hydro-roscpp-tutorials{a} ros-hydro-roscreate{a}
ros-hydro-rosdoc-lite{a} ros-hydro-rosgraph{a} ros-hydro-rosgraph-msgs{a}
ros-hydro-roslang{a} ros-hydro-roslaunch{a} ros-hydro-roslib{a}
ros-hydro-roslisp{a} ros-hydro-rosmake{a} ros-hydro-rosmaster{a}
ros-hydro-rosmsg{a} ros-hydro-rosnode{a} ros-hydro-rosout{a}
ros-hydro-rospack{a} ros-hydro-rosparam{a} ros-hydro-rospy{a}
ros-hydro-rospy-tutorials{a} ros-hydro-rosservice{a} ros-hydro-rostest{a}
ros-hydro-rostime{a} ros-hydro-rostopic{a} ros-hydro-rosunit{a}
ros-hydro-roswtf{a} ros-hydro-rotate-recovery{a} ros-hydro-rqt-action{a}
ros-hydro-rqt-bag{a} ros-hydro-rqt-bag-plugins{a}
ros-hydro-rqt-common-plugins{a} ros-hydro-rqt-console{a}
ros-hydro-rqt-dep{a} ros-hydro-rqt-graph{a} ros-hydro-rqt-gui{a}
ros-hydro-rqt-gui-cpp{a} ros-hydro-rqt-gui-py{a}
ros-hydro-rqt-image-view{a} ros-hydro-rqt-launch{a}
ros-hydro-rqt-logger-level{a} ros-hydro-rqt-moveit{a} ros-hydro-rqt-msg{a}
ros-hydro-rqt-nav-view{a} ros-hydro-rqt-plot{a} ros-hydro-rqt-pose-view{a}
ros-hydro-rqt-publisher{a} ros-hydro-rqt-py-common{a}
ros-hydro-rqt-py-console{a} ros-hydro-rqt-reconfigure{a}
ros-hydro-rqt-robot-dashboard{a} ros-hydro-rqt-robot-monitor{a}
ros-hydro-rqt-robot-plugins{a} ros-hydro-rqt-robot-steering{a}
ros-hydro-rqt-runtime-monitor{a} ros-hydro-rqt-rviz{a}
ros-hydro-rqt-service-caller{a} ros-hydro-rqt-shell{a} ros-hydro-rqt-srv{a}
ros-hydro-rqt-tf-tree{a} ros-hydro-rqt-top{a} ros-hydro-rqt-topic{a}
ros-hydro-rqt-web{a} ros-hydro-rviz{a} ros-hydro-rviz-plugin-tutorials{a}
ros-hydro-rviz-python-tutorial{a} ros-hydro-self-test{a}
ros-hydro-sensor-msgs{a} ros-hydro-shape-msgs{a} ros-hydro-shape-tools{a}
ros-hydro-simulators{a} ros-hydro-smach{a} ros-hydro-smach-msgs{a}
ros-hydro-smach-ros{a} ros-hydro-smclib{a} ros-hydro-stage{a}
ros-hydro-stage-ros{a} ros-hydro-std-msgs{a} ros-hydro-std-srvs{a}
ros-hydro-stereo-image-proc{a} ros-hydro-stereo-msgs{a} ros-hydro-tf{a}
ros-hydro-tf-conversions{a} ros-hydro-tf2{a} ros-hydro-tf2-bullet{a}
ros-hydro-tf2-geometry-msgs{a} ros-hydro-tf2-kdl{a} ros-hydro-tf2-msgs{a}
ros-hydro-tf2-py{a} ros-hydro-tf2-ros{a} ros-hydro-tf2-tools{a}
ros-hydro-theora-image-transport{a} ros-hydro-timestamp-tools{a}
ros-hydro-topic-tools{a} ros-hydro-trajectory-msgs{a}
ros-hydro-turtle-actionlib{a} ros-hydro-turtle-tf{a} ros-hydro-turtlesim{a}
ros-hydro-urdf{a} ros-hydro-urdf-parser-plugin{a}
ros-hydro-urdf-tutorial{a} ros-hydro-urdfdom{a}
ros-hydro-urdfdom-headers{a} ros-hydro-vision-opencv{a}
ros-hydro-visualization-marker-tutorials{a} ros-hydro-visualization-msgs{a}
ros-hydro-visualization-tutorials{a} ros-hydro-viz{a}
ros-hydro-voxel-grid{a} ros-hydro-xacro{a} ros-hydro-xmlrpcpp{a} sbcl{a}
sdformat{a} shiboken{a} sphinx-common{a} sphinx-doc{a} tango-icon-theme{a}
tcl8.5-dev{a} texlive-fonts-recommended{a} texlive-fonts-recommended-doc{a}
tipa{a} tk8.5-dev{a} x11proto-composite-dev{a} x11proto-damage-dev{a}
x11proto-fixes-dev{a} x11proto-randr-dev{a} x11proto-render-dev{a}
x11proto-scrnsaver-dev{a} yaml-cpp{a}
The following packages will be REMOVED:
firefox-locale-zh-hans{u} gir1.2-json-1.0{u} gir1.2-timezonemap-1.0{u}
gir1.2-xkl-1.0{u} kde-l10n-engb{u} kde-l10n-zhcn{u} language-pack-kde-en{u}
language-pack-kde-en-base{u} language-pack-kde-zh-hans{u}
language-pack-kde-zh-hans-base{u} language-pack-zh-hans{u}
language-pack-zh-hans-base{u} lesstif2{u} linux-headers-3.2.0-29{u}
linux-headers-3.2.0-29-generic{u}
0 packages upgraded, 496 newly installed, 15 to remove and 1 not upgraded.
Need to get 251 MB of archives. After unpacking 797 MB will be used.
The following packages have unmet dependencies:
libavformat-extra-53 : Conflicts: libavformat53 but 4:0.8.5-0ubuntu0.12.04.1 is installed.
libjpeg-turbo8-dev : Depends: libjpeg-turbo8 (= 1.1.90+svn733-0ubuntu4) but 1.1.90+svn733-0ubuntu4.1 is installed.
libasound2-dev : Depends: libasound2 (= 1.0.25-1ubuntu10) but 1.0.25-1ubuntu10.1 is installed.
libtiff4-dev : Depends: libtiff4 (= 3.9.5-2ubuntu1) but 3.9.5-2ubuntu1.4 is installed.
Depends: libtiffxx0c2 (= 3.9.5-2ubuntu1) but it is not going to be installed.
libavutil-extra-51 : Conflicts: libavutil51 but 4:0.8.5-0ubuntu0.12.04.1 is installed.
libfontconfig1-dev : Depends: libfontconfig1 (= 2.8.0-3ubuntu9) but 2.8.0-3ubuntu9.1 is installed.
libfltk1.3-dev : Conflicts: libfltk-dev which is a virtual package.
libpostproc-extra-52 : Conflicts: libpostproc52 but 4:0.8.5-0ubuntu0.12.04.1 is installed.
libswscale-extra-2 : Conflicts: libswscale2 but 4:0.8.5-0ubuntu0.12.04.1 is installed.
libglib2.0-dev : Depends: libglib2.0-0 (= 2.32.1-0ubuntu2) but 2.32.3-0ubuntu1 is installed.
Depends: libglib2.0-bin (= 2.32.1-0ubuntu2) but 2.32.3-0ubuntu1 is installed.
libxml2-dev : Depends: libxml2 (= 2.7.8.dfsg-5.1ubuntu4) but 2.7.8.dfsg-5.1ubuntu4.3 is installed.
libcairo2-dev : Depends: libcairo2 (= 1.10.2-6.1ubuntu2) but 1.10.2-6.1ubuntu3 is installed.
Depends: libcairo-gobject2 (= 1.10.2-6.1ubuntu2) but 1.10.2-6.1ubuntu3 is installed.
Depends: libcairo-script-interpreter2 (= 1.10.2-6.1ubuntu2) but it is not going to be installed.
Depends: libpixman-1-dev (>= 0.18.4) but it is not going to be installed.
Depends: libxcb-render0-dev (>= 0.9.92) but it is not going to be installed.
Depends: libxcb-shm0-dev but it is not going to be installed.
libpango1.0-dev : Depends: libpango1.0-0 (= 1.30.0-0ubuntu2) but 1.30.0-0ubuntu3.1 is installed.
Depends: gir1.2-pango-1.0 (= 1.30.0-0ubuntu2) but 1.30.0-0ubuntu3.1 is installed.
libfreetype6-dev : Depends: libfreetype6 (= 2.4.8-1ubuntu2) but 2.4.8-1ubuntu2.1 is installed.
libfltk1.1-dev : Conflicts: libfltk-dev which is a virtual package.
libpulse-dev : Depends: libpulse0 (= 1:1.1-0ubuntu15) but 1:1.1-0ubuntu15.2 is installed.
Depends: libpulse-mainloop-glib0 (= 1:1.1-0ubuntu15) but 1:1.1-0ubuntu15.2 is installed.
Depends: libavahi-client-dev but it is not going to be installed.
libgnutls-dev : Depends: libgnutls26 (= 2.12.14-5ubuntu3) but 2.12.14-5ubuntu3.1 is installed.
Depends: libgnutlsxx27 (= 2.12.14-5ubuntu3) but it is not going to be installed.
Depends: libgnutls-openssl27 (= 2.12.14-5ubuntu3) but it is not going to be installed.
Depends: libgcrypt11-dev (>= 1.4.0) but it is not going to be installed.
Depends: libtasn1-3-dev (>= 0.3.4) but it is not going to be installed.
Depends: libp11-kit-dev (>= 0.4) but it is not going to be installed.
libavcodec-extra-53 : Conflicts: libavcodec53 but 4:0.8.5-0ubuntu0.12.04.1 is installed.
libv4l-dev : Depends: libv4l-0 (= 0.8.6-1ubuntu1) but 0.8.6-1ubuntu2 is installed.
Depends: libv4lconvert0 (= 0.8.6-1ubuntu1) but 0.8.6-1ubuntu2 is installed.
The following actions will resolve these dependencies:
Keep the following packages at their current version:
1) ffmpeg [Not Installed]
2) gazebo [Not Installed]
3) libasound2-dev [Not Installed]
4) libatk1.0-dev [Not Installed]
5) libav-tools [Not Installed]
6) libavcodec-dev [Not Installed]
7) libavcodec-extra-53 [Not Installed]
8) libavdevice53 [Not Installed]
9) libavfilter2 [Not Installed]
10) libavformat-dev [Not Installed]
11) libavformat-extra-53 [Not Installed]
12) libavutil-dev [Not Installed]
13) libavutil-extra-51 [Not Installed]
14) libcairo2-dev [Not Installed]
15) libcegui-mk2-dev [Not Installed]
16) libcurl4-openssl-dev [Not Installed]
17) libdevil-dev [Not Installed]
18) libfltk1.1-dev [Not Installed]
19) libfontconfig1-dev [Not Installed]
20) libfreetype6-dev [Not Installed]
21) libgdk-pixbuf2.0-dev [Not Installed]
22) libglib2.0-dev [Not Installed]
23) libgnutls-dev [Not Installed]
24) libgtk2.0-dev [Not Installed]
25) libjpeg-dev [Not Installed]
26) libjpeg-turbo8-dev [Not Installed]
27) libjpeg8-dev [Not Installed]
28) libmng-dev [Not Installed]
29) libogre-dev [Not Installed]
30) libpango1.0-dev [Not Installed]
31) libpcl-1.7-all [Not Installed]
32) libpcl-1.7-all-dev [Not Installed]
33) libpcl-apps-1.7-dev [Not Installed]
34) libpcl-io-1.7-dev [Not Installed]
35) libpcl-outofcore-1.7-dev [Not Installed]
36) libpcl-people-1.7-dev [Not Installed]
37) libpcl-recognition-1.7-dev [Not Installed]
38) libpcl-visualization-1.7-dev [Not Installed]
39) libpostproc-extra-52 [Not Installed]
40) libpulse-dev [Not Installed]
41) librtmp-dev [Not Installed]
42) libsdl-image1.2-dev [Not Installed]
43) libsdl1.2-dev [Not Installed]
44) libswscale-dev [Not Installed]
45) libswscale-extra-2 [Not Installed]
46) libtiff4-dev [Not Installed]
47) libv4l-dev [Not Installed]
48) libvtk5-dev [Not Installed]
49) libvtk5-qt4-dev [Not Installed]
50) libxft-dev [Not Installed]
51) libxml2-dev [Not Installed]
52) ros-hydro-base-local-planner [Not Installed]
53) ros-hydro-camera-calibration [Not Installed]
54) ros-hydro-carrot-planner [Not Installed]
55) ros-hydro-clear-costmap-recovery [Not Installed]
56) ros-hydro-collada-urdf [Not Installed]
57) ros-hydro-compressed-depth-image-transport [Not Installed]
58) ros-hydro-compressed-image-transport [Not Installed]
59) ros-hydro-costmap-2d [Not Installed]
60) ros-hydro-cv-bridge [Not Installed]
61) ros-hydro-depth-image-proc [Not Installed]
62) ros-hydro-desktop [Not Installed]
63) ros-hydro-desktop-full [Not Installed]
64) ros-hydro-dwa-local-planner [Not Installed]
65) ros-hydro-gazebo-plugins [Not Installed]
66) ros-hydro-gazebo-ros [Not Installed]
67) ros-hydro-gazebo-ros-pkgs [Not Installed]
68) ros-hydro-geometric-shapes [Not Installed]
69) ros-hydro-image-geometry [Not Installed]
70) ros-hydro-image-pipeline [Not Installed]
71) ros-hydro-image-proc [Not Installed]
72) ros-hydro-image-rotate [Not Installed]
73) ros-hydro-image-transport-plugins [Not Installed]
74) ros-hydro-image-view [Not Installed]
75) ros-hydro-laser-filters [Not Installed]
76) ros-hydro-laser-pipeline [Not Installed]
77) ros-hydro-librviz-tutorial [Not Installed]
78) ros-hydro-map-server [Not Installed]
79) ros-hydro-mobile [Not Installed]
80) ros-hydro-move-base [Not Installed]
81) ros-hydro-move-slow-and-clear [Not Installed]
82) ros-hydro-nav-core [Not Installed]
83) ros-hydro-navfn [Not Installed]
84) ros-hydro-navigation [Not Installed]
85) ros-hydro-opencv2 [Not Installed]
86) ros-hydro-pcl-conversions [Not Installed]
87) ros-hydro-pcl-ros [Not Installed]
88) ros-hydro-perception [Not Installed]
89) ros-hydro-perception-pcl [Not Installed]
90) ros-hydro-resource-retriever [Not Installed]
91) ros-hydro-robot [Not Installed]
92) ros-hydro-robot-model [Not Installed]
93) ros-hydro-ros-full [Not Installed]
94) ros-hydro-rotate-recovery [Not Installed]
95) ros-hydro-rqt-common-plugins [Not Installed]
96) ros-hydro-rqt-image-view [Not Installed]
97) ros-hydro-rqt-robot-plugins [Not Installed]
98) ros-hydro-rqt-rviz [Not Installed]
99) ros-hydro-rviz [Not Installed]
100) ros-hydro-rviz-plugin-tutorials [Not Installed]
101) ros-hydro-rviz-python-tutorial [Not Installed]
102) ros-hydro-simulators [Not Installed]
103) ros-hydro-stage [Not Installed]
104) ros-hydro-stage-ros [Not Installed]
105) ros-hydro-stereo-image-proc [Not Installed]
106) ros-hydro-theora-image-transport [Not Installed]
107) ros-hydro-vision-opencv [Not Installed]
108) ros-hydro-visualization-tutorials [Not Installed]
109) ros-hydro-viz [Not Installed]
110) tk8.5-dev [Not Installed]
Originally posted by urthkakao on ROS Answers with karma: 108 on 2013-12-03
Post score: 2
Original comments
Comment by dornhege on 2013-12-03:
Try aptitude instead of apt-get and post the suggestions it gives here.
|
Is there a PDF file hosted anywhere for the ROS beginner tutorials?
I would like to print them out to work from and make notes, but would like to avoid printing each page individually if possible.
Originally posted by Craig Hay on ROS Answers with karma: 1 on 2013-12-03
Post score: 0
|
I've already created an urdf called "robot_arm.urdf". I want to spawn that model on Gazebo. Before trying to spawn, I used "gzsdf" to see it as a sdf file. However, the result was unexpected. Despite my urdf model includes 7 links and 6 joints, the created sdf file shows just one link called "__ default __". The only right thing in the converted file is the name of the model.
Edit #1: I used ROS Hydro and Gazebo come with it. Also Ubuntu 13.04.
Here are the result when I enter "$ gzsdf print robot_arm.urdf":
> <sdf version='1.4'>
> <model name='robot_arm'>
> <link name='__default__'>
> <velocity_decay>
> <linear>0</linear>
> <angular>0</angular>
> </velocity_decay>
> </link>
> </model>
> </sdf>
Here is my urdf file which is in ~/catkin_ws/src/testbot_description/robot_arm.urdf:
<?xml version="1.0" ?>
<robot name="robot_arm">
<link name="base">
<visual>
<geometry>
<cylinder length="0.025" radius="0.08"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.025" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="link_0">
<visual>
<geometry>
<cylinder length="0.2385" radius="0.0295"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="0 0 0" xyz="0 0 0.13175"/>
</visual>
<collision>
<geometry>
<cylinder length="0.2385" radius="0.0295"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.13175"/>
</collision>
</link>
<joint name="base_to_link0" type="fixed">
<parent link="base"/>
<child link="link_0"/>
</joint>
<link name="link_1">
<visual>
<geometry>
<cylinder length="0.103" radius="0.0295"/>
</geometry>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>
<origin rpy="0 -1.57079 1.57079" xyz="0 0.022 0.2805"/>
</visual>
<collision>
<geometry>
<cylinder length="0.103" radius="0.0295"/>
</geometry>
<origin rpy="0 -1.57079 1.57079" xyz="0 0.022 0.2805"/>
</collision>
</link>
<joint name="link0_to_link1" type="revolute">
<limit effort="30" velocity="1.0" lower="-2.792526" upper="2.792526"/>
<axis xyz="0 0 1"/>
<parent link="link_0"/>
<child link="link_1"/>
</joint>
<link name="link_2">
<inertial>
<mass value="17.4" />
<inertia ixx="0.13" iyy="0.524" izz="0.539" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.059 0.229 0.079"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="0 0 -1.57079" xyz="0.054 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.059 0.229 0.079"/>
</geometry>
<origin rpy="0 0 -1.57079" xyz="0.054 0 0"/>
</collision>
</link>
<joint name="link1_to_link2" type="revolute">
<limit effort="30" velocity="1.0" lower="-3.906056" upper="0.785398"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0.092 0.2805"/>
<parent link="link_1"/>
<child link="link_2"/>
</joint>
<link name="link_3">
<inertial>
<mass value="4.8" />
<inertia ixx="0.066" iyy="0.0125" izz="0.086" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.032 0.194 0.032"/>
</geometry>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>
<origin rpy="0 0 -1.57079" xyz="0.0425 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.032 0.194 0.032"/>
</geometry>
<origin rpy="0 0 -1.57079" xyz="0.0425 0 0"/>
</collision>
</link>
<joint name="link2_to_link3" type="revolute">
<limit effort="30" velocity="1.0" lower="-0.785398" upper="2.756056"/>
<axis xyz="0 1 0"/>
<origin xyz="0.1475 -0.045 0"/>
<parent link="link_2"/>
<child link="link_3"/>
</joint>
<link name="link_4">
<inertial>
<mass value="0.82" />
<inertia ixx="0.0018" iyy="0.0018" izz="0.0013" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.032 0.015 0.032"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="0 0 -1.57079" xyz="0.019 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.032 0.015 0.032"/>
</geometry>
<origin rpy="0 0 -1.57079" xyz="0.019 0 0"/>
</collision>
</link>
<joint name="link3_to_link4" type="revolute">
<limit effort="30" velocity="1.0" lower="-1.919862" upper="2.96705"/>
<axis xyz="1 0 0"/>
<origin xyz="0.1275 0 0"/>
<parent link="link_3"/>
<child link="link_4"/>
</joint>
<link name="link_5">
<inertial>
<mass value="0.34" />
<inertia ixx="0.0003" iyy="0.0003" izz="0.0004" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<cylinder length="0.032" radius="0.016"/>
</geometry>
<material name="Black">
<color rgba="0 0 0 1"/>
</material>
<origin rpy="1.57079 0 0" xyz="-0.00015 0 0"/>
</visual>
<collision>
<geometry>
<cylinder length="0.032" radius="0.016"/>
</geometry>
<origin rpy="1.57079 0 0" xyz="-0.00015 0 0"/>
</collision>
</link>
<joint name="link4_to_link5" type="revolute">
<limit effort="30" velocity="1.0" lower="-1.195329" upper="1.195329"/>
<axis xyz="0 1 0"/>
<origin xyz="0.0424 0 0"/>
<parent link="link_4"/>
<child link="link_5"/>
</joint>
<link name="link_6">
<inertial>
<mass value="0.09" />
<inertia ixx="0.00015" iyy="0.00015" izz="0.00004" ixy="0" ixz="0" iyz="0" />
</inertial>
<visual>
<geometry>
<box size="0.0185 0.032 0.0185"/>
</geometry>
<material name="Orange">
<color rgba="1 0.4 0 1"/>
</material>
<origin rpy="1.57079 0 0" xyz="0.0043 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.0085 0.022 0.0085"/>
</geometry>
<origin rpy="1.57079 0 0" xyz="0.0043 0 0"/>
</collision>
</link>
<joint name="link5_to_link6" type="revolute">
<limit effort="30" velocity="1.0" lower="-4.642575" upper="4.642575"/>
<axis xyz="1 0 0"/>
<origin xyz="0.021 0 0"/>
<parent link="link_5"/>
<child link="link_6"/>
</joint>
<gazebo reference="base">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_0">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_1">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_2">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_3">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_4">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_5">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="link_6">
<selfCollide>true</selfCollide>
</gazebo>
</robot>
Originally posted by Sezgin S. on ROS Answers with karma: 51 on 2013-12-03
Post score: 2
|
I want to write a rospy node that uses Python's GUI toolkit Tkinter, problem is that rospy.spin() and top.mainloop() are both blocking calls.
I thought of starting one and setting an interrupt to start the other, like:
top.after(50, rospy.spin )
top.mainloop()
This successfully starts both loops, but once rospy.spin() starts it completely takes control from Tkinter (until I hit ctrl+c, then Tkinter resumes). What I really want is a rospy.spinOnce() that I can call on Tkinter's repaint cycle, but I gather there isn't such a thing.
Is there a good way to have both top.mainloop() and rospy.spin() running in the same thread? Or at least a work-a-round?
Edit: I found a work-a-round by forking rospy.spin() into it's own thread and protecting all my variables inside the ros callbacks with mutexes like so:
from threading import Thread, Lock
mutex = Lock()
def rosClbk(data) :
mutex.aquire()
_var = var
mutex.release()
# do processing on _var
def main() :
...
t = Thread(target = rospy.spin )
t.start()
top.mainloop()
This makes the program a bit hard to kill (since ros no longer responds to ctrl+c), but otherwise seems to work fine. Is this too dirty? Is there a better way?
Originally posted by ounsworth on ROS Answers with karma: 37 on 2013-12-03
Post score: 1
|
I am new to the ROS middleware framework and I do not understand how I would extract the sensor point data from the Kinect using C++?
I have been looking into using the sensor_msgs/PoinntCloud2.h and extracting the points that will be able to publish the data onto a new topic called "kinect_sensor" but I cannot seem to find any tutorials out there which will allow me to do this?
Hope someone can help
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-04
Post score: 0
|
Hi guys I need a little help we have 5 turtlebots in our lab, 2 work fine but we're having trouble with the other 3. They power up fine but do not show up as a device (either /dev/kobuki or /dev/ttyUSB*)
dmesg outputs the following error message:
hub 2-1:1.0: connect-debounce failed, port 4 disabled
We've tried different cables, laptops, fully charging the robots and switching to firmware update mode and get the same error.
Any help would be appreciated.
Originally posted by richardw347 on ROS Answers with karma: 1 on 2013-12-04
Post score: 0
Original comments
Comment by dornhege on 2013-12-04:
Did that ever work? If the same procedure/laptop works on some and not others, this might be a hardware problem and might be something for the support.
Comment by Daniel Stonier on 2013-12-11:
Yes, contact us directly on the address jihoonl posted above. We'd like to investigate the problem as well. Thanks.
|
Hi Guys,
I compiled the navigation stack from source, and I noticed a performance change between the package I built, and the package I pulled from the apt-get server. The move_base that I had built, took way more CPU resources than the one that I pulled down from the server. I did make sure they were the same version. I did notice though that the symbols where stripped from the binaries that were pulled down, but mine still had the debug symbols in them.
For the released ROS packages that are pulled down from the apt-get server, what compiler optimizations are used to build those packages? (Release vs Debug and Optimization Level Number) Where/How is this set? Are all packages in the ROS BuildFarm setup with the same optimizations?
How would I get the navigation stack that I pulled down from source compiling with the same optimization flags as the ones that are released as deb packages?
Is there a way to set the optimization flags for all the packages that I am compiling in my catkin workspace?
Thank you
Originally posted by Raptor on ROS Answers with karma: 377 on 2013-12-04
Post score: 0
|
I am trying to use ccny_rgbd_tools , I compiled the tools from the source , the output :
roslaunch ccny_openni_launch openni.launch publsh_cloud:=true
openni.launch publsh_cloud:=true ...
logging to
/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/roslaunch-ubuntu-armhf-1174.log
Checking log directory for disk usage.
This may take awhile. Press Ctrl-C to
interrupt Done checking log file disk
usage. Usage is <1GB.
started roslaunch server
http://ubuntu-armhf:45387/
SUMMARY
PARAMETERS *
/openni_driver/depth_camera_info_url
/openni_driver/depth_frame_id * /openni_driver/depth_mode *
/openni_driver/device_id *
/openni_driver/image_mode *
/openni_driver/rgb_camera_info_url *
/openni_driver/rgb_frame_id *
/rgbd_image_proc/calib_path *
/rgbd_image_proc/publish_cloud *
/rgbd_image_proc/scale *
/rgbd_image_proc/unwarp *
/rgbd_image_proc/verbose * /rosdistro
/rosversion
NODES /
camera_rgb_frame_tf (tf/static_transform_publisher)
camera_rgb_optical_frame_tf (tf/static_transform_publisher)
debayer (nodelet/nodelet)
openni_driver (nodelet/nodelet)
rgbd_image_proc (nodelet/nodelet)
rgbd_manager (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rgbd_manager-1]: started with
pid [1192] [ INFO]
[1386166814.932014355]: Initializing
nodelet with 1 worker threads.
process[openni_driver-2]: started with
pid [1214] [ INFO]
[1386166818.151105481]: Loading
nodelet /openni_driver of type
openni_camera/driver to manager
rgbd_manager with the following
remappings: [ INFO]
[1386166818.168595981]: /depth ->
/camera/depth [ INFO]
[1386166818.182154397]: /ir ->
/camera/ir [ INFO]
[1386166818.190459147]: /rgb ->
/camera/rgb [ INFO]
[1386166821.764989731]: Number devices
connected: 1 [ INFO]
[1386166822.137412189]: 1. device on
bus 001:04 is a SensorV2 (601) from
PrimeSense (1d27) with serial id
'1301040309' [ INFO]
[1386166822.158497814]: Searching for
device with index = 1 [ INFO]
[1386166822.586708023]: No matching
device found.... waiting for devices.
Reason:
openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&,
const xn::NodeInfo&, const
xn::NodeInfo&, const xn::NodeInfo&,
const xn::NodeInfo&) @
/root/catkin_ws/src/openni_camera/src/openni_device.cpp
@ 65 : creating image generator
failed. Reason: Failed to set USB
interface! process[debayer-3]: started
with pid [1251] [ INFO]
[1386166825.679466898]: Number devices
connected: 1 [ INFO]
[1386166825.688282565]: 1. device on
bus 001:04 is a SensorV2 (601) from
PrimeSense (1d27) with serial id
'1301040309' [ INFO]
[1386166825.708856357]: Searching for
device with index = 1 [ INFO]
[1386166825.748079148]: Opened
'SensorV2' on bus 1:4 with serial
number '1301040309' [ERROR]
[1386166826.468534148]: Failed to load
nodelet [/debayer] of type
[image_proc/debayer]: According to the
loaded plugin descriptions the class
image_proc/debayer with base class
type nodelet::Nodelet does not exist.
Declared types are
ccny_rgbd/RGBDImageProcNodelet
openni_camera/driver pcl/BAGReader
pcl/ExtractIndices pcl/NodeletDEMUX
pcl/NodeletMUX pcl/PCDReader
pcl/PCDWriter pcl/PassThrough
pcl/PointCloudConcatenateDataSynchronizer
pcl/PointCloudConcatenateFieldsSynchronizer
pcl/ProjectInliers
pcl/StatisticalOutlierRemoval
pcl/VoxelGrid test_nodelet/ConsoleTest
test_nodelet/Plus
test_nodelet_topic_tools/NodeletThrottleString
[FATAL] [1386166826.486667607]:
Service call failed! [debayer-3]
process has died [pid 1251, exit code
255, cmd
/root/catkin_ws/devel/lib/nodelet/nodelet
load image_proc/debayer rgbd_manager
image_raw:=/camera/rgb/image_raw
image_color:=/camera/rgb/image_color
__name:=debayer __log:=/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3.log].
log file:
/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/debayer-3*.log process[rgbd_image_proc-4]: started
with pid [1321] [ INFO]
[1386166830.955137816]: rgb_frame_id =
'/camera_rgb_optical_frame' [ INFO]
[1386166830.964522691]: depth_frame_id
= '/camera_depth_optical_frame' [ WARN] [1386166831.168540649]:
[rgb_1301040309] does not match name
rgb in file
/root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/rgb.yml
[ WARN] [1386166831.219288024]:
[depth_1301040309] does not match name
depth in file
/root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd_data/calibration_openni_default/depth.yml
[ERROR] [1386166833.444105024]: Failed
to load nodelet [/rgbd_image_proc] of
type [ccny_rgbd/RGBDImageProcNodelet]:
Failed to load library
/root/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/lib/librgbd_image_proc_nodelet.so.
Make sure that you are calling the
PLUGINLIB_EXPORT_CLASS macro in the
library code, and that names are
consistent between this macro and your
XML. Error string: Could not load
library (Poco exception =
libopencv_imgproc.so.3.0: cannot open
shared object file: No such file or
directory) [FATAL]
[1386166833.466222482]: Service call
failed! [rgbd_image_proc-4] process
has died [pid 1321, exit code 255, cmd
/root/catkin_ws/devel/lib/nodelet/nodelet
load ccny_rgbd/RGBDImageProcNodelet
rgbd_manager __name:=rgbd_image_proc
__log:=/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/rgbd_image_proc-4.log].
log file:
/root/.ros/log/acd627fc-5cee-11e3-bef9-c8a030b6727e/rgbd_image_proc-4*.log
process[camera_rgb_frame_tf-5]:
started with pid [1370]
process[camera_rgb_optical_frame_tf-6]:
started with pid [1381]
Originally posted by 7mdan92 on ROS Answers with karma: 13 on 2013-12-04
Post score: 0
Original comments
Comment by Martin Günther on 2014-01-26:
That output is unreadable. Please use 4 spaces to indent code, or use the "preformatted text" button ("101010") when editing your answer. Unfortunately, the line breaks are messed up, otherwise I'd do it for you.
|
I'm having the following message every time I try to use catkin_create_pkg. Any idea how to solve this???
Traceback (most recent call last):
File "/usr/local/bin/catkin_create_pkg", line 71, in <module>
main()
File "/usr/local/bin/catkin_create_pkg", line 64, in main
newfiles={})
File "/usr/local/lib/python3.3/dist-packages/catkin_pkg/package_templates.py", line 211, in create_package_files
newfiles[cmake_path] = create_cmakelists(package_template, rosdistro)
File "/usr/local/lib/python3.3/dist-packages/catkin_pkg/package_templates.py", line 275, in create_cmakelists
return ctemp.substitute(temp_dict)
File "/usr/lib/python3.3/string.py", line 121, in substitute
return self.pattern.sub(convert, self.template)
File "/usr/lib/python3.3/string.py", line 111, in convert
val = mapping[named]
KeyError: 'include_folder_comment'
Originally posted by silgon on ROS Answers with karma: 649 on 2013-12-04
Post score: 0
|
Hi All,
We are using Hyrdo's move_base and we continue to get an extrapolation error into the future. I believe this is causing our robot to stop and start during a traverse.
In looking the ROS source code it appears that the lookupTransform in navigation/base_local_planner/src/goal_functions.cpp line 110 in transformGlobalPlan is returning the error. We are using the dwa_local_planner. We are publishing transforms at 20hz from a separate node. The parameters to tf.lookupTransform are global_frame = "local" and the plan_pose.header.frame_id = "global", and the plan_pose.header.stamp comes from the generating the gloabl plan. I think the bug is coming from tf2/src/buffer_core.cpp in WalkToTopParent(). I still need to do more debugging to find the exact problem. I've turned the debug information on for move_base so I'm including a snippet of it, and the console log below. Any help would be appreciated.
Thanks.
[DEBUG] [1386166204.375994679]: The action server has received a new goal request
[DEBUG] [1386166204.376260355]: A new goal has been recieved by the single goal action server
[DEBUG] [1386166204.376656845]: Accepting a new goal
[DEBUG] [1386166204.376895493]: Accepting goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.377491239]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.377705512]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.378025665]: Planning...
[DEBUG] [1386166204.378168840]: Waiting for plan, in the planning state.
[DEBUG] [1386166204.378332478]: Full control cycle time: 0.000979315
[DEBUG] [1386166204.455307564]: Got Plan with 49 points!
[DEBUG] [1386166204.457263957]: Generated a plan from the base_global_planner
[DEBUG] [1386166204.458307175]: Planner thread is suspending
[DEBUG] [1386166204.477544259]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.477708316]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.477914069]: Got a new plan...swap pointers
[DEBUG] [1386166204.478065066]: pointers swapped!
[ INFO] [1386166204.478229751]: Got new plan
[DEBUG] [1386166204.478925371]: In controlling state.
[DEBUG] [1386166204.515009849]: Got a valid command from the local planner: 0.500, 0.000, 2.000
[DEBUG] [1386166204.516475469]: Full control cycle time: 0.037907056
[DEBUG] [1386166204.578542367]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.579298889]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.580845315]: In controlling state.
[DEBUG] [1386166204.609181880]: Got a valid command from the local planner: 0.500, 0.000, 2.000
[DEBUG] [1386166204.610400540]: Full control cycle time: 0.031062960
[DEBUG] [1386166204.677557610]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.677725508]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.677947673]: In controlling state.
[DEBUG] [1386166204.704567051]: Got a valid command from the local planner: 0.500, 0.000, 2.000
[DEBUG] [1386166204.705445516]: Full control cycle time: 0.027409982
[DEBUG] [1386166204.777927638]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.779469173]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.790713341]: In controlling state.
[ WARN] [1386166204.799236284]: Could not transform the global plan to the frame of the controller
[DEBUG] [1386166204.802767947]: The local planner could not find a valid plan.
[DEBUG] [1386166204.804277915]: Planning...
[DEBUG] [1386166204.806757562]: Full control cycle time: 0.029080164
[DEBUG] [1386166204.877208489]: Got Plan with 49 points!
[DEBUG] [1386166204.878977430]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.879146725]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.879352897]: Waiting for plan, in the planning state.
[DEBUG] [1386166204.879506199]: Full control cycle time: 0.002110815
[DEBUG] [1386166204.884773975]: Generated a plan from the base_global_planner
[DEBUG] [1386166204.886034821]: Planner thread is suspending
[DEBUG] [1386166204.977587453]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166204.977886654]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166204.978173771]: Got a new plan...swap pointers
[DEBUG] [1386166204.978476044]: pointers swapped!
[ INFO] [1386166204.978669994]: Got new plan
[DEBUG] [1386166204.978856819]: In controlling state.
[DEBUG] [1386166205.017628512]: Got a valid command from the local planner: 0.448, 0.000, 1.812
[DEBUG] [1386166205.018593509]: Full control cycle time: 0.040484062
[DEBUG] [1386166205.077536129]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.077705983]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.077902098]: In controlling state.
[DEBUG] [1386166205.117635921]: Got a valid command from the local planner: 0.266, 0.000, 2.063
[DEBUG] [1386166205.118555451]: Full control cycle time: 0.040495094
[DEBUG] [1386166205.177749432]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.179715326]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.185337546]: In controlling state.
[DEBUG] [1386166205.230841448]: Got a valid command from the local planner: 0.397, 0.000, 2.072
[DEBUG] [1386166205.232476503]: Full control cycle time: 0.054954404
[DEBUG] [1386166205.281725014]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.282137427]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.285275257]: In controlling state.
[DEBUG] [1386166205.324930439]: Got a valid command from the local planner: 0.333, 0.000, 1.935
[DEBUG] [1386166205.325334959]: Full control cycle time: 0.043936313
[DEBUG] [1386166205.377754753]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.400018545]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.403311982]: In controlling state.
[DEBUG] [1386166205.434306499]: Got a valid command from the local planner: 0.500, 0.000, 1.819
[DEBUG] [1386166205.434547731]: Full control cycle time: 0.057089105
[DEBUG] [1386166205.478460574]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.480680196]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.487263089]: In controlling state.
[DEBUG] [1386166205.526915895]: Got a valid command from the local planner: 0.500, 0.000, 1.819
[DEBUG] [1386166205.529046611]: Full control cycle time: 0.050830132
[DEBUG] [1386166205.577675708]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.578052571]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.581128380]: In controlling state.
[DEBUG] [1386166205.637572985]: Got a valid command from the local planner: 0.195, 0.000, -2.543
[DEBUG] [1386166205.639640568]: Full control cycle time: 0.062151475
[DEBUG] [1386166205.677513544]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.678263639]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.681451196]: In controlling state.
[DEBUG] [1386166205.727866873]: Got a valid command from the local planner: 0.500, 0.000, -3.059
[DEBUG] [1386166205.730029437]: Full control cycle time: 0.052604942
[DEBUG] [1386166205.780110809]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.794376448]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.796889897]: In controlling state.
[DEBUG] [1386166205.830207541]: Got a valid command from the local planner: 0.152, 0.000, -2.778
[DEBUG] [1386166205.831599686]: Full control cycle time: 0.050707284
[DEBUG] [1386166205.877740193]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.879729759]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.884120613]: In controlling state.
[DEBUG] [1386166205.937035721]: Got a valid command from the local planner: 0.038, 0.000, -2.498
[DEBUG] [1386166205.937388280]: Full control cycle time: 0.059935484
[DEBUG] [1386166205.977746411]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166205.978260444]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166205.978659377]: In controlling state.
[DEBUG] [1386166206.023969471]: Got a valid command from the local planner: 0.108, 0.000, -2.564
[DEBUG] [1386166206.025671223]: Full control cycle time: 0.048180431
[DEBUG] [1386166206.077568603]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.079011246]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.090116010]: In controlling state.
[DEBUG] [1386166206.119367495]: Got a valid command from the local planner: -0.130, 0.000, 1.822
[DEBUG] [1386166206.120285489]: Full control cycle time: 0.042222758
[DEBUG] [1386166206.177683082]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.182863279]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.197095536]: In controlling state.
[DEBUG] [1386166206.212940568]: Got a valid command from the local planner: -0.198, 0.000, 1.442
[DEBUG] [1386166206.214603070]: Full control cycle time: 0.035785557
[DEBUG] [1386166206.277678969]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.284374863]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.296676079]: In controlling state.
[DEBUG] [1386166206.319835447]: Got a valid command from the local planner: 0.500, 0.000, -1.653
[DEBUG] [1386166206.321370140]: Full control cycle time: 0.042692021
[DEBUG] [1386166206.377575259]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.377766834]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.378720587]: In controlling state.
[DEBUG] [1386166206.413027463]: Got a valid command from the local planner: 0.500, 0.000, -1.745
[DEBUG] [1386166206.414450061]: Full control cycle time: 0.035884731
[DEBUG] [1386166206.477536506]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.477800296]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.477999414]: In controlling state.
[DEBUG] [1386166206.512341491]: Got a valid command from the local planner: 0.500, 0.000, -1.800
[DEBUG] [1386166206.515639114]: Full control cycle time: 0.037860399
[DEBUG] [1386166206.577530785]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.577707902]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.578704469]: In controlling state.
[DEBUG] [1386166206.619075733]: Got a valid command from the local planner: 0.500, 0.000, -1.625
[DEBUG] [1386166206.619376330]: Full control cycle time: 0.041916294
[DEBUG] [1386166206.678381670]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.678848279]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.679309161]: In controlling state.
[DEBUG] [1386166206.717656704]: Got a valid command from the local planner: 0.500, 0.000, -1.331
[DEBUG] [1386166206.717989707]: Full control cycle time: 0.039929237
[DEBUG] [1386166206.777679981]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.778062151]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.785956171]: In controlling state.
[DEBUG] [1386166206.828150085]: Got a valid command from the local planner: 0.500, 0.000, -1.237
[DEBUG] [1386166206.829181222]: Full control cycle time: 0.050999570
[DEBUG] [1386166206.877526477]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.878493218]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.880053119]: In controlling state.
[DEBUG] [1386166206.915862917]: Got a valid command from the local planner: 0.500, 0.000, -1.524
[DEBUG] [1386166206.916878689]: Full control cycle time: 0.039424008
[DEBUG] [1386166206.978204362]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166206.979811901]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166206.992529931]: In controlling state.
[DEBUG] [1386166207.028332035]: Got a valid command from the local planner: 0.500, 0.000, -2.383
[DEBUG] [1386166207.029387966]: Full control cycle time: 0.050805903
[DEBUG] [1386166207.077680283]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166207.078072371]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166207.093392754]: In controlling state.
[ WARN] [1386166207.099315434]: Could not transform the global plan to the frame of the controller
[DEBUG] [1386166207.101504469]: The local planner could not find a valid plan.
[DEBUG] [1386166207.101739345]: Planning...
[DEBUG] [1386166207.107393974]: Full control cycle time: 0.029821387
[DEBUG] [1386166207.167421509]: Got Plan with 54 points!
[DEBUG] [1386166207.167596461]: Generated a plan from the base_global_planner
[DEBUG] [1386166207.167711420]: Planner thread is suspending
[DEBUG] [1386166207.177533339]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166207.177852095]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166207.178045695]: Got a new plan...swap pointers
[DEBUG] [1386166207.178153530]: pointers swapped!
[ INFO] [1386166207.178254660]: Got new plan
[DEBUG] [1386166207.178382330]: In controlling state.
[DEBUG] [1386166207.218677960]: Got a valid command from the local planner: 0.500, 0.000, -2.453
[DEBUG] [1386166207.219088626]: Full control cycle time: 0.041611440
[DEBUG] [1386166207.277684346]: Publishing feedback for goal, id: /waypoint_management_node-1-1386166204.372833387, stamp: 1386166204.37
[DEBUG] [1386166207.278083839]: Publishing feedback for goal with id: /waypoint_management_node-1-1386166204.372833387 and stamp: 1386166204.37
[DEBUG] [1386166207.278807744]: In controlling state.
[DEBUG] [1386166207.325121383]: Got a valid command from the local planner: 0.500, 0.000, -2.205
[DEBUG] [1386166207.328377944]: Full control cycle time: 0.050748982
FROM CONSOLE:
[ERROR] [1386166204.794600431]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1386166204.760608679 but the latest data is at time 1386166204.681006934, when looking up transform from frame [local] to frame [global]
[ERROR] [1386166204.798496177]: Global Frame: local Plan Frame size 49: global
[ERROR] [1386166204.801676467]: Could not get local plan
[ERROR] [1386166207.094102621]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1386166207.060895396 but the latest data is at time 1386166206.992936965, when looking up transform from frame [local] to frame [global]
[ERROR] [1386166207.098096425]: Global Frame: local Plan Frame size 49: global
[ERROR] [1386166207.101307796]: Could not get local plan
[ERROR] [1386166208.600555921]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1386166208.560276359 but the latest data is at time 1386166208.477921333, when looking up transform from frame [local] to frame [global]
[ERROR] [1386166208.605807498]: Global Frame: local Plan Frame size 54: global
[ERROR] [1386166208.608851947]: Could not get local plan
[ERROR] [1386166210.296415706]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1386166210.259930623 but the latest data is at time 1386166210.184060640, when looking up transform from frame [local] to frame [global]
[ERROR] [1386166210.299559126]: Global Frame: local Plan Frame size 53: global
[ERROR] [1386166210.305595433]: Could not get local plan
[ERROR] [1386166211.594665718]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1386166211.560573392 but the latest data is at time 1386166211.480167357, when looking up transform from frame [local] to frame [global]
[ERROR] [1386166211.597373393]: Global Frame: local Plan Frame size 56: global
[ERROR] [1386166211.601120168]: Could not get local plan
Originally posted by robotiqsguy on ROS Answers with karma: 21 on 2013-12-04
Post score: 1
|
As far as I'm aware, when a ROS master starts up on a machine, it opens a port for any network machine to attach to. This means that any machine with a route to the ROS machine can freely ask that ROS master for anything it has control over, for example, setting up ROSTCP/UDP connections with nodes running under that master. From an exploiter's point of view, this means that one has access to many avenues of exploitation on a machine running ROS. In the worst case, if a node running with sufficient privilege can potentially allow for an exploiter to run arbitrary code on the ROS machine with administrative privileges. Even on your average case, an exploiter can ask to connect to a topic such as a velocity command on a ROS system connected to mechanical hardware and actually manipulate hardware.
Are there any security measures in place for preventing this kind of situation? If not, are there any plans for adding measures, for example: credentials, to future distros of ROS?
Originally posted by GreatSuccess on ROS Answers with karma: 78 on 2013-12-04
Post score: 6
|
To my understanding, catkin provides 2 different functionalities:
a way to handle dependencies between packages in the installation process and
a tool to create ROS services and messages.
As I am already using appropriate tools for 1, I wish to use catkin only for 2.
In other words, I use catkin macros
add_message_files,
add_service_files
to generate the source code relative to my services and topics, but I want to install my package in the standard way:
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=myprefix -DCMAKE_INSTALL_LIBDIR=myprefix/lib..
make install
I use CATKIN_PACKAGE_BIN_DESTINATION cmake macro as defined by REP 122 to install package relative executable and scripts.
As expected, cmake installs my executables in myprefix/lib/pkg-name with execution rights for everyone.
However, when I type rosrun pkg-name executable, i.e. rosrun dynamic_graph_bridge run_command
I get the following message:
[rosrun] Couldn't find executable named run_command below /home/florent/devel/ros/install/share/dynamic_graph_bridge
when as explained before run_command is in /home/florent/devel/ros/install/lib/dynamic_graph_bridge.
my ROS_PACKAGE_PATH contains /home/florent/devel/ros/install:/opt/ros/groovy/share:/opt/ros/groovy/stacks
What did I wrong?
Why does the error message seem inconsistent with REP 122?
I run groovy on ubuntu-12.04 32bits.
The package can be found at http://www.github.com/stack-of-tasks/dynamic_graph_bridge.
Originally posted by florent-lamiraux on ROS Answers with karma: 71 on 2013-12-04
Post score: 4
Original comments
Comment by mikepurvis on 2013-12-05:
Catkin itself actually doesn't provide the macros for message and service creation—it provides the mechanism by which those other packages may inject CMake functions in at the find_package point.
|
Hello, I'm trying to create a node that will take a starting bagfile with turtlesim velocity data (like for the drawing of a square or something), then publish that data to turtlesim (like the command line usage of 'rosbag play') and rerecord the played data over the original bagfile. I want to put that process inside a loop, and then play and record over and over and over again to see if the final product bagfile is significantly different than than the original one (I remember reading that rosbag play does not always play the file exactly the same way, so I'm trying to get these changes to add up over time).
However, the problem I'm having is that I have no idea how to run rosbag methods from within a node (I'm using C++). For a previous beginning project, I was using these tutorials: http://www.cse.sc.edu/~jokane/teaching/574/notes-ros.pdf (especially sections 4 through 9) to help me with the syntax to make a node that published velocity to turtlesim such that the turtle would draw a specific shape. However, now that I look at section 10 (bagfiles), I am stuck because it doesn't give me any information on how to use bagfiles from within a node--only in the command line.
Does anyone know how to do this? Is it even possible? Help would be much appreciated.
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2013-12-04
Post score: 1
|
In tf2_ros/src/transform_listener.cpp line 123 in TransformListener::subscription_callback_impl(...) the call buffer_.setTransform returns a boolean. If I've read things right it appears like that the return value should be checked, and handled in some way (error message if false??)
Originally posted by robotiqsguy on ROS Answers with karma: 21 on 2013-12-04
Post score: 1
|
So im just staring to use ROS, and im building a litle robot, i just want to learn how to use ROS, and ill be using a Kinect... Just wondering what kind of CPU i need? i have a motherboard that supports 1155 Intel chips, so not sure which one to get :(
Originally posted by SuperMiguel on ROS Answers with karma: 56 on 2013-12-04
Post score: 0
|
I am trying to compile the simple_marker.cpp tutorial with catkin_make in Hydro and I am getting an undefined reference error:
> CMakeFiles/simple_marker.dir/src/simple_marker.cpp.o: In function `main':
simple_marker.cpp:(.text+0x362): undefined reference to `interactive_markers::InteractiveMarkerServer::InteractiveMarkerServer(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)'
simple_marker.cpp:(.text+0x549): undefined reference to `interactive_markers::InteractiveMarkerServer::insert(visualization_msgs::InteractiveMarker_<std::allocator<void> > const&, boost::function<void (boost::shared_ptr<visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > const> const&)>, unsigned char)'
simple_marker.cpp:(.text+0x567): undefined reference to `interactive_markers::InteractiveMarkerServer::applyChanges()'
simple_marker.cpp:(.text+0x5b7): undefined reference to `interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer()'
simple_marker.cpp:(.text+0x62b): undefined reference to `interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer()'
simple_marker.cpp:(.text+0x662): undefined reference to `interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer()'
simple_marker.cpp:(.text+0x6f7): undefined reference to `interactive_markers::InteractiveMarkerServer::~InteractiveMarkerServer()'
collect2: ld returned 1 exit status
make[2]: *** [/home/taylor/src/ros/catkin_ws/devel/lib/beginner_tutorials/simple_marker] Error 1
make[1]: *** [beginner_tutorials/CMakeFiles/simple_marker.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
I think it's because of my CMakeFiles.txt:
> # %Tag(FULLTEXT)% cmake_minimum_required(VERSION 2.8.3)
> project(beginner_tutorials)
>
> ## Find catkin and any catkin packages find_package(catkin REQUIRED
> COMPONENTS roscpp rospy std_msgs
> genmsg)
>
> ## Declare ROS messages and services
> #add_message_files(FILES Num.msg)
> #add_service_files(FILES AddTwoInts.srv)
>
> ## Generate added messages and services
> #generate_messages(DEPENDENCIES std_msgs)
>
> ## Declare a catkin package catkin_package(
> ## INCLUDE_DIRS include
> ## LIBRARIES pick
> ## CATKIN_DEPENDS roscpp rospy std_msgs
> ## DEPENDS system_lib )
>
> ## Build talker and listener include_directories(include
> ${catkin_INCLUDE_DIRS})
>
> add_executable(talker src/talker.cpp)
> target_link_libraries(talker
> ${catkin_LIBRARIES})
> add_dependencies(talker
> beginner_tutorials_generate_messages_cpp)
>
> add_executable(listener
> src/listener.cpp)
> target_link_libraries(listener
> ${catkin_LIBRARIES})
> add_dependencies(listener
> beginner_tutorials_generate_messages_cpp)
>
> add_executable(simple_marker
> src/simple_marker.cpp)
> target_link_libraries(simple_marker
> ${catkin_LIBRARIES})
> add_dependencies(simple_marker
> beginner_tutorials_generate_messages_cpp)
>
> # %EndTag(FULLTEXT)%
I am able to run the basic controls tutorial in rviz, but I did not compile it, just installed the package and ran: rosrun interactive_marker_tutorials basic_controls
Can someone let me know if it is a CMakeLists thing or am I way off. I have not been able to find a CMakeLists example for an interactive marker node.
Thanks
Originally posted by TFinleyosu on ROS Answers with karma: 385 on 2013-12-04
Post score: 0
Original comments
Comment by karen.rod on 2020-08-30:
I have exactly the same error and I could not solve it with these recommendations. Has anyone else had this same error?
Comment by Kansai on 2021-03-09:
I have the same error but my CMakelist.txt is so big and complicated that the recommendations do not work at all :(
Comment by Turuu on 2023-04-14:
Yeah, I'm also getting the same error again and again. As a beginner, it is too hard to figure out what is really going on.
|
Hi,
I'm working with Rosbridge at the moment, and trying to determine from the ROS side (server) whether the websocket connection is ok. Is there a isConnected() or ping() type function that will enable me to determine the connection status? I need a test that determines the current connection reliability for use with wireless/3G/4G connected ROS devices, which will frequently drop messages without disconnecting from the socket. (They stay 'sort of' connected).
I'm trying to do something like:
if (isConnected())
{
- Send messages from subscribed topics -
}
else
{
- Save the messages, instead -
}
I tried using a service, but it seems I'm using rosbridge a little bit backwards; since a service initiated from the web-side wouldn't help.
'My apologies in advance for being completely wrong about everything ever.'
Originally posted by Chengarda on ROS Answers with karma: 156 on 2013-12-04
Post score: 0
|
I get the following warning when running my custom action server:
[WARN] [WallTime: 1386219718.920124] You've passed in true for auto_start to the python action server, you should always pass in false to avoid race conditions.
Two questions:
If actionlib only handles one goal at a time, how conceivably could race conditions occur?
Where and how exactly is the auto_start parameter passed?
Originally posted by daalt on ROS Answers with karma: 159 on 2013-12-04
Post score: 2
|
Hello,
I wish make this command "rosrun basic_robot_control joint_control" in my folder but when I make this, I have this problem:
[rospack] Error: stack/package basic_robot_control not found
Usage: joint_control loop/one Right/Left ros/file/ros+file [slow/normal/veryfast] [mirror]
[Error] Usage: joint_control loop/one Right/Left ros/file/ros+file [slow/normal/veryfast] [mirror] (not 1 arguments)
I don't understand what's the problem. Can you help me ?!
Originally posted by alivero on ROS Answers with karma: 1 on 2013-12-04
Post score: 0
|
Hi, i'm pretty new to this kind of software and also to linux itself. I downloaded a solidworks assembly of an 6-axis epson robot from the epson site. I changed some mates and added all nececary axes. But i cannot open the exported urdf in rviz, moveit!,...
I don't know if it's because it's really a bug in the urdf file, or just because i open it in the wrong environment (because i had to copy it from my microsoft OS to my virtualBox ubuntu OS via shared folders). If someone could tell me if you could open this files on your pc? So I would now if there's a bug in the code, or because i just don't open it in the right environment, that would be really helpfull!
the error I get when I try to open a single exported part in moveit! is:
================================================================================
REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 18783, exit code -11, cmd /home/yannik/moveit/devel/lib/mo
veit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log
:=/home/yannik/.ros/log/5d837b80-5f3e-11e3-9e91-080027c27847/moveit_setup_assist
ant-2.log].
log file: /home/yannik/.ros/log/5d837b80-5f3e-11e3-9e91-080027c27847/moveit_setu
p_assistant-2*.log
Initialising shutdown!
================================================================================
If i try to open the full assembly in moveit, it also is an exit code -11. If i try to open this assembly in rviz, i get an exit code -1
https://drive.google.com/folderview?id=0B02rl5MtJ-dZdjdwMUtCcTRVVjQ&usp=sharing
There are two zip-files in here. The one C3_ARM1 is one part converted. The other one, Test3URDF, is the complete assembly of the epson robot. Thank you for taking the time to look into this!
Originally posted by Yannik_K on ROS Answers with karma: 30 on 2013-12-04
Post score: 1
Original comments
Comment by gvdhoorn on 2013-12-05:
Could you perhaps copy/paste some of the console output you get? I cannot open it is rather vague, so if you could provide some more details as to what fails for you, we might be able to figure something out. The solidworks_urdf_exporter can be somewhat finicky, but most of the times it works.
Comment by gvdhoorn on 2013-12-06:
@Yannik_K: could you update your original question with this information? It's hard to read as a comment. Apart from that, without access to the URDF, this is probably going to be hard to debug. -11 == segmentation fault, so the moveit_setup_assistant.log will probably be empty (if it exists).
Comment by gvdhoorn on 2013-12-07:
@Yannik_K: if you make the URDF available somewhere, I'd be willing to take a look at it. Basically the whole package the solidworks_urdf_exporter plugin created for you.
Comment by gvdhoorn on 2013-12-08:
@Yannik_K: I've checked your zip-files. All your meshes (*.stl) are 80-byte files, which is probably worth checking out. How exactly did you convert the SolidWorks assembly to a URDF?
Comment by Yannik_K on 2013-12-09:
@gvdhoorn First, i had to add an axis to every part except for the base and it's child link. Because there were none available for them in the window wich comes up after i clicked the 'preview and export' button.
Second, for those same parts, i had to change the joint type to revolute, because they were set to fixed.
Alse, when i press the 'preview and export' button, i see some errors flashing in the solidworks window. It says 'over defined' but i cannot get a detailed list of those errors. Do you need more information about exporting it to URDF?
Comment by gvdhoorn on 2013-12-09:
@Yannik_K: in short: your export failed, all STLs are empty files. Export of a single part should work, regardless of axes, mates etc. As for the axes, just set to 'none' for now. Joint type should be set in first dialogue, before 'preview and export'. Which version of plugin are you using?
Comment by Yannik_K on 2013-12-09:
I am running the newest version, v1.2.2. I tried to the base link of the robot, but the mesh is still empty.
Comment by gvdhoorn on 2013-12-09:
SolidWorks version (32, 64bit) / language? Could you try to see if normal stl export does work? I've had some success using an older version of the plugin (1.1.0 fi). They can all be downloaded from the bitbucket site.
Comment by Yannik_K on 2013-12-10:
I'm running the 64-bit version. I tried to export STL files, but still an error. Can you give a link to the v1.1.0 version so i can try that? I only find v1.2.0 and v1.2.1.
Comment by gvdhoorn on 2013-12-10:
@Yannik_K: so manually exporting STLs using built-in SolidWorks functionality (NOT the plugin) also gets you 80-byte files? That would point to something other than the plugin. As to the older versions: search for commits mentioning 'installer' on the bitbucket project page (wiki has link).
Comment by Yannik_K on 2013-12-10:
Sorry I missunderstood you :) This is a issue i haven't had in mind, i'm running the student version of solidworks 2013, and I see i can't use the 'save as' function to export it to STL. These are the only formats i can save it to:
Part: .prt / .sldprt /
Lib Feat Part: .sldlfp /
Part Pemplate: .prtdotv /
eDrawing: .eprt
Comment by gvdhoorn on 2013-12-10:
Right, that might actually be the problem then. I've seen other reports of incompatibilities with the student version.
PS: could you update the title of your question to include the 'student edition' bit?
Comment by Yannik_K on 2013-12-10:
Thank you again for looking in to this. I will try to get a full version of solidworks in the next days and run some tests again. I will keep this updated as soon as i have got the new results.
Comment by Yannik_K on 2013-12-12:
@gvdhoorn : Here i am again. I managed to get the full version of solidworks 2014. I am able now to save my parts as STL files. I tried to export a part again and saw that the mesh is not empty now, but I am still not able to open it in moveit. I'll add the folder to google drive, named C3_BASE
Comment by gvdhoorn on 2013-12-12:
"still not able to open it in moveit": I assume you mean the setup assisant? And it still crashes? You might want to open a new question, as you no longer use the student edition. Your meshes are fine now, and I could actually load it in RViz.
Comment by Yannik_K on 2013-12-12:
This might sound silly to yo, but i'm even not able to open this in rviz (without a launch file?)
Comment by gvdhoorn on 2013-12-12:
Just to make sure: the setup assistant opens URDF and XACRO. If I browse to your pkg and load C3_BASE_S.URDF it works (or it loads). As for RViz: the urdf_tutorials pkg should help, but is slightly broken right now. Otherwise, do: roslaunch urdf_tutorials display.launch model:=/path/to/your.urdf
|
Is there a single XMLRPC server running for all of the topics that are registered under a given node? Or does each topic maintain its own server? If there is a single XMLRPC server for all of the topics, at what point does communication switch to the new connection between subscriber/publisher -- is it immediately after the requesting the topic or does the connection header get exchanged first?
Originally posted by chris-smith on ROS Answers with karma: 1 on 2013-12-05
Post score: 0
|
I'm trying to convert the points in PointCloud2 Messages to a numpy array, now, my main problem is whenever I try to use this line:
import roslib; roslib.load_manifest('python_msg_conversions')
I'm importing the roslib etc.. I get the following error:
$ python talker.py
Traceback (most recent call last):
File "talker.py", line 1, in <module>
import roslib; roslib.load_manifest('python_msg_conversions')
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 159, in get_manifest
return self._load_manifest(name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 198, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: python_msg_conversions
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/O/src
ROS path [2]=/home/catkin_ws/src
ROS path [3]=/opt/ros/hydro/share
ROS path [4]=/opt/ros/hydro/stacks
I have no idea as to why I'm getting this error either.
I hope someone can help me
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-05
Post score: 2
|
Hello,
I have a basic conceptual question regarding Costmap2D. When using a global costmap with the static_map parameter true, I know that it will initialize the map with whatever is stored in map_server.
My question is, does this only happen once, when initializing the costmap, or will the costmap be periodically updated when the map in map_server changes?
Thanks in advance!
Originally posted by BlitherPants on ROS Answers with karma: 504 on 2013-12-05
Post score: 1
|
Sorry for the noob question but im kind of lost and confused. When i have a robot, pioneer 3dx, and im using navigation and gmapping to make it navigate a environment, when i want to know where am i or my position and orientation how can i accomplish this? I am confused to which topic gives me this information, and also how can i obtain that information. I really appreciate some help thanks
Originally posted by ctguell on ROS Answers with karma: 63 on 2013-12-05
Post score: 0
|
I need to subscribe to a topic within a subscriber, is this possible? and if so how can i accomplish it, thanks
Originally posted by ctguell on ROS Answers with karma: 63 on 2013-12-05
Post score: 0
|
Hello everybody,
I would like to get some help from you. I want to use a Dynamixel servo but I do not want to have many different files just for listening the positions and setting new goals, so I created the following Python node:
#!/usr/bin/env python
import rospy
from math import fabs
from dynamixel_msgs.msg import JointState
from std_msgs.msg import Float64
goal_pos = 0;
pub = rospy.Publisher('/tilt_controller/command', Float64)
def transform_callback(data):
global goal_pos
rospy.loginfo(rospy.get_name() + ': Current motor angle {0}'.format(data.current_pos))
# If the motor has reached its limit, publish a new command.
if fabs(goal_pos-data.current_pos) < 0.01:
if goal_pos == 0:
goal_pos = 3.141592
else:
goal_pos = 0
str = "Time: {0} Moving motor to {1}" .format(rospy.get_time(), goal_pos)
rospy.loginfo(str)
pub.publish(Float64(goal_pos))
def dxl_control():
rospy.init_node('dxl_control', anonymous=True)
rospy.Subscriber('/tilt_controller/state', JointState, transform_callback).
# Initial movement.
pub.publish(Float64(goal_pos))
rospy.spin()
if __name__ == '__main__':
try:
dxl_control()
except rospy.ROSInterruptException:
pass
The code is just a union of the simple publisher and listener tutorials adapted to my application.
As I do not have too much experiences programming with ROS (neither Python) I would like to know what do you think about having the publisher and the goal_pos as global variables and also the publisher and the listener in the same node and file.
The plan is that transform_callback will also publish a tf message. Is it ok as it is or would you do it in separate files and nodes?
Thank you!
Originally posted by Javier V. Gómez on ROS Answers with karma: 1305 on 2013-12-05
Post score: 5
|
Is it possible to programmatically find location of the log file where my current ros node is writing? I am using ros groovy. I would like to find the location of the log file from my C++ code, not from the terminal. I think I found how to find the log file directory by using ros::file_log::getLogDirectory(). However this does not give me the log file name.
Originally posted by rsafonov on ROS Answers with karma: 11 on 2013-12-05
Post score: 1
Original comments
Comment by rsafonov on 2013-12-05:
Thank you very much for your answer. However my question was different. I would like to find the location of the log file from my C++ code, not from the terminal. I think I found how to find the log file directory by using ros::file_log::getLogDirectory(). However this does not give me the log file name.
Comment by Eman on 2013-12-05:
It may help if you tag c++ & other tags that related to your question in your original question
|
Here's a minimal catkin package.
Package.xml:
<?xml version="1.0"?>
<package>
<name>sighdangitcatkin</name>
<version>0.0.0</version>
<description>The sighdangitcatkin package</description>
<maintainer email="[email protected]">dlu</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>orocos_kdl</build_depend>
</package>
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(sighdangitcatkin)
find_package(catkin REQUIRED COMPONENTS orocos_kdl )
catkin_package()
Seems pretty simple, yah? Here's the error I get when compiling.
-- +++ processing catkin package: 'sighdangitcatkin'
-- ==> add_subdirectory(sighdangitcatkin)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package orocos_kdl.
Set orocos_kdl_DIR to the directory containing a CMake configuration file
for orocos_kdl. The file will have one of the following names:
orocos_kdlConfig.cmake
orocos_kdl-config.cmake
Call Stack (most recent call first):
sighdangitcatkin/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
What am I missing?
Note: It works fine if you use this CMake..
cmake_minimum_required(VERSION 2.8.3)
project(sighdangitcatkin)
find_package(catkin REQUIRED COMPONENTS )
find_package(orocos_kdl REQUIRED)
catkin_package()
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-05
Post score: 6
Original comments
Comment by Eman on 2013-12-05:
Excuse me , Did this error happen after typing
1- cd ~/catkin_ws
2- then typing catkin_make
Comment by David Lu on 2013-12-05:
Essentially.
Comment by Eman on 2013-12-05:
please, would you make sure that ROS can see & find your package
I mean by that Did you try typing command rospack find ( your_package_name)
or using command roscd (your_package_name) then typing unix command pwd
either using command rospack find or using commands roscd then pwd
it should return your package path if ROS can find your package in the src folder of catkin_ws in your home
please , make sure of that
Comment by David Lu on 2013-12-05:
Thanks, but William found the real problem.
Comment by Eman on 2013-12-05:
Thanks God . I am happy that your problem has been solved
I just tried to help .Thanks to Mr William . God bless him amen
Comment by Dirk Thomas on 2013-12-05:
@Real Loyalty For future edits of your posts / comments please consider checking the check box "minor edit - don't send alerts" if you modifications are minor (e.g. spelling and white space fixing) to avoid numerous notification emails to subscribed users. Thx.
Comment by Eman on 2013-12-05:
@Dirk Thomas Thx for your note . I will take care about that
|
How can I access the inverse kinematics solver from Python (with or without using moveit)? The tutorial on the moveit website does not seem to be up to date.
Originally posted by atp on ROS Answers with karma: 529 on 2013-12-05
Post score: 3
Original comments
Comment by atp on 2013-12-06:
Thanks. Could you post your code? I've a hard time finding the right Python commands to use. In particular, what arguments are you providing to rospy.ServiceProxy(...)?
|
e.g. in Hydro,
$ rosrun rviz rviz -d $(rospack find urdf_tutorial)/urdf.rviz
$ rosrun rviz rviz -d $(rospack find urdf_tutorial)/urdf_noexist.rviz
With first line loads RobotModel pane for instance. With second line no error output printed, RViz looks like starts with default config.
ros-hydro-rviz 1.10.9-0raring-20131124-0032-+0000
Originally posted by 130s on ROS Answers with karma: 10937 on 2013-12-05
Post score: 0
|
I recently had a problem on Hydro with publishing a message to a topic I had recently declared. The logic looked like:
self.pub = rospy.Publisher(self.pub_topic, SchedulerRequests)
self.pub.publish(msg)
The message does not appear. But, if I wait a tenth of a second, it works:
self.pub = rospy.Publisher(self.pub_topic, SchedulerRequests)
rospy.sleep(0.1)
self.pub.publish(msg)
The Tutorial has a call to rospy.ros_init() between the Publisher() and publish() calls. That does not work for the class I am writing, because ros_init() was called earlier in the main program.
Is there a safe way to check that self.pub is ready to send messages?
Clarification: the subscriber(s) are already up and running. My problem is that unless I wait a while, no message gets sent.
How do I determine that my own Publish object is ready to use?
Originally posted by joq on ROS Answers with karma: 25443 on 2013-12-05
Post score: 2
|
I am migrating a node from Fuerte to Hydro that uses the message_filters ApproximateTime sync policy. The code being used for this is functionally identical to the example on the message_filters wiki page, and worked great in Fuerte. But now when I try to build, I get the following linker errors:
CMakeFiles/vo_rgbd_node.dir/src/ros_server.cpp.o: In function `message_filters::Synchronizer >, sensor_msgs::Image_ >, sensor_msgs::CameraInfo_ >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::disconnectAll()':
ros_server.cpp:(.text._ZN15message_filters12SynchronizerINS_13sync_policies15ApproximateTimeIN11sensor_msgs6Image_ISaIvEEES6_NS3_11CameraInfo_IS5_EENS_8NullTypeES9_S9_S9_S9_S9_EEE13disconnectAllEv[message_filters::Synchronizer >, sensor_msgs::Image_ >, sensor_msgs::CameraInfo_ >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::disconnectAll()]+0x41): undefined reference to `message_filters::Connection::disconnect()'
CMakeFiles/vo_rgbd_node.dir/src/ros_server.cpp.o: In function `message_filters::Connection message_filters::SimpleFilter > >::registerCallback > const> const&>(boost::function > const> const&)> const&)':
ros_server.cpp:(.text._ZN15message_filters12SimpleFilterIN11sensor_msgs6Image_ISaIvEEEE16registerCallbackIRKN3ros12MessageEventIKS4_EEEENS_10ConnectionERKN5boost8functionIFvT_EEE[message_filters::Connection message_filters::SimpleFilter > >::registerCallback > const> const&>(boost::function > const> const&)> const&)]+0x9a): undefined reference to `message_filters::Connection::Connection(boost::function const&)'
CMakeFiles/vo_rgbd_node.dir/src/ros_server.cpp.o: In function `message_filters::Connection message_filters::SimpleFilter > >::registerCallback > const> const&>(boost::function > const> const&)> const&)':
ros_server.cpp:(.text._ZN15message_filters12SimpleFilterIN11sensor_msgs11CameraInfo_ISaIvEEEE16registerCallbackIRKN3ros12MessageEventIKS4_EEEENS_10ConnectionERKN5boost8functionIFvT_EEE[message_filters::Connection message_filters::SimpleFilter > >::registerCallback > const> const&>(boost::function > const> const&)> const&)]+0x9a): undefined reference to `message_filters::Connection::Connection(boost::function const&)'
collect2: ld returned 1 exit status
The contents of my CMakeLists.txt are as follows:
cmake_minimum_required(VERSION 2.8.3)
project(vo_rgbd)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
geometry_msgs
relative_nav_msgs
roscpp
sensor_msgs
)
find_package(Boost REQUIRED)
find_package(Eigen REQUIRED)
find_package(OpenCV REQUIRED)
catkin_package()
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${Eigne_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(vo_rgbd_node src/vo_rgbd_node.cpp src/ros_server.cpp src/pose_estimator.cpp)
add_dependencies(vo_rgbd_node relative_nav_msgs_generate_messages_cpp)
target_link_libraries(vo_rgbd_node
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${Eigen_LIBRARIES}
${OpenCV_LIBRARIES}
)
Am I possibly missing something in my CMakeLists.txt that could be causing these errors, or might there be a different cause?
Thanks
Originally posted by dpkoch on ROS Answers with karma: 132 on 2013-12-05
Post score: 1
|
I am trying to implement a SimpleActionServer and SimpleActionClient, but the client seems to be getting hung up on the "wait_for_server" command. Both the client and server just sit there producing no messages.
Just so I can get the basic concept down, how exactly do the server and client components get connected? What class members enable a connection to get established between them?
Originally posted by daalt on ROS Answers with karma: 159 on 2013-12-05
Post score: 0
|
Hi, i am a really new in coding. I would like to code a wall follower so that my kobuki is able to move along the wall. When i try to run the code, kobuki is not moving. Can anyone help me out here please? Thanks alot.
#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "hokuyo/hokuyo.h"
#include "std_msgs/String.h"
#include <geometry_msgs/Twist.h>
#include <sstream>
using namespace std;
float range[555], hit[555];
int z = 0;
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
cout << z; z++;
/** this is to verify whether i am able to obtain the data i need*/
ROS_INFO("I see: %u", scan_msg->header.seq);
ROS_INFO("I see: %f", scan_msg->angle_min);
ROS_INFO("I see: %f", scan_msg->time_increment);
for (int y=150; y<=155; y++)
{
ROS_INFO("I see: %f", scan_msg->ranges[y]);
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "wall_listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("scan", 1000, scanCallback);
ros::Publisher cmd_vel = n.advertise<geometry_msgs::Twist>("cmd_vel", 1000);
for (int y=150; y<=1406; y++)
{
geometry_msgs::Twist move_cmd;
move_cmd.angular.z = 0.2;
move_cmd.linear.x = 0.5;
cmd_vel.publish(move_cmd);
}
ros::spin();
return 0;
}
Originally posted by chao on ROS Answers with karma: 153 on 2013-12-05
Post score: 0
|
I have kinect which is working well and I can get image by running openni.launch and rviz.
I want to subscribe this kinect image in to a node and change it to opencv image format from ros image format for image processing.
for doing the same I am following the following page.
http://dasl.mem.drexel.edu/wiki/index.php/How_to_make_ROS_and_Opencv_work_together
however using rosmake it is showing following error .....
/opt/ros/groovy/share/vision_opencv/roscv/src/simplecanny.cpp:12:32: fatal error: cv_bridge/CvBridge.h: No such file or directory
compilation terminated.
make[3]: *** [CMakeFiles/roscv.dir/src/simplecanny.cpp.o] Error 1
make[3]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
make[2]: *** [CMakeFiles/roscv.dir/all] Error 2
make[2]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/opt/ros/groovy/share/vision_opencv/roscv/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package roscv written to:
[ rosmake ] /home/admin-pc/.ros/rosmake/rosmake_output-20131207-114326/roscv/build_output.log
[rosmake-4] Finished <<< roscv [FAIL] [ 2.82 seconds ]
[ rosmake ] Halting due to failure in package roscv.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 39 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/admin-pc/.ros/rosmake/rosmake_output-20131207-114326
Originally posted by lifelonglearner on ROS Answers with karma: 205 on 2013-12-05
Post score: 1
|
Hi,
I have 2 nodes, 1 publishing the topic, 1 subscribing to that topic. Current situation is that when I start the subscribing node, the values that will be read from the topic are initialized to 0. After reading from the topic, they get the correct values, but when the topic stops publishing they keep that value which may no longer be correct. In that case I want the values set to 0 again. How can I (from within the subscribing node, i.e. not using the rostopic command) check if the publishing topic is still active ?
Thanks
Originally posted by hvn on ROS Answers with karma: 72 on 2013-12-06
Post score: 0
|
Hi,
I want to install groovy gscam on 12.04armhf and find it likely doesn't exist since it doesn't show up in synaptic, unlike groovy gscam on x86. Before I try to build it myself, has anyone else tried it (@ahendrix)?
Thanks.
Originally posted by hvn on ROS Answers with karma: 72 on 2013-12-06
Post score: 0
|
HI, I want to make my robot move using Arduino (with hand made motor controller) and ROS Groovy. The problem is I have no idea to connect ROSARIA to Arduino for this. I have installed ROSARIA and I can toggle I/Os in arduino using ROSArduinoBridge. I planned to use kinect and build a map using it. Can anyone tell me how I should write a code for Arduino to support for ROSARIA? What is cmd_vel?
Originally posted by Hasitha on ROS Answers with karma: 19 on 2013-12-06
Post score: 0
|
I'd like to know if pr2_ethercat and pr2_ethercat_drivers are going to be migrated to use the new ros_control (http://wiki.ros.org/ros_control). And if so, when is it planned to happen?
Originally posted by toniOliver on ROS Answers with karma: 159 on 2013-12-06
Post score: 2
|
I'm doing a project on motion detection and and gesture recognition and I have to extract and subscribe to the PointCloud2 sensor messages on the Kinect device using openni but I am new to ROS and have no idea how to do it. I've been reading: Here
However, whenever I try to run the examples, I get the following:
fatal error: pcl/point_cloud.h: No such file or directory but I have installed the PCL library, so, might it have something to do with my CMake file not including something?
Could someone please link me or try to explain how I would possibly Subscribe to the PointCloud and have a callback function which publishes the data that is being extracted on my own topic?
Thanks
P.S.
I have tried to implement the following:
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <boost/foreach.hpp>
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
void callback(const PointCloud::ConstPtr& msg)
{
printf ("Cloud: width = %d, height = %d\n", msg->width, msg->height);
BOOST_FOREACH (const pcl::PointXYZ& pt, msg->points)
printf ("\t(%f, %f, %f)\n", pt.x, pt.y, pt.z);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "sub_pcl");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe<PointCloud>("points2", 1, callback);
ros::spin();
}
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-06
Post score: 0
|
Hello,
I am using 2 sick lms100 laser range finders for mapping. I am using Hydro. In my launch file I have both scans being sent to the same topic. The original idea was that I could use gmapping, as someone on this forum said that would work as long as the scans were both published to the same topic. Gmapping would hand;e the transforms. This turned out to be incorrect however, gmapping would only take data from one laser.
The next plan was to convert the laser scans into a point cloud and then send that to octomapping. I can use laser_scan_assembler from the laser_assembler package, but it puts out a service, not a topic. It seems that there used to be a node to republish that data, periodic_snapshotter, but apparently that doesn't work with Hydro. I have found the code and tried to convert it to use pointcloud2, but that didn't work. When I tried to make it with catkin it pulled up a bunch of errors. I also tried to make it with the original file which used pointcloud, but I got the same problems.
So, my question is does anyone have a program that will let me subscribe to a service and republish to a topic, or is there an easier way to do this?
Thanks.
Originally posted by Icehawk101 on ROS Answers with karma: 955 on 2013-12-06
Post score: 0
|
I have tried several times with same result. ROScore runs fine and the joystick data is seen by the OS. I don't really know how to debug this error, seems I can't get all the files downloaded. Below is the error.
Note: replaced http with hxxp since not enough karma to post links........
gary@robot-ubuntu:~/garysROS$ sudo apt-get install ros-hydro-joystick-drivers
[sudo] password for gary:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
libwxbase2.8-dev texlive-pstricks-doc nvidia-cg-toolkit
linux-headers-3.2.0-29 libyaml-dev texlive-pstricks
linux-headers-3.2.0-29-generic-pae libprotoc-dev libnetpbm10-dev
texlive-generic-recommended wx-common ps2eps x11proto-xf86vidmode-dev
libnetpbm10 libxxf86vm-dev libwxgtk2.8-dev wx2.8-headers libcg libtar-dev
Use 'apt-get autoremove' to remove them.
The following extra packages will be installed:
libspnav-dev libspnav0 ros-hydro-joy ros-hydro-ps3joy
ros-hydro-spacenav-node ros-hydro-wiimote spacenavd
The following NEW packages will be installed:
libspnav-dev libspnav0 ros-hydro-joy ros-hydro-joystick-drivers
ros-hydro-ps3joy ros-hydro-spacenav-node ros-hydro-wiimote spacenavd
0 upgraded, 8 newly installed, 0 to remove and 511 not upgraded.
Need to get 315 kB of archives.
After this operation, 1,514 kB of additional disk space will be used.
Do you want to continue [Y/n]? y
WARNING: The following packages cannot be authenticated!
libspnav0 libspnav-dev ros-hydro-joy ros-hydro-ps3joy spacenavd
ros-hydro-spacenav-node ros-hydro-wiimote ros-hydro-joystick-drivers
Install these packages without verification [y/N]? y
Err hxxp://packages.ros.org/ros/ubuntu/ precise/main ros-hydro-joy i386 1.9.10-0precise-20131015-2137-+0000
Could not connect to packages.ros.org:80 (64.50.236.52). - connect (113: No route to host) [IP: 64.50.236.52 80]
Err hxxp://packages.ros.org/ros/ubuntu/ precise/main ros-hydro-ps3joy i386 1.9.10-0precise-20131015-1947-+0000
Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Err hxxp://packages.ros.org/ros/ubuntu/ precise/main ros-hydro-spacenav-node i386 1.9.10-0precise-20131015-2009-+0000
Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Err hxxp://packages.ros.org/ros/ubuntu/ precise/main ros-hydro-wiimote i386 1.9.10-0precise-20131015-1947-+0000
Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Err hxxp://packages.ros.org/ros/ubuntu/ precise/main ros-hydro-joystick-drivers i386 1.9.10-0precise-20131015-2201-+0000
Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Err hxxp://mx.archive.ubuntu.com/ubuntu/ precise/main libspnav0 i386 0.2.2-1ubuntu1
Could not connect to mx.archive.ubuntu.com:80 (91.189.92.202). - connect (113: No route to host) [IP: 91.189.92.202 80]
Err hxxp://mx.archive.ubuntu.com/ubuntu/ precise/main libspnav-dev i386 0.2.2-1ubuntu1
Unable to connect to mx.archive.ubuntu.com:hxxp: [IP: 91.189.92.202 80]
Err hxxp://mx.archive.ubuntu.com/ubuntu/ precise/universe spacenavd i386 0.5-1
Unable to connect to mx.archive.ubuntu.com:hxxp: [IP: 91.189.92.202 80]
Failed to fetch
hxxp://mx.archive.ubuntu.com/ubuntu/pool/main/libs/libspnav/libspnav0_0.2.2-1ubuntu1_i386.deb Could not connect to mx.archive.ubuntu.com:80 (91.189.92.202). - connect (113: No route to host) [IP: 91.189.92.202 80]
Failed to fetch hxxp://mx.archive.ubuntu.com/ubuntu/pool/main/libs/libspnav/libspnav-dev_0.2.2-1ubuntu1_i386.deb Unable to connect to mx.archive.ubuntu.com:hxxp: [IP: 91.189.92.202 80]
Failed to fetch hxxp://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-joy/ros-hydro-joy_1.9.10-0precise-20131015-2137-+0000_i386.deb Could not connect to packages.ros.org:80 (64.50.236.52). - connect (113: No route to host) [IP: 64.50.236.52 80]
Failed to fetch hxxp://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-ps3joy/ros-hydro-ps3joy_1.9.10-0precise-20131015-1947-+0000_i386.deb Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Failed to fetch hxxp://mx.archive.ubuntu.com/ubuntu/pool/universe/s/spacenavd/spacenavd_0.5-1_i386.deb Unable to connect to mx.archive.ubuntu.com:hxxp: [IP: 91.189.92.202 80]
Failed to fetch hxxp://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-spacenav-node/ros-hydro-spacenav-node_1.9.10-0precise-20131015-2009-+0000_i386.deb Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Failed to fetch hxxp://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-wiimote/ros-hydro-wiimote_1.9.10-0precise-20131015-1947-+0000_i386.deb Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
Failed to fetch hxxp://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-joystick-drivers/ros-hydro-joystick-drivers_1.9.10-0precise-20131015-2201-+0000_i386.deb Unable to connect to packages.ros.org:hxxp: [IP: 64.50.236.52 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
Originally posted by garym on ROS Answers with karma: 13 on 2013-12-06
Post score: 0
Original comments
Comment by garym on 2013-12-07:
That was the comment I needed to break my thought pattern. I found that running the robot software disconnected the network and thus when I stopped the robot software, the network was disconnected and the install failed. So after I reconnected the network, the install works. Thanks.
|
I'm currently setting up with Fuerte and need to install bullet so I can use the geometry package. However, I need to install from source and the repository given on the ROS.org bullet page seems to have been removed. Is there somewhere I can get the fuerte version of bullet still?
Originally posted by DoubtedGoat on ROS Answers with karma: 1 on 2013-12-06
Post score: 0
|
When we use tf to retrieve the rotation relationship of two coordinate in quaternion form, according to the API of Quaternion, we can only get the rotation axis and its angle.
However, the commonly required quaternion in ROS, such as quaternion in geometry_msgs::Pose, is always in (x,y,z,w) format. Therefore, is there any function to get the quaternion from tf in (x,y,z,w) form? That will be very convienent.
Originally posted by Albert K on ROS Answers with karma: 301 on 2013-12-06
Post score: 1
|
I am trying to navigate simulated Turtlebot in gazebo. All tutorials in ros are for real robot. I have already launched turtlebot using
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
Now, I am trying to launch 3Dsensors using
roslaunch turtlebot_bringup 3dsensor.launch
but its giving
started roslaunch server
SUMMARY
PARAMETERS
/camera/camera_nodelet_manager/num_worker_threads
/camera/depth_rectify_depth/interpolation
/camera/depth_registered_rectify_depth/interpolation
/camera/disparity_depth/max_range
/camera/disparity_depth/min_range
/camera/disparity_registered_hw/max_range
/camera/disparity_registered_hw/min_range
/camera/disparity_registered_sw/max_range
/camera/disparity_registered_sw/min_range
/camera/driver/depth_camera_info_url
/camera/driver/depth_frame_id
/camera/driver/depth_registration
/camera/driver/device_id
/camera/driver/rgb_camera_info_url
/camera/driver/rgb_frame_id
/depthimage_to_laserscan/output_frame_id
/depthimage_to_laserscan/range_min
/depthimage_to_laserscan/scan_height
/rosdistro
/rosversion
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
depthimage_to_laserscan (nodelet/nodelet)
ROS_MASTER_URI= http :// localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [3976]
process[camera/driver-2]: started with pid [3990]
[ INFO] [1386425317.398225356]: Initializing nodelet with 4 worker threads.
process[camera/debayer-3]: started with pid [4030]
process[camera/rectify_mono-4]: started with pid [4046]
process[camera/rectify_color-5]: started with pid [4062]
process[camera/rectify_ir-6]: started with pid [4078]
[ INFO] [1386425317.836443133, 24.650000000]: No devices connected.... waiting for devices to be connected
process[camera/depth_rectify_depth-7]: started with pid [4094]
process[camera/depth_metric_rect-8]: started with pid [4110]
process[camera/depth_metric-9]: started with pid [4126]
process[camera/depth_points-10]: started with pid [4142]
process[camera/register_depth_rgb-11]: started with pid [4158]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [4174]
process[camera/depth_registered_rectify_depth-13]: started with pid [4190]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [4206]
process[camera/disparity_depth-15]: started with pid [4222]
process[camera/disparity_registered_sw-16]: started with pid [4238]
process[camera/disparity_registered_hw-17]: started with pid [4254]
process[depthimage_to_laserscan-18]: started with pid [4270]
[ INFO] [1386425320.843662829, 27.670000000]: No devices connected.... waiting for devices to be connected
[ INFO] [1386425323.847297153, 30.670000000]: No devices connected.... waiting for devices to be connected
[ INFO] [1386425326.853849462, 33.680000000]: No devices connected.... waiting for devices to be connected
what should I do to connect it with simulated turtlebot?
Originally posted by DPK27 on ROS Answers with karma: 5 on 2013-12-07
Post score: 0
Original comments
Comment by RD on 2013-12-13:
I am having the same problem. Did you find the solution?
Comment by DPK27 on 2013-12-14:
without launching 3D sensor, by just launching the rviz after turtlebot using
"roslaunch turtlebot_rviz_launchers view_robot.launch"
and selecting laser or point cloud you can see the obstacle in front.
So, as I think there is no need of 3dsensor.launch for me, see if it will help you
|
I wonder why some .py files start with
#!/usr/bin/python
like in /camera_calibration/cameracalibrator.py
while the others are with
#!/usr/bin/env python
like in /rosbag/bag2png.py
The choice could be critical if one have two copies of python, which is the case in Mac OSX. I have a default preinstalled python version (/usr/bin/python) and the other one is installed through homebrew (is in my PATH).
And a side question have somebody installed ros with a default python?
Originally posted by Artem on ROS Answers with karma: 709 on 2013-12-07
Post score: 3
|
Hi all,
I'm currently running on Hydro and I was trying to set up a multiple machines network with my lab robot. However, the robot is running ROS Groovy, and what we found was that my computer running Hydro was able to receive information from the nodes running on the robot computers, but was unable to send the same information back to the robots.
On the robot computers, the nodes running on my Hydro computer would be detected through rostopic list, but nothing would actually be received (ran tests with rostopic echo/bw/hz and saw nothing in all three tests).
We've been following the network setup found here. When we troubleshooted with netcat, we were able to see the text from my computer on the robot computer. It would have no issue when my teammate ran from his Groovy laptop with the robot computers.
So is there a compatibility issue when it comes to sending information through nodes from Hydro to Groovy?
Thanks
Originally posted by jakemorris on ROS Answers with karma: 13 on 2013-12-07
Post score: 1
|
I following this tutorial,
http://
wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Explore%20the%20Gazebo%20world
but teleop not working.
I'm using Gazebo 2.1.0 and ROS Hydro.
I used $roslaunch turtlebot_teleop keyboard_teleop.launch AND $roslaunch kobuki_keyop keyop.launch and there isn't error message. I have no idea why it doesn't work.
I'm not sure if they've started on different servers and are unable to communicate.
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2013-12-07
Post score: 0
Original comments
Comment by tfoote on 2013-12-07:
Please say what you are doing and what you expect to happen and what is happening so that we can reproduce the problem. Otherwise we cannot help you.
Comment by Stefano Primatesta on 2013-12-07:
The problem is that following step by step tutorial I should drive the turtlebot by Keyboard. When I run Roslaunch nothing happens, I can't move turtlebot in Gazebo. It seems that Gazebo and turtlebot_teleop doesn't speak.
I installed everything as the tutorial says.
Comment by tfoote on 2013-12-07:
Are you keeping focus in the teleop window?
Comment by Stefano Primatesta on 2013-12-07:
Yes, but nothing happens. Teleop indicates change of speed but Turtlebot is stopped.
Comment by Angus on 2013-12-08:
I'm getting the same problem, just following the teleop tutorial that Prima89 mentioned. I can see velocity commands are being published to the /cmd_vel_mux/input/teleop topic, but the Turtlebot doesn't respond. Perhaps it's a problem with cmd_vel_mux then? Or mobile_base_nodelet_manager?
Comment by jihoonl on 2013-12-08:
The official ros release gazebo version is 1.9.2.
Using gazebo 2.1.0 would be the problem. Can you try with gazebo version 1.9.2?
Comment by jihoonl on 2013-12-08:
Useful another answer
http://answers.ros.org/question/99276/turtlebot2-does-not-move-in-gazebo/
Comment by Angus on 2013-12-08:
Works in Gazebo 1.9.1. Thanks very much jihoonl and tfoote!
@Prima89: refer to this post for how to downgrade from Gazebo 2.1.0 to 1.9.1: http://answers.ros.org/question/101976/ros-hydro-desktop-full-installs-gazebo-current-instead-of-gazebo/
Comment by Stefano Primatesta on 2013-12-08:
Works!!! Thanks very much!
|
sudo apt-get ros-groovy-joystick-drivers
[sudo] password for liqiming:
E: Invalid operation ros-groovy-joystick-drivers
why?
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2013-12-07
Post score: 0
Original comments
Comment by gvdhoorn on 2013-12-07:
BTW: your tags say fuerte, while you're trying to install groovy packages.
|
Hi,
For a complex maze environment or unstructured indoor environment (without any inclined floor); is there any possibility that the localization and obstacle detection mechanism of ROS fails while moving a robot autonomously using High Level Navigation?
Thanks in advance
Originally posted by RB on ROS Answers with karma: 229 on 2013-12-07
Post score: 0
|
I'm trying to build rosjava_core by invoking ./gradlew
I'm running kubuntu 13.04, and have installed ros-hydro-desktop-full from the repos.
I've cloned rosjava_core from the git repo, and switched to the hydro branch.
this is the error I am getting.
FAILURE: Build failed with an exception.
* What went wrong:
A problem occurred configuring root project 'rosjava_core'.
> Could not resolve all dependencies for configuration ':classpath'.
> Could not find any version that matches org.ros.rosjava_bootstrap:gradle_plugins:[0.1,0.2).
Required by:
:rosjava_core:unspecified
On a side note, all I actually want to do is start writing a java node. Am I starting in the wrong place?
Thanks.
Originally posted by rlsutton1 on ROS Answers with karma: 21 on 2013-12-08
Post score: 1
|
Hi everyone,
I used the command
rosbuild_add_executable(main_ParseStringCommand ${GUIA_SOURCE_FILES} ${GUIA_HEADER_FILES})
to my CMakeLists.txt.
I performed the:
$rosmake package_name
and ran the node by:
$rosrun package_name main_ParseStringCommand
I then changed the rosbuild_add_executable in my CMakeLists.txt to:
rosbuild_add_executable(main_ParseString ${GUIA_SOURCE_FILES} ${GUIA_HEADER_FILES})
and did:
$rosmake package_name
Now, I can run the node by:
$rosrun package_name main_ParseString
but I can still run it by:
$rosrun package_name main_ParseStringCommand
Why is this the case and how can I stop this from happening?
Thanks!
Originally posted by JP on ROS Answers with karma: 95 on 2013-12-08
Post score: 0
|
Hope this isn't too silly question. Is releasing (some of the packages from) RobotWebTools as .deb packages planned? Or does it make sense to release it as .deb (I'm not a javascript developer) ?
To utilize the portability .deb provides, we're adding catkin files to some of the packages from rwt so that they can be released into buildfarm. But how we do is to just fork or branch the original rwt repos and not ideal at all.
Originally posted by 130s on ROS Answers with karma: 10937 on 2013-12-08
Post score: 2
|
Is there a way to specify the exact location of my PCL-1-7 installation in a rosdep yaml file? I've installed PCL from source.
This is the ROS installation error related to it:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
pcl_conversions: No definition of [libpcl-all] for OS [fedora]
pcl_ros: No definition of [libpcl-all] for OS [fedora]
I've tried with the yum pcl packages in Fedora but they don't seem to provide the right PCL version.
Originally posted by atp on ROS Answers with karma: 529 on 2013-12-08
Post score: 0
|
Hi,
I want to see the output of the 3DSensors of the turtlebot in simulation in gazebo.
I am launching turtlebot in gazebo using command:
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
then,
roslaunch turtlebot_bringup minimal.launch
then.
roslaunch turtlebot_bringup 3dsensor.launch
then, Its showing:
started roslaunch server http:// localhost:53453/
SUMMARY
PARAMETERS
/camera/camera_nodelet_manager/num_worker_threads
/camera/depth_rectify_depth/interpolation
/camera/depth_registered_rectify_depth/interpolation
/camera/disparity_depth/max_range
/camera/disparity_depth/min_range
/camera/disparity_registered_hw/max_range
/camera/disparity_registered_hw/min_range
/camera/disparity_registered_sw/max_range
/camera/disparity_registered_sw/min_range
/camera/driver/depth_camera_info_url
/camera/driver/depth_frame_id
/camera/driver/depth_registration
/camera/driver/device_id
/camera/driver/rgb_camera_info_url
/camera/driver/rgb_frame_id
/depthimage_to_laserscan/output_frame_id
/depthimage_to_laserscan/range_min
/depthimage_to_laserscan/scan_height
/rosdistro
/rosversion
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
depthimage_to_laserscan (nodelet/nodelet)
ROS_MASTER_URI=http:// localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [5376]
process[camera/driver-2]: started with pid [5399]
[ INFO] [1386525391.401574172]: Initializing nodelet with 4 worker threads.
process[camera/debayer-3]: started with pid [5434]
process[camera/rectify_mono-4]: started with pid [5450]
process[camera/rectify_color-5]: started with pid [5467]
process[camera/rectify_ir-6]: started with pid [5483]
process[camera/depth_rectify_depth-7]: started with pid [5500]
[ INFO] [1386525391.957140970]: No devices connected.... waiting for devices to be connected
process[camera/depth_metric_rect-8]: started with pid [5516]
process[camera/depth_metric-9]: started with pid [5534]
process[camera/depth_points-10]: started with pid [5552]
process[camera/register_depth_rgb-11]: started with pid [5569]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [5585]
process[camera/depth_registered_rectify_depth-13]: started with pid [5603]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [5621]
process[camera/disparity_depth-15]: started with pid [5639]
process[camera/disparity_registered_sw-16]: started with pid [5656]
process[camera/disparity_registered_hw-17]: started with pid [5672]
process[depthimage_to_laserscan-18]: started with pid [5690]
[ INFO] [1386525394.962265431]: No devices connected.... waiting for devices to be connected
[ INFO] [1386525397.966016741]: No devices connected.... waiting for devices to be connected
PLZ help anyone...
THANKS in advance...
Originally posted by DPK27 on ROS Answers with karma: 5 on 2013-12-08
Post score: 0
|
How can I list all topics or services that are currently known by the server with roscpp?
Originally posted by ISibboI on ROS Answers with karma: 15 on 2013-12-08
Post score: 1
Original comments
Comment by atp on 2013-12-08:
Maybe sth like rostopic list && rosservice list | grep roscpp? I'm not sure about the exact syntax from my mind.
Comment by ISibboI on 2013-12-08:
Thx. With roscpp I mean using a C++ function.
|
I configurate Eclipse Kepler like in this tutorial:
http://wiki.ros.org/IDEs#Running_and_debugging_your_executables_within_Eclipse
When I try debug code, I see only disassembled code.
Can I see c++ source code of my project?
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-12-08
Post score: 0
|
When do you use ros::NodeHandle::serviceClient with the second argument "persistent" set to "false" ?
I think that when "persistent" is set to "true", ros service performs better(faster)
because there is no disconnection and reconnection between server and client.
So basically, I use ros service client with "persistent == true".
However, this parameter's default value is "false".
I wonder that "persistent == false" performs better in some cases.
What kind of case is it ?
Thanks in advance.
Originally posted by moyashi on ROS Answers with karma: 721 on 2013-12-08
Post score: 0
|
hello everyone,when i roslaunch stereo_image_proc stereo_image_proc.
launch.... logging to /home/administrator/.ros/log/382adbce-609e-11e3-acbd-e89a8ff90e16/roslaunch-ubuntu-11072.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
arg 'manager' is not defined.
Arg xml is
Where is the problem。
Originally posted by luo on ROS Answers with karma: 11 on 2013-12-08
Post score: 1
Original comments
Comment by Edmodi on 2016-05-31:
Hi, I have the same problem. Do you resolve this problem? Thanks
|
Hi,
I'm new to ROS, and have been going through the tutorials. I decided I wanted to modify the behaviour of the Turtlesim demo application (having gotten the source from GitHub). I wanted to try 'catkin_make' using a target that has a bit more meat than the original example in
ROS / Tutorials / BuildingPackages. I increased the precision of 'Pi' and made some changes to the 'draw_square' publisher.
The files I got from GIT are located in a folder inside my home directory. But 'catkin_make' gives an error when I try to make the project.
I've tried copying the files over to the /opt/ros/hydro/share/turtlesim folder and using catkin_make there, but I get the same error as before.
The error I'm getting is:
The specified base path "/opt/ros/hydro/share/turtlesim" contains a CMakeLists.txt but "catkin_make" must be invoked in the root of workspace
From what I gather about ROS from the tutorials I've been through, I believe I am in the root of the workspace, and the parent folder is 'share'. I have tried 'catkin_init_workspace' and I get a message the CMakeLists.txt already exists. 'rospack find turtlesim' locates the project in /opt/ros/... so ros knows about my project.
Could someone please explain the above error and what I need to do in response.
Cheers,
Nap
I'm not privileged enough to post a link that points to the same domain where I'm posting. :(
Originally posted by Nap on ROS Answers with karma: 302 on 2013-12-08
Post score: 0
|
I am using rosmatlab package for making a bridge between Matlab and Ros. I want to publish some interger data. But I couldnot find any proper Documentation for it.
I am having problem with the syntax of
ros.publisher.publish();
Thanks.
Originally posted by Ram99 on ROS Answers with karma: 11 on 2013-12-08
Post score: 1
|
I revently got the desktop-full variant of ROS hydro installed on Mac OS X 10.9 Mavericks. There were a series of smaller issues, e.g. most of the ones mentioned at
http://answers.ros.org/question/94771/building-octomap-orocos_kdl-and-other-packages-on-osx-109-solution/, but in the end I got everything to compile.
When I start up python and type import tf, it crashes with
Segmentation fault: 11
My python version is 2.7.6 from homebrew. I don't even know how to start debugging this. Any help is greatly appreciated.
Edit:
This seems to be caused by faulty cmake find_package(PythonLibs), which in turn caused by _tf.so to be linked against apple's python, while I'm using brewed python. I opened this issue: https://github.com/mxcl/homebrew/issues/25118.
I guess the question that remains is if anybody else has the same issue. For me it is not isolated to tf, but all python modules that are built with find_package(PythonLibs) and link against the found python libs.
Edit2:
[moved to new question]
Edit3:
When used to be Edit2 is now a new question as suggested. Thanks.
http://answers.ros.org/question/110671/recommended-python-version-on-os-x-with-homebrew/
Originally posted by demmeln on ROS Answers with karma: 4306 on 2013-12-09
Post score: 4
Original comments
Comment by William on 2013-12-10:
Unless you have a reason for using the Homebrew Python, I would highly recommend using the built-in Python, in my experience it causes far fewer issues.
Comment by ahendrix on 2013-12-13:
I think Edit2 above should be asked as a new question.
Comment by demmeln on 2014-02-11:
Can you edit the wiki to reflect that?
Comment by demmeln on 2014-02-11:
Thank you!
|
I would like to draw some shapes for reference in a PointCloud2 variable.
There's a tutorial (http://pointclouds.org/documentation/tutorials/pcl_visualizer.php) where you can draw in this case an ellipse.
In the next code is where the drawing is made.
pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new
pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
std::cout << "Genarating example point clouds.\n\n";
// We're going to make an ellipse extruded along the z-axis. The colour for
// the XYZRGB cloud will gradually go from red to green to blue.
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZ basic_point;
basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));
basic_point.y = sinf (pcl::deg2rad(angle));
basic_point.z = z;
basic_cloud_ptr->points.push_back(basic_point);
pcl::PointXYZRGB point;
point.x = basic_point.x;
point.y = basic_point.y;
point.z = basic_point.z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
So let's put the question simple. How could I integrate this to ROS so I can see it in RVIZ? Even this code, I don't know how to publish, I have problems with the pointer (PTR). And I don't find a good, reference.
Originally posted by silgon on ROS Answers with karma: 649 on 2013-12-09
Post score: 0
|
Hello everyone,
I successfully completed and understood the tutorial http://wiki.ros.org/laser_assembler/Tutorials/HowToAssembleLaserScans
However, there is something I cannot understand: the laser.bag file has the laserScans and the transformations (tf). When I visualize the tilt_scan messages in RVIZ these appear already transformed (scans tilted). What I expected was to see the laser scans changing in the same horizontal plane, since these scans are not transformed (or at least that is what I understood). I am using base_link as fixed_frame in rviz.
What could be wrong? Thank you!
EDIT: Ok, I have readed more info and now (finally) I understand how it works and how the frame is "attached" to the LaserScan. Now the question is:
I saw that I can set which frame_id the laser is in. In my case I will be updating this frame since it will be rotating. Do I need to publish the new tf/laser AND call the dynamic reconfigure of the laser to update the tf of the laser scan or just publish the new tf/laser?
Thank you!
Originally posted by Javier V. Gómez on ROS Answers with karma: 1305 on 2013-12-09
Post score: 0
|
The rospack cache is currently build user-wide. I often switch between workspaces that contain different sets of packages or the same package at different locations.
I heavily rely on tab-completion. Rospack does everything correctly here, i.e. I've never seen it switch to a wrong package location. However, when I switch the workspace and then observe a now new to rospack package again roscd (caused by rospack I assume) hangs until I either put in the package manually or it has found it.
Is there any way to preserve the rospack cache for a specific workspace?
Originally posted by dornhege on ROS Answers with karma: 31395 on 2013-12-09
Post score: 1
|
Hi,
I am trying to get the coordinates in space (X,Y,Z) of an object. For this, I am detecting the object using the image from the bumblebee's left camera (from here I can obtain the X and Y coordinates), and would like to obtain the Z-coordinate. I have the code for doing this with an Asus Xtion, but this uses a depth map. Can I get a depth map as well from my bumblebee2 camera? Or should I just use the disparity image I get from stereo_image_proc?
Thanks!
Originally posted by sofiad on ROS Answers with karma: 58 on 2013-12-09
Post score: 0
Original comments
Comment by mortonjt on 2014-01-04:
You probably want to use the points2 data type
Comment by Winston on 2016-06-21:
Did you solve the problem? As i kown, There exist a package called"stereo_image_proc" which publish the disparity, and the "stereo_image_proc" package have a file "point_cloud2.cpp" you can get the depth of z in it(or need some transform).
|
For the life of me I cannot seem to figure out why this code is not working and throws up a lot of errors:
class Example {
public:
Example(ros::NodeHandle n )
{
sub = n.subscribe("/camera/depth_registered/points", 1000, &this->callBack);
}
void callBack(const sensor_msgs::PointCloud2Ptr& msg)
{
}
protected:
ros::Subscriber sub;
};
I have initialised the ros::Subscriber sub inside of the class members but cannot seem to figure out why it's giving me an error.
Any ideas?
EDIT:
Here are the error messages:
error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [32], int, <unresolved overloaded function type>)’ /src/talker.cpp:11:71: note: candidates are: /opt/ros/hydro/include/ros/node_handle.h:379:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&)
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-09
Post score: 7
Original comments
Comment by dornhege on 2013-12-09:
What exact errors? When are you getting them? During compile or when running? Initial guess: Try adding a this to the subscribe call an specify the classname instead of this-> for the subscribe.
|
I just wanted to use the wrapper navfn::NavfnROS for a navfn::NavFn object and I can't compile because the include paths in this particular header(navfn_ros.h) seem to be corrupted.
The ROS installation for the navfn package on my pc looks like this:
Path: /opt/ros/hydro/navfn
navfn [folder]
MakeNavPlan.h
MakeNavPlanRequest.h
MakeNavPlanResponse.h
SetCostmap.h
SetCostmapRequest.h
SetCostmapResponse.h
Path: /opt/ros/hydro/navfn/navfn
navfn.h
navfn_ros.h
navwin.h
potarr_point.h
read_pgm_costmap.h
The includes in navfn_ros.h are #include <navfn/navfn.h> and #include <navfn/potarr_point.h> instead of #include <navfn/navfn/navfn.h> and #include <navfn/navfn/potarr_point.h>
Does this folder structure only arise on my pc or is it a bug in this wrapper that needs to be reported? I'd be glad if someone around here could check whether it is the same on his pc/ROS install.
Regards,
Adrian
Originally posted by EddiEdward on ROS Answers with karma: 18 on 2013-12-09
Post score: 0
|
I write a program in qt for recieving data from serial port.I use qextserialport. I build this library(qextserialport) with qmake and use it.
but when i want to build this qt project with rosmake to use it in ros, i see this error :
In file included from /home/user/ros_workspace/qt_test/qextserialport_test/widget.cpp:1:0:
/home/user/ros_workspace/qt_test/qextserialport_test/widget.h:5:28: fatal error: qextserialport.h: No such file or directory
what should i do?
Originally posted by mr.karimi on ROS Answers with karma: 52 on 2013-12-09
Post score: 0
|
What is the best way for recieving data through serial port in hydro?
Does hydro supports cereal_port package?
Originally posted by mr.karimi on ROS Answers with karma: 52 on 2013-12-09
Post score: 1
|
Hello,
I have a Turtlebot 2 (Kobuki + Kinect) that I'm working on a navigation system for.
I am currently having a problem with getting move_base to behave safely in the event of a collision.
For obstacles that the Kinect can see, this is not a problem, but there are many things (the bases on office chairs, glass doors, short items, the list goes on...) that the Kinect can not account for.
To solve this problem, I have changed the gmapping local costmap to a voxel map, so I have an obstacle layer for the Kinect and a separate obstacle layer for the bumpers. However, this solves very little. If the robot is moving and hits something that causes the bumper to depress, it acts as though nothing happened and keeps trying to go forward.
In an attempt to narrow the cause of this problem down, I have verified the following:
I can use rostopic echo mobile_base/events/bumper to see that the bumpers respond to being pressed.
In rviz, I can see that when the robot is sitting still, I can press the bumpers and the local costmap will be updated to show an obstacle in front of the robot. Letting go of the bumper will not clear the obstacle, and if I send the robot a goal, it will try to navigate around the "obstacle" created by pressing the bumper.
Also in rviz, if I send the robot a goal to move forward, and I jump in its path so that the Kinect can see me, the robot will steer around me.
However, if I get in the robot's way by depressing the bumper but staying out of the sight of the Kinect, the robot will simply try to aggressively push through my hand.
After having played with this configuration for a while, I have noticed that the bumpers are inserting obstacles into the costmap, but it looks like it's not doing it fast enough for the robot to change its behavior. In other words, by the time the obstacle shows up in rviz, it is either directly underneath the robot, or behind it. My guess is that is why the robot doesn't reroute -- because it doesn't think the obstacle is in its path.
Does anyone have any comment on this? Am I right in my hypothesis for why this happens? If so, how would I go about remedying this? Perhaps writing code in my application to raise an interrupt on bumper pressing, sending a cancel to move_base, making the robot back up a few inches, and resending the goal?
Or am I missing something else that would cause the bumpers to work properly without the need for making drastic changes?
I have taken a video capture of the above happening in rviz. If that would be helpful, I will try to upload it to YouTube or something.
The steps I take to get this problem are as follows:
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
I then send a goal about 10 feet forward in rviz, and while the robot is moving forward, press the bumper with my foot so that the Kinect does not see me.
My costmap files for gmapping are as follows:
costmap_common_params.yaml:
origin_z: 0.0
z_resolution: .1
z_voxels: 10
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.18
inflation_radius: 0.50
observation_sources: scan bump
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, min_obstacle_height: 0.1, max_obstacle_height: 0.6}
# Current bump cloud configuration
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}
# These were for the create, but I think weren't getting used.
# Can we merge to a common configuration - DJS?
# scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true}
# left_bump: {data_type: PointCloud2, topic: /bump_sensor_left, marking: true, clearing: true}
# right_bump: {data_type: PointCloud2, topic: /bump_sensor_right, marking: true, clearing: true}
global_costmap_params.yaml:
global_costmap:
map_type: costmap
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 3.0
publish_frequency: 0.0
static_map: true
transform_tolerance: 0.5
track_unknown_space: true
unknown_cost_value: 255
local_costmap_params.yaml:
local_costmap:
map_type: voxel
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.1
transform_tolerance: 0.5
I would very much appreciate if someone sees anything wrong with my configuration and can point it out to me. Or if anyone has any practical advice on how to solve this issue.
Thanks in advance!
-------------- UPDATE: --------------------------
I realize I forgot to mention that I'm using ROS Groovy.
In the past few days since posting the original, I've attempted to use the Kobuki safety controller by also running roslaunch turtlebot_bringup _safety_controller.launch
This works...somewhat. Now when I try to navigate to a goal and then press my foot against the bumpers, instead of blindly trying to plow through my foot, it repeatedly hits my foot, backs up a little, hits my foot again, backs up again, ad nauseam.
Looking at the screen on rviz, my best guess is that the safety controller works so quickly in backing up that the obstacle is never inserted into the costmap because the bumper was not pressed for long enough.
Is there a good way of making the obstacle register more quickly, or making safety_controller wait before backing up? I suppose I could always mess with the source code on the safety_controller to make it pause, but that would be more of a last resort for me.
Thanks.
----Update 2:----
I've attached the video if anyone wants to see it.
Originally posted by BlitherPants on ROS Answers with karma: 504 on 2013-12-09
Post score: 0
Original comments
Comment by jihoonl on 2013-12-16:
The local costmap update frequency can be configured in local_cost_map_params.
Try to configure update_frequecny in local_costmap_params.yaml.
Reference : http://wiki.ros.org/navigation/Tutorials/RobotSetup
If it does not work, could you share the video? I am just curious how it behaves..
Comment by BlitherPants on 2013-12-20:
Thanks for the response! I've already made a modified version of kobuki_safety_controller that seems to work, but I'm still looking into it. I may try your suggestion, though I'm wary of bogging down the computer (gmapping seems to crash a lot running multiple processes). I'll update when possible.
Comment by BlitherPants on 2013-12-20:
Only once I increased the frequency to 20Hz (high!) did it work with the default safety controller. Gmapping froze once so it may be too much for my CPU. Still, this is a good answer. In the future, I'll test this against what I did (changing safety_controller) to see which works better. Thanks!
Comment by BlitherPants on 2013-12-20:
I attached the video for you. At least, I think I did, but I can't seem to find where it shows.
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.