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Hi,
I'm trying to run gazebo simulator with my package and this error thrown.
[FATAL] [1386622156.026160179, 0.419000000]: Failed to create robot simulation interface loader: rospack could not find the controller_interface package containing controller_interface::ControllerBase
the simulation is successfully started, but the controllers are down, so the robot cannot be controlled.
when i try to locate the controller_interface package it exists:
omrib@ubuntu:~$ rospack find controller_interface
/opt/ros/hydro/share/controller_interface
omrib@ubuntu:~$ cd /opt/ros/hydro/share/controller_interface
omrib@ubuntu:/opt/ros/hydro/share/controller_interface$ ls
cmake package.xml
any idea?
Originally posted by omrib on ROS Answers with karma: 31 on 2013-12-09
Post score: 3
Original comments
Comment by Arn-O on 2013-12-12:
Hi. Same issue here. (posted on the Gazebo side: http://answers.gazebosim.org/question/5099/rospack-could-not-find-the-controller_interface/). It looks like the package is broken on the repo, since it is ... empty.
Comment by comrob_commander on 2013-12-14:
I can confirm this, how to fix it?
|
Hi all,
I have a line such as:
std_msgs::String s;
s.data = c.c_str(); //same data as above.
pthread_mutex_lock(&send_CS);
tum_ardrone_pub.publish(s);
pthread_mutex_unlock(&send_CS);
What I would like to do is look at the contents of s that is passed into the method publish(). I tried something like:
ROS_INFO("(2) (%s) \n",s.c_str());
But that failed at compile time. Thanks!
Originally posted by JP on ROS Answers with karma: 95 on 2013-12-09
Post score: 3
|
I am not referring to a turtlebot. I have an iRobot Create (old one) and a Kinect connected to it. I am trying to use the kinect to generate a 2D map of the robot environment and later navigate the robot autonomously through it. I am new to ROS and was wondering if there are any tutorials that someone could suggest that describe a step by step process? If not, then can someone help me with defining an outline for how to proceed?
Till now I have this -
A netbook with ROS Groovy running
Installed the ros-brown-driver package for iCreate
Currently installed the Turtlebot packages as well.
I am not sure how to proceed next. This is a very beginner question so I was hoping someone could help me out?
Originally posted by nemesis on ROS Answers with karma: 237 on 2013-12-09
Post score: 0
|
Hi i get the following cmake error when I try to build a project with the laser_assembler
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package laser_assembler.
Set laser_assembler_DIR to the directory containing a CMake configuration
file for laser_assembler. The file will have one of the following names:
laser_assemblerConfig.cmake
laser_assembler-config.cmake
Call Stack (most recent call first):
spherical2_cartesian/CMakeLists.txt:7 (find_package)
CMake Error at /opt/ros/groovy/share/genmsg/cmake/genmsg-extras.cmake:244 (message):
Messages depends on unknown pkg: laser_assembler (Missing
find_package(laser_assembler?))
Call Stack (most recent call first):
spherical2_cartesian/CMakeLists.txt:71 (generate_messages)
I am not sure why. I added the package to the build and run dependency in the package.xml Added the laser_assembler package to the required components and added the package name in the
"Generate added messages and services with any dependencies listed here"
generate_messages() command.
The documentation says the package is compatible with groovy...
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2013-12-09
Post score: 0
|
while I launching files in my ros groovy I have got this error message
ERROR: cannot launch node of type [rviz/rviz]: rviz
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/unais/x_warm/src
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks
could you know what may be the issue
Originally posted by unais on ROS Answers with karma: 313 on 2013-12-09
Post score: 0
|
I am doing amcl on a quadrotor, as the quadrotor move along and yaw pitch roll might affect the laser scan thus the scan I received might end up confuse my amcl and get the wrong localization.
To overcome this problem, my partner has try to compensate laser scan value(within certain range) by creating this node. Let just call it LaserCompensation.
Here's some of the files.
LaserCompensation.cpp
#include <stdexcept>
#include <termios.h>
#include <string>
#include <stdlib.h>
#include <vector>
#include <stdint.h>
#include <stdint.h>
#include <limits>
#include "Rotator.cpp"
#include "sensor_msgs/LaserScan.h"
#include "../../px-ros-pkg/px_comm/msg_gen/cpp/include/px_comm/OpticalFlow.h"
#include "../../flight/msg_gen/cpp/include/flight/flightFeedback.h"
#include <ros/ros.h>
#include <cmath>
#define PI 3.141592654
double Flowtime1 ;
double FlowAltitude1;
double Flowtime2;
double FlowAltitude2;
double altitudedifference;
double timedifference;
double pitchAngle;
double rollAngle;
sensor_msgs::LaserScan receivedscan;
sensor_msgs::LaserScan publishscan;
Rotator *rotator;
void altitudeParse(const px_comm::OpticalFlow::ConstPtr& optFlowMsg)
{
Flowtime2 = Flowtime1;
Flowtime1 = optFlowMsg->header.stamp.toSec();
FlowAltitude2 = FlowAltitude1;
FlowAltitude1 = optFlowMsg->ground_distance;
altitudedifference = FlowAltitude1-FlowAltitude2;
timedifference = Flowtime1 - Flowtime2;
}
void angleParse(const flight::flightFeedback::ConstPtr& msg2)
{
pitchAngle = msg2->pitchAngle;
rollAngle = msg2->rollAngle;
}
void Transform()//sensor_msgs::LaserScan& scan_msg)
{
publishscan.angle_min = -2.35619443;
publishscan.angle_max = 2.35619443;
publishscan.angle_increment = (1.25/180*PI);
publishscan.time_increment = receivedscan.time_increment;
publishscan.scan_time = receivedscan.scan_time;
publishscan.range_min = receivedscan.range_min;
publishscan.range_max = receivedscan.range_max;
publishscan.header.stamp = receivedscan.header.stamp;
publishscan.header.frame_id = "test1";
rotator->set(rollAngle, pitchAngle);
float x = 0.0;
float y = 0.0;
float z = 0.0;
float xt = 0.0;
float yt = 0.0;
float zt = 0.0;
float r = 0.0;
float rt = 0.0;
float indexdifference[216];
for (int o=0;o<216;o++)
{
indexdifference[o]=360.0;
}
uint g=0;
for(int i = 0; i < 1080; i++){
r = receivedscan.ranges[i];
x = r*cos(((0.25*i)-45)/180*PI);
z = r*sin(((0.25*i)-45)/180*PI);
rotator->unrotate(x, y ,z, xt, yt, zt);
float d=-90.0;
if((xt!=0.0)||(zt!=0.0))
{
d=atan2(zt,xt)*180.0/PI+45.0;
}
if(d<0.0){
d+=360.0;
}
float e= (d*215/270)+0.5;
int h = e;
float absolutedifference= std::abs (e-h);
rt = sqrt(zt*zt+xt*xt);
if(h>=0.0)
{
if(absolutedifference<indexdifference[h])
{
indexdifference[h]=absolutedifference;
publishscan.ranges[h]=rt;
}
}
/*if(i<2 && absolutedifference<angle[0])
{
angle[0]=d;
publishscan.ranges[0]=rt;
}
else if(absolutedifference<angle[(i-3/5)+1] && i>2)
{
angle[(i-3/5)+1]=d;
publishscan.ranges[i/5]=rt;
}*/
}
}
void parseScan(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
receivedscan.angle_min = scan_msg->angle_min;
receivedscan.angle_max = scan_msg->angle_max;
receivedscan.angle_increment = scan_msg->angle_increment;
receivedscan.time_increment = scan_msg->time_increment;
receivedscan.scan_time = scan_msg->scan_time;
receivedscan.range_min = scan_msg->range_min;
receivedscan.range_max = scan_msg->range_max;
receivedscan.ranges = scan_msg->ranges;
receivedscan.header.stamp = scan_msg->header.stamp;
receivedscan.header.frame_id = scan_msg->header.frame_id;
Transform();
}
int main(int argc, char **argv)
{
rotator = new Rotator();
ros::init(argc, argv, "LaserCompensation");
ros::NodeHandle n;
publishscan.ranges.resize(216);
int count = 0;
ros::Subscriber altitude= n.subscribe( "/px4flow/opt_flow", 1, &altitudeParse );
ros::Subscriber PitchRoll= n.subscribe( "flightFeedback", 1000, &angleParse );
ros::Subscriber scan= n.subscribe("scan", 1, &parseScan);
ros::Publisher Cscan = n.advertise<sensor_msgs::LaserScan>("scan2",1);
ros::Rate loop_rate(40); //Freq = 40Hz
while (ros::ok())
{
if((altitudedifference <0.05 && altitudedifference > -0.05) && timedifference < 0.5)
{
Cscan.publish(publishscan);
}
count++;
ros::spinOnce();
}
delete rotator;
return 0;
}
amcl_node.cpp
static const std::string scan_topic_ = "scan2";
launch file:
full.launch
<arg name="map_file" default="$(find known_mapping)/map.yaml"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
<param name="calibrate_time" type="bool" value="true"/>
<!-- Set the port to connect to here -->
<param name="port" type="string" value="/dev/ttyACM0"/>
<param name="intensity" type="bool" value="false"/>
<param name="cluster" value="1"/>
</node>
<node name="LaserCompensation_node" pkg="LaserCompensation" type="LaserCompensation_node" respawn="false" output="screen" />
#### publish an example base_link -> laser transform ###########
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
args="0.0 0.0 0.0 1.571 0.0 0.0 base_link test1 40" />
#### start the laser scan_matcher ##############################
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
name="laser_scan_matcher_node" output="screen">
<param name="max_iterations" value="10"/>
<param name="publish_pose_stamped" value="true"/>
</node>
<!--- Run AMCL -->
<node name="amcl" pkg="amcl" type="amcl" output ="screen">
<param name="odom_model_type" value="omni"/>
<param name="update_min_d" value="0.15"/>
<param name="update_min_a" value="0.5"/>
<param name="initial_pose_x" value="-13.0"/>
<param name="initial_pose_y" value="-22.0"/>
<param name="initial_pose_a" value="3.979"/>
</node>
</launch>
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2013-12-09
Post score: 0
|
Has anyone tried cython with catkin? Some example?
Originally posted by liborw on ROS Answers with karma: 801 on 2013-12-09
Post score: 2
|
I've been trying to get ROS Hydro to run on Arch Linux, which uses Python 3 by default, and pacman for package management.
I've fixed a few Python 2/3 issues with rosdep, rospkg, etc, which I installed via pip. I've reached the step of running rosdep for the catkin workspace. My command is:
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
This gives me a bunch of errors like:
rqt_publisher: No definition of [python-rospkg] for OS [arch]
rqt_top: No definition of [python-psutil] for OS [arch]
pcl_ros: No definition of [libpcl-all] for OS [arch]
rosclean: No definition of [python-rospkg] for OS [arch]
smach_ros: No definition of [python-rosdep] for OS [arch]
...
Looking at the arch dependencies, there doesn't appear to be some packages defined for Arch:
github.com/ros/rosdistro/blob/master/rosdep/python.yaml
Since I didn't install using pacman (which is set up as the Arch package manager), what's the best way to tell rosdep that I've satisfied dependencies with pip?
Originally posted by spease on ROS Answers with karma: 46 on 2013-12-10
Post score: 1
|
rosmake using_markers
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['using_markers']
[ rosmake ] Logging to directory /home/liqiming/.ros/rosmake/rosmake_output-20131210-195602
[ rosmake ] Expanded args ['using_markers'] to:
[]
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['using_markers']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.
that is the process i follow the tutorial of the web of RVIZ
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2013-12-10
Post score: 0
|
rosdep seems to know about openni_launch, but the formula ros/hydro/rgbd_launch is not there. Is the formula supposed to be there, or is rosdep wrong?
I'm on OS X 10.9 Mavericks with a desktop-full install of ROS hydro.
$ rosdep install --from-paths src/openni_launch --ignore-src
Error: No available formula for rgbd_launch
Please tap it and then try again: brew tap ros/hydro
executing command [brew install ros/hydro/rgbd_launch]
Error: No available formula for rgbd_launch
Please tap it and then try again: brew tap ros/hydro
Searching taps...
ERROR: the following rosdeps failed to install
homebrew: command [brew install ros/hydro/rgbd_launch] failed
Originally posted by demmeln on ROS Answers with karma: 4306 on 2013-12-10
Post score: 0
|
When I run the command "rosrun rviz rviz", the screen flashes and I get dumped to the ubuntu login screen. I am running fuerte on ubuntu 12.04.
Some more details:
I have used ROS and rviz extensively before on this same computer.
The only thing I upgraded recently were the Primesense drivers.
I've already tried restarting the computer, and deleting the .rviz directory to reset the system.
The .ros/log files don't appear very informative. The last message I see in rosout.log is "Loading general config from [/home/{username}/.rviz/config]". Otherwise, the master.log has a message "keyboard interrupt, will exit" near the end.
OpenCV graphics appear to work fine. I can run programs that display color and/or grayscale images using native OpenCV without any problems.
I also tried reinstalling the ros-fuerte-visualization package without any effect.
I also tried the flag options (LIBGL and OGRE_RTT export commands shown on http://wiki.ros.org/rviz/Troubleshooting), but get the same behavior.
What I'm hoping for is suggestions on where else to look in order to debug this. I'd rather not reinstall ros from scratch, but that's the next step... followed by a reinstall of the graphics drivers, and then ubuntu itself. Anything else I can do before having to commit to drastic reinstalls?
Thank you
Originally posted by ebeowulf on ROS Answers with karma: 100 on 2013-12-10
Post score: 0
|
Does anyone know what or when to expect the new XBOX One Kinect sensor to work with ROS (Openni2?)
Originally posted by TFinleyosu on ROS Answers with karma: 385 on 2013-12-10
Post score: 13
|
I'm trying to convert this bagfile to csv:
https://www.dropbox.com/s/tie8svln73ii3ii/imu.bag
With this command:
rostopic echo -b imu.bag -p /android/imu
I get this error:
Traceback (most recent call last):
File "/opt/ros/hydro/bin/rostopic", line 35, in <module>
rostopic.rostopicmain()
File "/opt/ros/hydro/lib/python2.7/dist-packages/rostopic/__init__.py", line 1666, in rostopicmain
_rostopic_cmd_echo(argv)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rostopic/__init__.py", line 1026, in _rostopic_cmd_echo
_rostopic_echo(topic, callback_echo, bag_file=options.bag)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rostopic/__init__.py", line 671, in _rostopic_echo
_rostopic_echo_bag(callback_echo, bag_file)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rostopic/__init__.py", line 649, in _rostopic_echo_bag
for t, msg, timestamp in b.read_messages():
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosbag/bag.py", line 2062, in read_messages
yield self.seek_and_read_message_data_record((entry.chunk_pos, entry.offset), raw)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosbag/bag.py", line 2198, in seek_and_read_message_data_record
msg_type = _get_message_type(connection_info)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosbag/bag.py", line 1309, in _get_message_type
message_type = genpy.dynamic.generate_dynamic(info.datatype, info.msg_def)[info.datatype]
File "/opt/ros/hydro/lib/python2.7/dist-packages/genpy/dynamic.py", line 151, in generate_dynamic
for l in msg_generator(msg_context, spec, search_path):
File "/opt/ros/hydro/lib/python2.7/dist-packages/genpy/generator.py", line 733, in msg_generator
genmsg.msg_loader.load_depends(msg_context, spec, search_path)
File "/opt/ros/hydro/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 344, in load_depends
return load_msg_depends(msg_context, spec, msg_search_path)
File "/opt/ros/hydro/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 313, in load_msg_depends
depspec = load_msg_by_type(msg_context, resolved_type, search_path)
File "/opt/ros/hydro/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 119, in load_msg_by_type
file_path = get_msg_file(package_name, base_type, search_path)
File "/opt/ros/hydro/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 78, in get_msg_file
% (base_type, package, search_path))
Cannot locate message [Header]: unknown package [std_msgs] on search path [{}]
Originally posted by Dereck on ROS Answers with karma: 1070 on 2013-12-10
Post score: 2
|
I have a custom message /adc_interface/EMGSignal.
If I run rosmsg show EMGSignal it displays the message correctly.
However, if I try to run rostopic echo /adc_interface/EMGSignals I get:
ERROR: Cannot load message class for [adc_interface/EMGSignal]. Are your messages built?
I also get a similar error when trying to use rqt_plot.
The message has been tested and used on Groovy on another computer.
I am running Hydro on my computer.
I have run catkin_make. My .bashrc is:
source /opt/ros/hydro/setup.bash
export ROS_PACKAGE_PATH="/home/craig/Documents/workspace/551/project":$ROS_PACKAGE_PATH
I am new to Ros and may have some configuration/installation issues (I thought it would be fun to uninstall python from Linux Mint - it wasn't).
Additionally, running roswtf produces:
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING You are missing core ROS Python modules: rosrelease --
Found 1 error(s).
ERROR Not all paths in ROS_PACKAGE_PATH [/home/craig/Documents/workspace/551/project:/opt/ros/hydro/share:/opt/ros/hydro/stacks] point to an existing directory:
* /opt/ros/hydro/stacks
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /rosout:
* /rosout
WARNING The following nodes are unexpectedly connected:
* unknown (http://gunstar:50711/)->/rosout (/rosout)
Originally posted by csherstan on ROS Answers with karma: 122 on 2013-12-10
Post score: 0
|
I tried installing the usb_cam driver by following the instruction from
wiki.ros.org/ROS/Tutorials/StackInstallation
but it seems the instructions is outdated for groovy and I am currently stuck
What is the current alternative to
rosmake --rosdep-install
Thanks
Originally posted by zenifed on ROS Answers with karma: 93 on 2013-12-10
Post score: 0
|
Hi,
I am trying to implement 2D slam on an old iRobot Create with a Kinect attached to it.
This is the procedure I am following -
I have the iRobot Create.
I install the ros-groovy-brown-driver to be able to connect to the Create.
I have also installed the turtlebot
ros package.
I start roscore. And then I run the
following command
rosrun irobot_create_2_1 driver.py cmd_vel:=turtlebot_node/cmd_vel
The Create plays that music.
I wish to run the turtlebot_teleop command, but before that I try to run the
following command
roslaunch turtlebot_bringup minimal.launch
I get the following errors. Also, if I run the turtlebot_teleop command for keyboard, it gets executed without errors but pressing the keys don't move the bot at all.
[ERROR] [1386716974.533922230]: filter
time older than odom message buffer
[ERROR] [1386716974.555218373]:
Covariance specified for measurement
on topic wheelodom is zero [ERROR]
[1386716974.616525541]: Covariance
specified for measurement on topic
wheelodom is zero [ERROR]
[1386716974.633544675]: filter time
older than odom message buffer Failed
to open port /dev/ttyUSB0. Please
make sure the Create cable is plugged
into the computer. [ERROR]
[1386716974.691582292]: Covariance
specified for measurement on topic
wheelodom is zero [WARN] [WallTime:
1386716974.708936] Create : robot not connected yet, sci not available
[ERROR] [1386716974.733089805]: filter
time older than odom message buffer
[ERROR] [1386716974.766284180]:
Covariance specified for measurement
on topic wheelodom is zero
Other point to be noted -
The USB port parameter had to be modified to ttyUSB1 instead of ttyUSB0. This was done using the following command -
rosparam set /brown/irobot_create_2_1/port /dev/ttyUSB1
I think this might be the issue because the parameter isn't set for turtlebot package. I don't know how to change it for the turtlebot package though.
Also, there I can't seem to find, turtlebot_driver anywhere. Shouldn't that have been installed along with the turtlebot package? Edit: I think it's now called create_driver. I have modified the create_driver.py to cahnge ttyUSB0 to ttyUSB1, but still the minimal.launch fails.
What needs to be done in this case?
Is there an alternative to using the turtlebot package to be able to run teleop?
Originally posted by nemesis on ROS Answers with karma: 237 on 2013-12-10
Post score: 0
|
Hi there,
trying to work with Rosbag CookBook I get following error when I try to catkin_make:
~/ws/src/main.cpp:98: error: undefined reference to 'rosbag::Bag::Bag()'
~/ws/src/main.cpp:149: error: undefined reference to 'rosbag::Bag::~Bag()'
~/ws/src/main.cpp:149: error: undefined reference to 'rosbag::Bag::~Bag()'
collect2: ld returned 1 exit status
make[2]: *** [/home/...] Error 1
make[1]: *** [...] Error 2
make: *** [all] Error 2
Invoking "make" failed
C++ code:
#include <ros/ros.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <boost/foreach.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
using namespace rosbag;
rosbag::Bag bag;
// bag.open("test.bag", rosbag::bagmode::Write);
// bag.close();
CMakeLists:
FIND_PACKAGE(OpenGL)
find_package(PkgConfig REQUIRED)
find_package(ASSIMP QUIET)
find_package(rosbag REQUIRED)
if (NOT ASSIMP_FOUND)
pkg_check_modules(ASSIMP assimp)
endif()
if (NOT ASSIMP_FOUND)
message(WARNING "ASsimp not found, not building synthetic views")
endif()
if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
message(STATUS "Found assimp v3")
set(EXTRA_SOURCES)
set(EXTRA_LIBRARIES assimp)
else()
message(STATUS "Building assimp v3")
set(ASSIMP_INCLUDE_DIRS ./assimp/include)
aux_source_directory(./assimp/contrib/clipper EXTRA_SOURCES_clipper)
aux_source_directory(./assimp/contrib/ConvertUTF EXTRA_SOURCES_ConvertUTF)
aux_source_directory(./assimp/contrib/irrXML EXTRA_SOURCES_irrXML)
aux_source_directory(./assimp/contrib/poly2tri/poly2tri/common EXTRA_SOURCES_poly2tri)
aux_source_directory(./assimp/contrib/poly2tri/poly2tri/sweep EXTRA_SOURCES_poly2tri_sweep)
aux_source_directory(./assimp/contrib/unzip EXTRA_SOURCES_unzip)
aux_source_directory(./assimp/contrib/zlib EXTRA_SOURCES_zlib)
aux_source_directory(./assimp/code EXTRA_SOURCES)
set(EXTRA_SOURCES ${EXTRA_SOURCES} ${EXTRA_SOURCES_clipper} ${EXTRA_SOURCES_ConvertUTF} ${EXTRA_SOURCES_irrXML} ${EXTRA_SOURCES_poly2tri} ${EXTRA_SOURCES_poly2tri_sweep} ${EXTRA_SOURCES_unzip} ${EXTRA_SOURCES_zlib})
set(EXTRA_LIBRARIES)
endif()
# create the 2d rendering library
add_library(${PROJECT_NAME}_2d renderer2d.cpp)
target_link_libraries(${PROJECT_NAME}_2d ${OpenCV_LIBRARIES})
install(TARGETS ${PROJECT_NAME}_2d
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
# create the 3d rendering library
set(SOURCES model.cpp renderer3d.cpp utils.cpp)
include_directories(BEFORE ${ASSIMP_INCLUDE_DIRS})
include_directories(BEFORE ${rosbag_INCLUDE_DIRS})
find_package(OpenCV REQUIRED)
find_package(rosbag REQUIRED)
INCLUDE_DIRECTORIES(SYSTEM ${OpenCV_INCLUDE_DIR}
${OPENGL_INCLUDE_DIR}
${rosbag_INCLUDE_DIR}
)
if (${USE_GLUT})
add_definitions(-DUSE_RENDERER_GLUT=1)
find_package(GLUT)
include_directories(SYSTEM ${GLUT_INCLUDE_DIR})
# add a glut version of the renderer
add_library(${PROJECT_NAME}_glut ${SOURCES}
renderer_glut.cpp
${EXTRA_SOURCES}
)
target_link_libraries(${PROJECT_NAME}_glut ${EXTRA_LIBRARIES}
${OpenCV_LIBRARIES}
${OPENGL_LIBRARIES}
${GLUT_LIBRARIES}
freeimage
)
install(TARGETS ${PROJECT_NAME}_glut
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
else()
# add an OSMesa version of the renderer
add_library(${PROJECT_NAME}_osmesa ${SOURCES}
renderer_osmesa.cpp
${EXTRA_SOURCES}
)
target_link_libraries(${PROJECT_NAME}_osmesa ${EXTRA_LIBRARIES}
${OpenCV_LIBRARIES}
OSMesa GLU
freeimage
)
install(TARGETS ${PROJECT_NAME}_osmesa
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
endif()
# add an executable to render views to a file
ADD_EXECUTABLE(view_generator main.cpp)
SET_PROPERTY(TARGET view_generator PROPERTY DEBUG_POSTFIX ${ASSIMP_DEBUG_POSTFIX})
find_package(rosbag REQUIRED)
TARGET_LINK_LIBRARIES(view_generator ${EXTRA_LIBRARIES})
if (${USE_GLUT})
target_link_libraries(view_generator ${PROJECT_NAME}_glut)
else()
target_link_libraries(view_generator ${PROJECT_NAME}_osmesa)
endif()
target_link_libraries(view_generator ${PROJECT_NAME}_2d)
SET_TARGET_PROPERTIES(view_generator PROPERTIES
OUTPUT_NAME view_generator
)
install(TARGETS view_generator
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# add some executables
add_subdirectory(apps)
Already put the following in package.xml:
<build_depend>rosbag</build_depend>
<run_depend>rosbag</run_depend>
Distro: Groovy (Installed via pre built packages.)
Ubuntu: 12.04 LTS
me@mypc:~/ws$ env | grep ros
ROS_ROOT=/opt/ros/groovy/share/ros
ROS_PACKAGE_PATH=/opt/ros/groovy/share:/opt/ros/groovy/stacks
LD_LIBRARY_PATH=/opt/ros/groovy/lib
CPATH=/opt/ros/groovy/include
PATH=/opt/ros/groovy/bin:/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games
PYTHONPATH=/opt/ros/groovy/lib/python2.7/dist-packages
PKG_CONFIG_PATH=/opt/ros/groovy/lib/pkgconfig:/usr/local/lib/pkgconfig
CMAKE_PREFIX_PATH=/opt/ros/groovy
ROS_ETC_DIR=/opt/ros/groovy/etc/ros
and $rospack find rosbag:
/opt/ros/groovy/share/rosbag
Regards,
O3
Originally posted by o3p7s5 on ROS Answers with karma: 86 on 2013-12-10
Post score: 0
Original comments
Comment by lindzey on 2013-12-10:
Can you go ahead and include your whole CMakeLists.txt file?
Comment by o3p7s5 on 2013-12-11:
Updated my question with hole CMakeLists.
Comment by o3p7s5 on 2013-12-11:
Ooopst... wrong one. Edited again. :)
Comment by lindzey on 2013-12-11:
OK. That's not a standard catkin CMakeLists.txt file, and I don't know enough cmake to even know where to start debugging it. Can you get a minimal rosbag reader working, using the CMakeLists.txt template generated by catkin_create_pkg?
|
Hi, everyone!
I have a similar problem and I solved it like described in this topic ros-users.
Program works fine, but when I try calculate joints values more different than inital values, IK solver not found.
Source files: leg_kinematics.cpp
hp_chainiksolverpos_nr_jl.cpp
For example.
Inital frame of end-effector : 0.14208; -0.14555; -0.11145
Inital joints : 0, 0, 0
Desired frame : 0.16574, -0.1868, -0.08033
(delta_twist from hp_chainiksolverpos_nr_jl)
[ INFO] [1386694221.094697005]: delta_twist.vel 1: 0.023664 delta_twist.vel 2: -0.041252 delta_twist.vel 3: 0.031120
[ INFO] [1386694221.094781119]: delta_twist.vel 1: 0.003682 delta_twist.vel 2: -0.006420 delta_twist.vel 3: -0.009216
[ INFO] [1386694221.094833633]:
Joint 1: -0.000007
Joint 2: 0.245227
Joint 3: 0.211637
Desired frame : 0.098897, -0.25073, 0.053264 ( joints: 0.46, 0.73, 0.84)
[ INFO] [1386694869.786644209]:
delta_twist.vel 1: -0.043179 delta_twist.vel 2: -0.105182 delta_twist.vel 3: 0.164714 [0m
[0m[ INFO] [1386694869.786831916]:
delta_twist.vel 1: 0.024520 delta_twist.vel 2: -0.157306 delta_twist.vel 3: 0.083648 [0m
[0m[ INFO] [1386694869.786888482]:
delta_twist.vel 1: -0.016815 delta_twist.vel 2: -0.191048 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.786932308]:
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.786992199]:
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.787067596]:
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.787110975]:
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.787151938]:
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.787192158]:
delta_twist.vel 1: -0.014347 delta_twist.vel 2: -0.214840 delta_twist.vel 3: 0.084714 [0m
[0m[ INFO] [1386694869.787235519]:
delta_twist.vel 1: 0.036921 delta_twist.vel 2: -0.185430 delta_twist.vel 3: 0.084714
[31m[ERROR] [1386694869.787273642]: IK not found
I can not understand what the problem is...
URDF file
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-12-10
Post score: 1
|
After running apt-get dist-upgrade on ROS Hydro, simulated robot is not responding to published messages. The simulator is running perfectly. The code/topics are working fine on Turtle-bot (hardware) i.e. publishing and subscribing.
rosdep --version: 0.10.24
export | grep ROS gives us this:
declare -x ROS_DISTRO="hydro"
declare -x ROS_ETC_DIR="/opt/ros/hydro/etc/ros"
We have started to work on Turtlebot and new to ROS. Any help will be appreciated.
thanks in advance
Originally posted by Safeer on ROS Answers with karma: 66 on 2013-12-10
Post score: 0
|
Hi there,
Trying to use tf2 with hydro here, however I just can't get the tutorials to work. For the broadcaster, the C++ tutorial is missing. For the listener, there is a structure that seems to be inexistant : tf2_ros::PoseStamped; and the broadcaster uses another structure geometry_msgs::TransformStamped. The listener tells me there it doesn't have a lookupTransform method.
I think the existing tutorials are outdated, so any help in understanding how to use tf2 : listeners, broadcasters and data types, would be appreciated.
Guido
Originally posted by Guido on ROS Answers with karma: 514 on 2013-12-10
Post score: 0
|
I'm looking for an inexpensive DC brushed motor controller board with serial interface (preferably USB), encoder feedback, at least 12V/3A continuous current and ROS driver. The only direct reference I found is ROS Motor Controller Drivers at ROS Wiki, but it lists only 3 options and Roboteq AX2550 sort of qualifies, except of the cost. Are there any other options?
Originally posted by Paul Jurczak on ROS Answers with karma: 31 on 2013-12-11
Post score: 1
Original comments
Comment by dornhege on 2013-12-11:
My advise would be to widen your options and drop the ROS support requirement. Developing a ROS driver for a serial interface for a motor controller board should be fairly easy.
|
Hi,
Although I am going through the tutorials, I need some precise answer.
How odometry helps navigation stack.
How it is related with tf?
Is odometry helpful for generating velocity command to base controller?
Is it somehow related to amcl, sensor data? then how it is related?
Thanks for your time
Originally posted by RB on ROS Answers with karma: 229 on 2013-12-11
Post score: 0
|
Hi,
I have gone through http://wiki.ros.org/move_base; but some doubt comes to my mind.
Why odometry affects only the local planner and how?
Sensor data may be fed into both local and global cost map. Which module in ROS decides this?
How global cost_map influence the global planner (similarly local cost_map/local planner) for effective planning?
What the internal navigation messages (flown from global planner to local planner) contains?
Thanks for your time..
Originally posted by RB on ROS Answers with karma: 229 on 2013-12-11
Post score: 1
Original comments
Comment by Tirjen on 2013-12-11:
For parameters tuning (that isn't simple, as Dereck says), I suggest you to look at this tutorial:
http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide
|
I am trying to mirror the ROS API and wiki docs for a project with no internet access, by following the instructions on the wiki at http://wiki.ros.org/Mirrors#Creating_a_mirror.
The API docs seem to download fine, but mirroring the wiki:
rsync -azv wiki.ros.org::wiki_mirror wiki.ros.org --bwlimit=200 --delete
fails with
@ERROR: Unknown module 'wiki_mirror'
Am I missing something here or do the instructions need to be modified?
Originally posted by VC on ROS Answers with karma: 56 on 2013-12-11
Post score: 3
Original comments
Comment by ahendrix on 2013-12-11:
I'm seeing the same problem. I suspect the rsync server isn't set up right, or the documentation is wrong.
Comment by Martin Günther on 2013-12-12:
Just tried it, and it works for me (i.e., it starts downloading without error; I cancelled after a few seconds). Maybe they fixed the server?
|
Hey all,
I am running: Ubuntu 12.10 64 Bit with ROS Hydra installed using apt.
I was following the navigation tutorial to get move_base running. But after publishing the first topics to it it crashes. I checked all topics in rviz and everything looks ok.
My map is really small: Resizing costmap to 544 X 608 at 0.050000 m/pix
But I also tried higher and lower resolution maps.
GDB gives me the following error:
[ WARN] [1386781814.297755287]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
Program received signal SIGILL, Illegal instruction.
0x00007ffff2ad3d3f in std::vector<double, std::allocator<double> >::_M_insert_aux(__gnu_cxx::__normal_iterator<double*, std::vector<double, std::allocator<double> > >, double const&) () from /usr/lib/libpcl_common.so.1.7
I played around alot with the settings but nothing helped. Also I tried different maps sizes.
Thanks alot!
Full output:
core service [/rosout] found
process[amcl-1]: started with pid [26468]
process[move_base-2]: started with pid [26526]
[ INFO] [1386781754.861223568]: Requesting the map...
[ INFO] [1386781754.867595885]: Received a 544 X 608 map @ 0.050 m/pix
[ INFO] [1386781754.926983060]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1386781755.037315278]: Done initializing likelihood field model.
[ INFO] [1386781755.167248054]: Using plugin "static_layer"
[ INFO] [1386781755.242542521]: Requesting the map...
[ INFO] [1386781755.445023367]: Resizing costmap to 544 X 608 at 0.050000 m/pix
[ INFO] [1386781755.544250197]: Received a 544 X 608 map at 0.050000 m/pix
[ INFO] [1386781755.557500697]: Using plugin "obstacle_layer"
[ INFO] [1386781755.561873197]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1386781755.611294388]: Using plugin "footprint_layer"
[ INFO] [1386781755.623528775]: Using plugin "inflation_layer"
[ INFO] [1386781755.809949187]: Using plugin "obstacle_layer"
[ INFO] [1386781755.873184453]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1386781755.908828212]: Using plugin "footprint_layer"
[ INFO] [1386781755.920289142]: Using plugin "inflation_layer"
[ INFO] [1386781756.059400018]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1386781756.080551731]: Sim period is set to 0.05
[ WARN] [1386781756.091632133]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[move_base-2] process has died [pid 26526, exit code -4, cmd /opt/ros/hydro/lib/move_base/move_base __name:=move_base __log:=/home/pasa/.ros/log/a699a86a-626f-11e3-9fa8-0024d7617cb0/move_base-2.log].
log file: /home/pasa/.ros/log/a699a86a-626f-11e3-9fa8-0024d7617cb0/move_base-2*.log
The log file mentioned does not exist.
Originally posted by Oinkmaster on ROS Answers with karma: 26 on 2013-12-11
Post score: 1
Original comments
Comment by felix k on 2013-12-12:
What operating system, architecture, ROS distribution? Package from apt repo?
Comment by Oinkmaster on 2013-12-12:
Thank you for you feedback! Updated the post: I am running: Ubuntu 12.10 64 Bit with ROS Hydra installed using apt.
|
I am developing an rqt GUI plugin to set some values in another node, but the rqt plugins seem to always place a namespace in front of my desired published topic name.
For example, my rqt plugin is called "rqt_blueview," and I declare a published topic in the rqt plugin like this...
this->max_range_pub_ = getNodeHandle().advertise<std_msgs::Float32>("sonar_max_range", 1);
However, the actual topic is published with the following topic name:
/rqt_blueview/sonar_max_range
I want to publish to /sonar_max_range
I tried to remap the topic, but I can't seem to get it to work. I tried the following in a launch file:
<remap from="/rqt_blueview/sonar_max_range" to="sonar_max_range" />
<node pkg="rqt_blueview" name="rqt_blueview" type="rqt_blueview" />
and
<remap from="rqt_blueview/sonar_max_range" to="sonar_max_range" />
<node pkg="rqt_blueview" name="rqt_blueview" type="rqt_blueview" />
I tried placing the remap tag inside the tags as well, but with no results. I think this has something to do with how the rqt plugin is loaded into the rqt higher-level Qt window.
I was able to remap the subscribed topic /sonar_max_range to /rqt_blueview/sonar_max_range on the normal C++ ROS node subscribed side of the topic, but this naming convention doesn't seem natural to me.
Is there a best practice for naming topics when using rqt plugins? I won't want a launch file remapping the rqt GUI plugins since the idea is to open rqt and then "add" the other rqt plugins to the main window.
Thanks.
Originally posted by Kevin DeMarco on ROS Answers with karma: 88 on 2013-12-11
Post score: 2
Original comments
Comment by Dirk Thomas on 2015-04-29:
A rqt C++ plugin is not a ROS node but a ROS nodelet. Simply because roscpp does not support to run more then a single node per process. A nodelet always runs in a namespace (http://wiki.ros.org/nodelet) but should still be remappable.
|
Hi,
I am trying to integrate the netft sensor mounted on ur5 with ROS groovy (on Ubuntu 12.04). I also came across this particular stack here. As I understand, this stack is built using rosmake and it is still associated with the old ROS versions(Diamondback, Fuerte). Has anyone tried to implement and integrate this stack in groovy, more specifically using catkin_make? If yes, requesting you to kindly share the details.
This tutorial here, seems to be very latest. This is what I would like to achieve in groovy. I would also want to understand the effort/steps involved in making the changes?
Awaiting your response,
Thanks and Regards,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2013-12-11
Post score: 0
|
I recently purchased the ASUS Xtion Pro and am trying to get it running on my laptop which is running Ubuntu 12.04 and ROS fuerte. I followed the instructions on the ROS wiki page for openni_camera and openni_launch for fuerte. I did the following installs:
sudo apt-get install ros-fuerte-openni-camera
sudo apt-get install ros-fuerte-openni-launch
When I plug the sensor in, I can do a lsusb -v and I get the following block for the PrimeSense
Bus 004 Device 006: ID 1d27:0601
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0x1d27
idProduct 0x0601
bcdDevice 0.01
iManufacturer 5 PrimeSense
iProduct 4 PrimeSense Device
iSerial 0
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 206
bNumInterfaces 3
bConfigurationValue 1
iConfiguration 0
bmAttributes 0x80
(Bus Powered)
MaxPower 500mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 2
bInterfaceClass 255 Vendor Specific Class
bInterfaceSubClass 0
bInterfaceProtocol 0
.......
So it seems like the machine is recognizing the device properly.
I then run: roslaunch openni.launch.
Here is some of the output I get from this:
[ INFO] [1386787263.933250900]: Number devices connected: 1
[ INFO] [1386787263.933369646]: 1. device on bus 004:06 is a PrimeSense Device (601) from PrimeSense (1d27) with serial id ''
[ INFO] [1386787263.934284326]: Searching for device with index = 1
[ INFO] [1386787264.035335419]: 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&) @ /opt/ros/fuerte/stacks/openni_camera/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!
I see that many of the ros topics come up, but they are not being written to. I tried using various device_id's by modifying the openni.launch file, but none of these worked.
I also tried plugging the device into all of the USB ports on my machine with the same result.
Does anyone have any idea on how to fix this problem?
Thanks in advance.
Mark
Originally posted by rosey1211 on ROS Answers with karma: 51 on 2013-12-11
Post score: 5
|
Hi,
I am new to ROS and Nao and I've got little trouble in finding the right starting point.
I followed the tutorial http://wiki.ros.org/hydro/Installation/Ubuntu and installed ROS in a Ubuntu Virtualbox and made some of the tutorials for ROS.
I also installed Naoqi and followed the tutorial http://wiki.ros.org/nao/Installation/remote to install the Nao-hydro packages.
Everything works fine so far but what is missing for me in this tutorials is something like "How to make the Nao say Hello World" :)
How to start writing the first program for the Nao? Where do I have to put my files and how do I have to compile them? I think some link in my brain is missing at the moment :)
I'm at this point since 3 days now, so please can someone point me the right way to my first working program on the Nao?
Thanks in advance
P.S.: Can someone please format the links for me? :)
Originally posted by Tiamat on ROS Answers with karma: 1 on 2013-12-11
Post score: 0
|
I would like to build a robot arm that has sonar and camera sensors to manipulate physical objects. I intend to use ROS for the motion planning and sensor processing and OpenCV for the camera processing. I'm early into this project and I've tentatively picked some hardware that I think will get me in the ballpark but I'm not really sure if it will work.
My choices so far are: 1) Pandaboard ES (dual-core ARM 1.6MHz) to run Lubuntu and ROS (motion planning, sensor processing) and OpenCV for video processing, 2) a Mini Maestro 16-channel PWM motor control driver to drive up to 10 motors (with room to grow), and 3) Talon SR H-bridge controllers for each of the motors. Note that the motors are 12V and may have max currents up to 60A. I assume that I'll be able to run the motor encoders back to the GPIO pins of the Pandaboard to form a closed-loop control system.
I'm worried that the Pandaboard won't have enough CPU power to handle all the image processing, motion control, and motor control. Is there a better way to handle these needs? Perhaps a different dedicated board to handle complete PID control of the motors? If so, what specifically would you suggest?
Originally posted by daalt on ROS Answers with karma: 159 on 2013-12-11
Post score: 0
|
Today, I get the package tum_ardrone and make it, there are two files ardrone_autonomy and tum_ardrone. The first one making was ok, while the tum_ardrone package making failed. It reported that :
I know that is about the liblapack, but I don't know how to fix it, can anybody help me?
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_snrm2' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_dtbsv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zswap' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_crotg'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ccopy' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_sptgemm'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_cptsymm' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_cptherk'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_dset' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zdotc_sub'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zgemv' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zhpmv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zcopyConj' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_caxpy'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_dnrm2' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_dtrsv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_cscal' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_cgerc'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_sspmv' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ctbmv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_sger' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zgbmv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_sptsymm' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ctbsv'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ztrmv' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_sdsdot'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ssyr' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_zpthemm'
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_ssbmv' /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/liblapack.so: undefined reference to ATL_cgemv'
collect2: ld 返回 1
make[4]: *** [../bin/drone_stateestimation] 错误 1
make[4]:正在离开目录 /home/turtlebot2/ardrone_ws/tum_ardrone/build' make[3]: *** [CMakeFiles/drone_stateestimation.dir/all] 错误 2 make[3]:正在离开目录 /home/turtlebot2/ardrone_ws/tum_ardrone/build'
make[2]: *** [all] 错误 2
make[2]:正在离开目录 /home/turtlebot2/ardrone_ws/tum_ardrone/build' make[1]: *** [all] 错误 2 make[1]:正在离开目录 /home/turtlebot2/ardrone_ws/tum_ardrone'
Originally posted by 0525084 on ROS Answers with karma: 1 on 2013-12-11
Post score: 0
|
Hello,
I have some ROS C++ packages that share many common functions.
They are identical functions so I was thinking to put them all in another file.hpp and include this file in each package is needing them.
I'm using catkin to create my workspace and all the packages I develop. They are all in src directory starting from the main one, as the tutorials said.
But where do I must save this file.hpp in the workspace and which path I have to #include in each file that is using it? Do I have to modify the CMakeLists.txt?
This is a scheme of my workspace:
build
devel
src
package 1
CMakeLists.txt
src (file.cpp are here)
include
package1.xml
package 2
...
Thanks in advance.
Originally posted by eds on ROS Answers with karma: 101 on 2013-12-11
Post score: 0
|
Hi,
We want to use viso2_ros package with a Bumblebee camera to perform visual odometry and feed it to the robot_pose_ekf.
robot_pose_ekf requires covariance matrices to be published in the odometry it receives, giving an error if the input covariance is zero. In the documentation of viso2_ros it says that covariance matrices are not publised, so we are unsure if it will be possible to combine viso2_ros with robot_pose_ekf.
In other answer (answers.ros.org/question/34323/viso2_ros-and-robot_pose_ekf/), it is suggested to use it directly (publishing viso2_ros/odometry to robot_pose_ekf/vo), but according to documentation this shouldn't work, as viso2 doesn't publish covariance matrices and following coments in the answer are not conclusive on the results. We have been unable to test it ourselves yet since we are still setting up everithing.
Before continuing, we would like to know if anyone has used viso2_ros with robot_pose_ekf with success and how have they done it. Also, has anyone estimated the covariances for the viso2_ros process, to insert them manually in the published topic?
Thank you and best regards,
Ivan.
Originally posted by IvanV on ROS Answers with karma: 329 on 2013-12-11
Post score: 0
|
Hello,
I have a small question about using roboearth with ROS. I want to use the roboearth with turtlebot kinect for object detection.
My question is
Do you need the robot laptop and workstation to be connected to internet in order to use the roboearth features?
I am using the workstation pc and robot pc without internet, I just network them using usb routers.
As it says, you need to have an account on the roboearth to save your data and then calling it back for detection, can this be done without internet connection?
Thanks
Originally posted by Vegeta on ROS Answers with karma: 340 on 2013-12-12
Post score: 2
|
Hi everyone,
is there a current nxt version for ros? We mostly need it to model the robots with LDD, then translating the files from ldr and lxf to urdf. But i didn't find any current build for nxt.
Or is it possible, to install the diamondback-build from ros_nxt and use these files with the hydro-build?
Thanks in advance
Originally posted by Nathan Schwarz on ROS Answers with karma: 3 on 2013-12-12
Post score: 0
|
This is a bit of a follow up on the answer to this questions: http://answers.ros.org/question/108916/openni_launch-rosdep-on-os-x/
So assuming I have build and installed ROS (e.g. the desktop-full variant), I'm woundering how to best maintain my installation, meaning adding additional packages (which on ubuntu I would install via apt-get) and updating the whole installation to current releases (staying on the same distro, hydro in my case).
Is it possible and recommended to install to the same install space (e.g. /opt/ros/hydro) from different workspaces? E.g. I would like to add additional packages like suggested in the answer linked above. Can I build them in a freshly created workspace and install to /opt/ros/hydro? Should I instead extend my workspace with which I build the original packages installed to /opt/ros/hydro?
How would I go about upgrading my packages to the latest releases? Can I use my existing workspace and update the .rosinstall file to the latest released versions? What is the best practice here?
Originally posted by demmeln on ROS Answers with karma: 4306 on 2013-12-12
Post score: 4
Original comments
Comment by demmeln on 2013-12-16:
Noone? There must be a ton of people having pure source-installs, no?
|
I'm using ROS Groovy with catkin.
I created a package1 with a file1.cpp in the src directory and a header file1.h in its include/package directory.
I need to #include this header in another file2.cpp of another package2 in the same workspace and then call those declared function.
file1.cpp doesn't have any main() function. It's only a list of functions and their body definitions.
I'm not secure with this tool because everything I tried using tutorials is not working.
Please, give me full informations about what to write in every CMakeLists.txt or package.xml and how to include that header in both packages.
Thanks in advance.
Originally posted by eds on ROS Answers with karma: 101 on 2013-12-12
Post score: 0
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With rosbuild, I used to download data when building and place them in the src folder. I could them find them at runtime with ros::package::getPath().
This is usually data that is too large to be hosted in the repository, like large binary configuration files. They are needed by some of our nodes, and they usually load them when they start. As such they must be accessible at run time.
Now in catkin, I am wondering where to download them and how to retrieve them at runtime. I created a cmake function based on download_checkmd5.py that creates a new target (download_extra_data). Each package CMakeLists can declare some data to be downloaded, which happens when I make that target. What's the best strategy?
I can download them to the source folder and retrieve them with ros::package::getPath(), but that goes against the principle of not touching the source folder. Also, this would probably not work if I were to distribute my package in binary form (as the ros packages are), so it does not seem like a good solution.
I can download them to the build folder, but then how to retrieve them at runtime?
I believe the best would be to download them to the devel space, right? How can I do that? Then how to retrieve them at runtime?
For the moment, as a temporary solution, I am downloading to a path specified by an environment variable, but I am looking for a cleaner solution.
Originally posted by brice rebsamen on ROS Answers with karma: 1001 on 2013-12-12
Post score: 5
Original comments
Comment by Dirk Thomas on 2013-12-12:
My question before answering would be what kind of data are you downloading during the build?
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I am using the turtlebot packages for groovy on an iRobot Create.
If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -
[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]
[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]
So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.
So I tried to check if my Kinect is working or not.
When I enter the following command, after running openni_launch
rosrun image_view disparity_view image:=/camera/depthegistered/disparity
I don't get any output in the screen that pops up. And I get the following messages in the commandline,
[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /left_cliff_sensor_link exists with parent /base_link.
Frame /leftfront_cliff_sensor_link exists with parent /base_link.
Frame /right_cliff_sensor_link exists with parent /base_link.
Frame /rightfront_cliff_sensor_link exists with parent /base_link.
Frame /wall_sensor_link exists with parent /base_link.
Frame /front_wheel_link exists with parent /base_link.
Frame /gyro_link exists with parent /base_link.
Frame /laser exists with parent /base_link.
Frame /plate_0_link exists with parent /base_link.
Frame /plate_1_link exists with parent /plate_0_link.
Frame /plate_2_link exists with parent /plate_1_link.
Frame /plate_3_link exists with parent /plate_2_link.
Frame /rear_wheel_link exists with parent /base_link.
Frame /spacer_0_link exists with parent /base_link.
Frame /spacer_1_link exists with parent /base_link.
Frame /spacer_2_link exists with parent /base_link.
Frame /spacer_3_link exists with parent /base_link.
Frame /standoff_2in_0_link exists with parent /base_link.
Frame /standoff_2in_1_link exists with parent /base_link.
Frame /standoff_2in_2_link exists with parent /base_link.
Frame /standoff_2in_3_link exists with parent /base_link.
Frame /standoff_2in_4_link exists with parent /standoff_2in_0_link.
Frame /standoff_2in_5_link exists with parent /standoff_2in_1_link.
Frame /standoff_2in_6_link exists with parent /standoff_2in_2_link.
Frame /standoff_2in_7_link exists with parent /standoff_2in_3_link.
Frame /standoff_8in_0_link exists with parent /standoff_2in_4_link.
Frame /standoff_8in_1_link exists with parent /standoff_2in_5_link.
Frame /standoff_8in_2_link exists with parent /standoff_2in_6_link.
Frame /standoff_8in_3_link exists with parent /standoff_2in_7_link.
Frame /standoff_kinect_0_link exists with parent /plate_2_link.
Frame /standoff_kinect_1_link exists with parent /plate_2_link.
Frame /left_wheel_link exists with parent /base_link.
Frame /right_wheel_link exists with parent /base_link.
I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do next?
Originally posted by nemesis on ROS Answers with karma: 237 on 2013-12-12
Post score: 0
Original comments
Comment by Phelipe on 2015-01-27:
@nemesis I'm facing the same loop problem... Did you solve this?
|
Hi,
1> Why it is called an operating system and what are the characteristics that resemble with traditional operating systems like Windows or Linux?
2> What basic facilities enable ROS to act as a control framework?
3> Drivers present in ROS and how does it help us?
UPDATED WHY ROS is called 'thin' and what is the advantage of CMake?
Thank you for your time.
I follow the fact==**To understand something you need to be clear about basics**
Originally posted by RB on ROS Answers with karma: 229 on 2013-12-12
Post score: 1
|
Hi everyone, ROS noob here.
Do any of you know how to set the max range on ir range finder sensor shown on this:http://docs.ros.org/api/sensor_msgs/html/msg/Range.html? For some reasons, the IR Range Finder sensor that I run whenever I print the data would give out the max_range of 0.4m and min_range of 0m.
Is there a way to change that default?
Thanks.
Willi
ps: I haven't wrote the code yet (it is going to be in Python). I was getting the IR Range data of the Baxter robot using the Rostopic echo /robot/range/right_arm_range command. It would then print out the result with max_range 0.4m. Would that mean that is the robot's IR reader limitation then?
Originally posted by dragowill on ROS Answers with karma: 5 on 2013-12-12
Post score: 0
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Hello.
I'm using the amcl_demo.launch file to localize to a static map, and gather costmap data of the environment. When I try to subscribe to the global_costmap/costmap topic, it only publishes once, and will not update the value. The same effect is seen when using rostopic echo. Rviz can update the global costmap display, so I don't know what the issue is. Thanks.
Originally posted by Bobby9002 on ROS Answers with karma: 1 on 2013-12-12
Post score: 0
|
Hi,
I am running ROS Hydro and OpenCV 2.4.7, using openFabMap and SURF. When I do catkin_make on my project, I get the following error:
undefined reference to `cv::Feature2D::compute(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat&) const'
I noticed that this happens when I write the following line of code:
cv::SurfDescriptorExtractor extractor;
extractor.compute( cv_ptr->image, keypoints, descriptors_img);
UPDATE
Other cv classes, such as the cv::SurfFeatureDetector detector class work normally. It even instantiates the cv::SurfDescriptorExtractor extractor with no problem. If I comment the "extractor.compute" call, I get no error.
I am including the following on the header:
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/nonfree.hpp>
#include <opencv2/opencv.hpp>
UPDATE
And my (complete this time) CMakeLists:
cmake_minimum_required(VERSION 2.8.3)
project(compvision)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
image_transport
cv_bridge
sensor_msgs
message_generation
)
find_package(OpenCV 2.4.7 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
add_message_files(
FILES
Match.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES compvision
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
include_directories(
${OpenCV_INCLUDE_DIRS}
)
add_executable(openFABMAPros src/fabmapTest.cpp)
target_link_libraries(openFABMAPros ${catkin_LIBRARIES})
target_link_libraries(openFABMAPros ${OpenCV_LIBRARIES})
add_dependencies(openFABMAPros ${catkin_EXPORTED_TARGETS})
add_executable(image_converter src/image_converter.cpp)
target_link_libraries(image_converter ${catkin_LIBRARIES})
target_link_libraries(image_converter ${OpenCV_LIBRARIES})
add_dependencies(image_converter ${catkin_EXPORTED_TARGETS})
Am I missing some dependencies? I don't recall this error happening when building with earlier versions of OpenCV.
Thanks for your time and support.
Originally posted by Marcus Lopes on ROS Answers with karma: 1 on 2013-12-12
Post score: 0
Original comments
Comment by Marcus Lopes on 2013-12-16:
Installing ROS on another machine and running the same code there worked just fine ... well, I still don't know what might have happened, but that solved the problem for me.
|
Hi,
I'm trying to use a service that will only ever need to be called once. I'd like to destroy the service server object as soon as the service is completed, allowing the service name to be reused.
I've tried sending a call to Shutdown() as the last part of the service callback, but of course this starts destroying the service while it's in use. Can anyone suggest a way to check if a service is currently in use?
I'd prefer not to use another service or topic to signal the completion of the service from the client.
Originally posted by Chengarda on ROS Answers with karma: 156 on 2013-12-12
Post score: 0
|
I've been playing around with the TurtleSim demo project (and now have draw_square actually drawing a square, except that the precision of the g_goal->theta calculation is not enough to make the 4th side of the square as straight as I would like it).
I've been using catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/hydro to build the project. It works fine and updates the install space of my package. I tried sourcing the install/setup.bash file hoping it would perform the actual install into /opt/ros/hydro but it doesn't. So I've been manually copy/pasting the executables into the /opt/ros folder structure for testing.
I would like to do this the proper way, so I tried performing the above catkin_make command using sudo, thinking that it might be a permission problem. But when I do this, my terminal returns 'catkin_make: command not found'.
Could someone please explain:
Why I'm getting command not found when using sudo catkin_make?
What is the proper way of installing a package so that it can be run using rosrun?
Cheers,
Nap
I installed ROS Hydro using apt-get install.
(I am rather new to Ubuntu, having had lots of Windows experience though.)
Originally posted by Nap on ROS Answers with karma: 302 on 2013-12-12
Post score: 1
Original comments
Comment by Tirjen on 2013-12-12:
Don't know if this will solve the problem, but I can tell you that you cannot run the command catkin_make with sudo. Moreover the command catkin_make should be used in your catkin workspace folder, where are you running it?
Comment by Nap on 2013-12-12:
yes, I'm running it in my catkin workspace. According to the tutorial (wiki.ros.org/catkin/Tutorials/using_a_workspace), it says that sudo might be required.
What I'm really trying to achieve is to be able to install my new version of the TurtleSim project so I can run it using 'rosrun'.
Comment by Tirjen on 2013-12-12:
If you want to run the command catkin_make in sudo, try first 'sudo -s' to get superuser permissions and then run 'catkin_make'. I don't understand well why you want to install the package, you could simply make it and the run it using rosrun, without installing it, but maybe I didn't understand well the question!
Comment by Nap on 2013-12-13:
@Tirjen, so what you're saying is that I can do source install/setup.bash and this would set the path to my new version and rosrun turtlesim draw_square` wlll run my version not the one in /opt/ros/...?
Edit: tested it: yes, that's how it works
|
Hello everybody!
I'm trying to use the ORK on ubuntu 12.04 with ros Hydro.
I installed it using sudo apt-get install ros-hydro-object-recognition-*. I did not install couchapp (sudo pip install -U couchapp), as, if I understood well, it is not necessary.
Now, following this tutorial, I have a kinect connected to my computer and running:
rosrun openni_launch openni.launch
works properly, as I can see the depth image with image_view.
However, when I try to use the command:
rosrun object_recognition_capture orb_template -o my_textured_plane
what happens is that the depth image that appears is all black and the ORB window all red. Moreover I noticed that if I try to run this command with the image_view running and showing the depth image, the image_view stops to be updated, i.e. the openni.launch doesn't publish anymore the /camera/depth/image topic. Also when I stop running the orb_template command, the depth image topic still isn't published.
Any help would be appreciated! Thanks!!
EDIT:
this is the output of the command rosrun object_recognition_capture orb_template -o my_textured_plane
Listening for key: s on imshow:save
Registration? 1
Sync? 0
1. device on bus: 2 @ 6 with serial number: A00365A03335051A Microsoft : Xbox NUI Camera
Time diff max: 16.8667
Registered:on Supported: 1
Setting registration on
Setting sync off
Originally posted by Tirjen on ROS Answers with karma: 808 on 2013-12-12
Post score: 0
|
Hi everyone
I have a really strange behaviour I can not explain. I have a really simple program where I publish a message and then quit. When im not sleeping after creating the publisher, but i start immediately to publish the messages gets lost. Any ideas what the case may be?
I am using hydro, and the roscore runs locally.
thanks
flavio
#include "ros/ros.h"
#include "std_msgs/Float32.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "publish_test");
ros::NodeHandle nh;
ros::Publisher set_control_active_pub = nh.advertise< std_msgs::Float32>("/pixhawk_bridge/control_active2",10 );
ros::Duration(2).sleep();
std_msgs::Float32 activate_msg;
activate_msg.data = 0;
set_control_active_pub.publish( activate_msg );
ros::spinOnce();
ros::Duration(2).sleep();
return 0;
}
Originally posted by ffontana on ROS Answers with karma: 21 on 2013-12-12
Post score: 0
|
Hi,
I have done the moveit configuration procedure for my robot, however when I launch the demo.launch I don't see the interactive markers in RViz. I have defined four planning groups and kinematic solvers for these groups (KDL) in the kinematics.yaml file. I do get a warning when launching the demo, that no parent groups have been defined for my end effectors. What could be the problem?
Originally posted by sofiad on ROS Answers with karma: 58 on 2013-12-13
Post score: 1
|
Hi there,
i am quite new to ROS and c++, so excuse if if this question is an easy one, plz :)
i created a package with catkin_create_qt_package and now i want to use a JoyListener.
The problem is, that i really don't know how to integrate the code? I found some examples for using the joy.h node, but nothing for using it in the catkin created qt package :( Do i have to add the code in qnode.cpp ?
Sorry for my english XD i don't know how to explain my problem :3
[Edit]
Sorry, i don't get it :(
I used this code for subscribing the joy-node:
ros::Subscriber sub = n.subscribe<sensor_msgs::Joy>("joy", 10, &QNode::joyCallback);
And this is my prototype of the joyCallback-function:
void QNode::joyCallback(const sensor_msgs::Joy::ConstPtr& joy_msg)
{
ros::Publisher chatter_publisher.publish(joy_msg);
}
but i get this strange error and don't know what it means...
/usr/include/boost/function/function_template.hpp:225: error: no match for call to ‘(boost::_mfi::mf1<void, test_joy::QNode, const boost::shared_ptr<const sensor_msgs::Joy_<std::allocator<void> > >&>) (const boost::shared_ptr<const sensor_msgs::Joy_<std::allocator<void> > >&)’
do you have any idea of what i'm doing wrong?
Originally posted by Cookie on ROS Answers with karma: 16 on 2013-12-13
Post score: 0
Original comments
Comment by dornhege on 2013-12-13:
Do you want to receive joystick messages? In that case check out the standard subscriber tutorial.
Comment by Cookie on 2013-12-13:
i want to use the joystick for controlling an AR Drone. I thought it would be fine to display the pressed buttons in an QT gui, but i dont know how to check, which button is pressed from the gui package :/
Comment by dornhege on 2013-12-13:
If you want to know which buttons are pressed on a running joystick node then subscribe to a sensor_msgs/Joy message. It's usually on the /joy topic.
Comment by Cookie on 2013-12-13:
Ok thanks, i'll try it out :)
Comment by Cookie on 2013-12-13:
I don't get it >___< i updated the question to what i have done to subscribe the joy-messages.. help plz :(
|
I install groovy on ArchLinux (ARM7) on Odroid-X.
And I haven't (for example) turlesim (and more packages).
How to install the packages?
Originally posted by Ruslan on ROS Answers with karma: 1 on 2013-12-13
Post score: 0
|
Im installing turtlebot software on raspberry pi using this turtorial
ROSberryPiSetting up Hydro on RaspberryPi
but im stuck in the build part of turtlebot it wants this requirement ros console-bridge but when i get to that section of the tutorial i'm missing something console_bridge
1.1.1
this command returns this
sed -e "s/rosconsole/console_bridge" rosconsole/package.xml > console_bridge/package.xml
sed: -e expression #1, char 27: unterminated `s' command
Any help would be
appreciated thanks chocjulio
PS thanks for the tutorial it really helped get me going you should do one for turlebot
Originally posted by chocjulio33 on ROS Answers with karma: 26 on 2013-12-13
Post score: 0
Original comments
Comment by Tim Sweet on 2013-12-18:
Just a note: I've updated the Wiki to fix this problem. the correct sed command should have been "sed -e "s/rosconsole/console_bridge/" rosconsole/package.xml > console_bridge/package.xml" (notice the terminating slash after console_bridge)
|
Hi all,
Where can I find and how can I add a urdf file of the kinect to urdf of my robot.
Thanks in advance
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-13
Post score: 0
|
Hi all,
I found in industrial stack/package a ROBOTIQ urdf model, but without a Gazebo description. Is such description exist? how can I create one?
Regards,
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-13
Post score: 1
|
OK, so this may be an open-ended question which may not fit the format, but I'll ask anyway. I will be working on a distributed sensor project and currently am researching messaging protocols. What do people think about using ROS mainly for its no-frills messaging support? There will be dozens of sensor nodes each broadcasting maybe hundreds of data messages after each data bit is processed, so scalability is important. I'm looking at the various *MQ implementations (ActiveMQ, OpenMQ, RabbitMQ, ZeroMQ) as well, but so far ROS is looking very attractive due to ease-of-use and the number of debug tools available. Can anyone who's used both ROS and some version of *MQ comment? What about authentication, does ROS have any?
Edit: details.
No real-time requirements, but order is important (header timestamps will take care of that). The sensors will be producing a fair amount of data (say, 50 sensors @30Hz, probably ~300-500KB/s each), but most of this data will be taken care of by intermediary nodes. Each intermediary node (there could be 5-10 of these) will then talk to a central database server which will aggregate the data. Each of the 50 sensors, when processed by the intermediary node, will generate probably around 50 small data points for each reading, these could be an array of values. So, say, 50 publishers @ 30Hz, around 1500 messages each second each consisting of 50 data points. I am not expecting any overhead with dynamic subscriptions.
Originally posted by autonomy on ROS Answers with karma: 435 on 2013-12-13
Post score: 0
Original comments
Comment by dornhege on 2013-12-13:
There is no authentication. Can you give more precise information on your data requirements: How many msgs/second and how many bytes/second? Do you need any real-time guarantees or will you put a time stamp in a just push data out?
Comment by autonomy on 2013-12-13:
Edited the original. Curious about ROS scalability & CPU load as the # of messages increases...
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When trying to pair an Android device with the Rocon_app_manager as per [1], the 'Robot Remocon' Android app does find the robot when pressing 'Add a robot > Scan the local network', but when pressing 'select' it tries to connect but displays an error:
org.ros.exception.RosRuntimeException: timed out waiting for a gateway_info publication
I tried on different networks (university-wide and at home through a local router) and two different pc's and android devices. There is at least some communication as there's a different error when the rocon_app_platform hasn't been started on the pc.
I tried to look up where this error originates but I am quite hopeless. Does anyone have an idea of how to solve this?
[1] wiki.ros.org/rocon_app_manager/Tutorials/hydro/Pairing%20with%20Androids
Originally posted by The Fonz on ROS Answers with karma: 13 on 2013-12-13
Post score: 1
Original comments
Comment by Daniel Stonier on 2014-06-29:
Any chance that some of the problems here are due to the fact that you are using android devices that have multiple interfaces? You can diagnose by checking rostopic list and rosservice list to see if the connections are there. rostopic info on an android topic will show strange ip's.
Comment by Daniel Stonier on 2014-06-29:
This error is quite vague sorry....we have simplified communications hugely getting ready for indigo with better error feedback (yet to be released though).
|
Update:
So I think my question is if ekf is a combined odometry why does move base not accept it in its published type , as a pose. How would I use the combined odometry if not in move base. Is this what the RoadMap part of the ekf webpage is talking about,yes?
Any ideas on what this error is means? Is this ekf node?
[ERROR] [1386956256.093192603, 0.774000000]: Client [/move_base] wants topic /rrbot_combined_odom/odom to have datatype/md5sum [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7], but our version has [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]. Dropping connection.
my launch file is:
<launch>
<!-- Use simulation time from gazebo -->
<rosparam param="use_sim_time=true"/>
<!-- Load robot description here ; used by rviz / rqt_gui -->
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find rrbot_description)/urdf/rrbot.xacro'" />
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster"
args="-.1 0 .1 0 0 0 base_link tower_link 10" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster"
args="-.1 0 .2 0 0 0 tower_link hokuyo_frame 10" />
<node pkg="tf" type="static_transform_publisher" name="link3_broadcaster"
args="-.1 0 .2 -1.57 0 -1.57 tower_link camera_frame 10" />
<node pkg="tf" type="static_transform_publisher" name="link4_broadcaster"
args="-.13 -.13 .1 0 0 0 base_link left_wheel 10" />
<node pkg="tf" type="static_transform_publisher" name="link5_broadcaster"
args="-.13 .13 .1 0 0 0 base_link right_wheel 10" />
<!-- Start rqt : note rrbot.rviz file must reside in launch dir -->
<node name="rqt_gui" pkg="rqt_gui" type="rqt_gui" respawn="true">
</node>
<!-- load the controllers -->
<!-- and Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="true"
output="screen" ns="/rrbot" args="--namespace=/rrbot
joint1_position_controller
joint2_position_controller"/>
<!-- ******************************************************************************************** -->
<!-- start mapping server and pass odom frame : creates map from laser -->
<node name="gmapping_node" pkg="gmapping" type="slam_gmapping" output="screen" respawn="true">
<param name="occ_thresh" value="0.05"/>
<param name="map_update_interval" value="0.05"/>
</node>
<!-- Moves robot based on goal command : Listen for goals posted as twist to robot base -->
<node pkg="move_base" type="move_base" name="move_base" output="screen" respawn="true">
<param name="controller_frequency" type="double" value="50.0" />
<rosparam file="$(find rrbot_control)/config/move_base/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam file="$(find rrbot_control)/config/move_base/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam file="$(find rrbot_control)/config/move_base/local_costmap_params.yaml"
command="load"/>
<rosparam file="$(find rrbot_control)/config/move_base/global_costmap_params.yaml"
command="load"/>
<rosparam file="$(find rrbot_control)/config/move_base/base_local_planner_params.yaml"
command="load"/>
<remap from="odom" to="/rrbot_combined_odom/odom"/>
</node>
<!-- Take gazebo model state and setup map-odom-base_link-senors transforms -->
<node pkg="rrbot_control" type="robot_odometry" name="rrbot_odometry" output="screen" respawn="true"/>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="rrbot_combined_odom">
<param name="output_frame" value="odom"/>
<param name="freq" value="10.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="imu_used" value="true"/>
<param name="debug" value="true"/>
<param name="self_diagnose" value="true"/>
<remap from="imu_data" to="/rrbot/imu_data"/>
</node>
</launch>
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-12-13
Post score: 0
|
I get the following error message in pluginlib.
[FATAL] [1386974148.099388732, 94910.942000000]: Failed to create the dwa_local_planner/DWAPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create object of class type dwa_local_planner::OscillationCostFunction as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
The relevant code is here: GitHub: dwa_local_planner (groovy_plugin_planner branch)
If you have a package that creates a DWAPlanner directly (without pluginlib), then the PluginLoader inside of DWAPlanner works fine, as in this test
However, if you dynamically load DWAPlanner as move_base does, then the above error message occurs when you try to load the plugins within DWAPlanner as in this test
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-13
Post score: 1
Original comments
Comment by mirzashah on 2013-12-13:
Hey David,
I can try to help you debug this. What do you mean when you say "in isolation"? First thing to check is after sourcing your environment, check LD_LIBRARY_PATH to see if it's pointing to the right place and has the right ordering. Then make sure the library with the respective class (dwa_local_planner::OscillationCostFunction) actually exists.
Comment by mirzashah on 2013-12-13:
Other things to check -- make sure the plugin name is correct in your plugin xml file and corresponds with what you're attempting to load.
Comment by David Lu on 2013-12-15:
I have clarified what I meant by in isolation. The library is built, contains the respective class and is on the LD_LIBRARY_PATH.
Comment by mirzashah on 2013-12-16:
I understand now what you mean. Everything looks good it terms of your package.xml, CMakeLists.txt and plugin XML. However, your error message is interesting nwo that I read it a second time -- you try to create a DWAPlannerROS but its trying to lookup the factory for OscillationCostFunction. Does that mean the DWAPlannerROS plugin has a classloader inside of it that tries to load that cost function boject?
Comment by mirzashah on 2013-12-16:
Ah ok, so DWAPlannerROS is creating a DWAPlanner inside of it which itself has a plugin classloader for creating the OscillationCostFunction which is a TrajectoryCostFunciion...
Comment by mirzashah on 2013-12-16:
Wait where's the plugin XML file for OscillationCostFunction...that's probably what's wrong
Comment by David Lu on 2013-12-17:
Its default_critics.xml, as listed in the package.xml
|
Is there an equivalent to spin_once (C++) in ROS for Python?
In C++ I have a loop with spin_once and during each iteration of the loop the code checks a couple of global variables for changes and then does some action based on the value of those global variables. The global variables are based on messages from other nodes' topics to which my C++ ROS node is subscribed. How would this code structure translate into Python?
Originally posted by atp on ROS Answers with karma: 529 on 2013-12-13
Post score: 6
|
Hi all,
I want to move the kinect on my turtlebot. the tf of the kinect will change and I want the new extrinsic parameters of the kinect. How can I calibrate this parameters?
Thanks in advance
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-13
Post score: 0
|
after typing
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
it occur
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
smach_ros: Missing resource roslaunch
ROS path [0]=/Users/pb/src
roslisp: Missing resource std_srvs
ROS path [0]=/Users/pb/src
Originally posted by pbking on ROS Answers with karma: 1 on 2013-12-14
Post score: 1
Original comments
Comment by demmeln on 2013-12-17:
How did populate your workspace with packages?
Comment by karthik_ms on 2014-04-14:
I have the same problem! Is this issue solved yet?
Comment by demmeln on 2014-04-14:
It seems os, as the answer by tfoote is marked as accepted. Maybe you want to open a new question giving some more information about your specific issue (in particular tell us what you did before calling rosdep, i.e. how did you populate your workspace with packages).
Comment by karthik_ms on 2014-04-15:
I have created a new question. Kindly look through it :
http://answers.ros.org/question/153156/rosdep-error-while-i-try-to-install-ros-on-os-x-108/
|
Hi,
I have installed ROS Hydro version (full install) and MoveIt!. In the /opt/ros/hydro/share folder there are many installed packages (e.g. /moveit_ros_benchmarks) but I can't find what it is supposed to be. In almost every folder there are only:
-/cmake (with two .cmake files inside)
-package.xml
I tried to build it to get the files needed, following the "building packages" ROS tutorials but it didn't work. I also re-installed desired packages from source with no change. So I don't know if I'm having some issues with the packages building or with rights to build in that location. I'm expecting the package shown in the benchmarking tutorial in the Moveit! wiki, with "moveit_benchmark_statistics.py" or "run_benchmark_ompl.launch" files in it.
Thank you!
Originally posted by dinomoracs on ROS Answers with karma: 3 on 2013-12-14
Post score: 0
|
Update: Do transforms show up if they are not associated with links in a urdf? If not then this is not a real question.
base_footprint published by robot_pose_ekf shows in the rviz tf tree under odom node but does not show in the tf-tree graph. Why would this be?
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-12-14
Post score: 0
|
running a fresh install of hydro on a fresh install of ubuntu Precise. According to the tutorial at http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup
under 3.3 Install ros_lib into the Arduino Environment
"The preceding installation steps created ros_lib, which must be copied into the Arduino build environment to enable Arduino programs to interact with ROS."
ros_lib was not created. any ideas? I rechecked everything in the install, all is well, no error messages etc.
Also, it says to put ros_lib in the libraries folder of the sketchbook. My libraries are at /usr/share/arduino/libraries
Does it matter?
regards, Richard
Originally posted by richkappler on ROS Answers with karma: 106 on 2013-12-14
Post score: 0
|
I am trying to install slam_gmapping package, but when I type rosmake, one error happens.
d5sum mismatch (954ba1b87d3a20757aed046b5b4078f1 != 4b2834b201a8e322d0b941a6eec7557c) on build/gmapping_r39.tar.gz; aborting
I have researched but I could not solve the problem. Anyone have a idea of how I can fix this?
Thanks
Originally posted by alexandre on ROS Answers with karma: 1 on 2013-12-14
Post score: 0
|
Hi all,
I am learning the ethzasl_sensor_fusion tutorials. I have no problem in setting up the package and playing the bag files. But after about 2 seconds I get error messages as following:
=== ERROR === update: NAN at index 0
=== ERROR === prediction p: NAN at index 0
...
Anybody knows how to solve this?
Originally posted by ZiyangLI on ROS Answers with karma: 93 on 2013-12-14
Post score: 0
|
I'm trying to onstall hydro to my macbook air and i got the following error when i'm building the catkin workspace:
CMake Error at CMakeLists.txt:6 (find_package):
Found package configuration file:
/Users/.../ros_catkin_ws/src/class_loader/cmake/PocoConfig.cmake
but it set Poco_FOUND to FALSE so package "Poco" is considered to be NOT
FOUND.
I didn't find any solutions, maybe you have one..
Originally posted by 4ft4 on ROS Answers with karma: 41 on 2013-12-15
Post score: 4
Original comments
Comment by that_guy318 on 2014-11-27:
I'm having the same problem after both installing poco from the repositories (libpoco-dev) and by downloading and compiling the source. No matter what I do with poco and the cmakelists file I can't get it to find poco.
|
I am editing my problem and leaving previous versions- I know this post looks very large now but if somebody will have same problem in futer maby he can track down some of my mistakes and use them.
I'm using
ubuntu 12.04
ROS hydro medusa
From several days I'm trying to use some how rgbdslam but I get several errors.
I tried to do what is written here:
http://answers.ros.org/question/91111/rgbdslam-in-ros-hydro/
but after executing:
rosdep install rgbdslam_freiburg
I receive this error:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rgbdslam: Missing resource pcl
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/wilk/catkin_ws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
Does it means that there is no pcl library provided with my ros installation or that I should made conversions from older pcl library as it worked for somebody here:
http://answers.ros.org/question/74899/rosmake-rgbdslam_freiburg-error-in-groovy/
I read also this but I don't know if I should also make it:
http://www.pcl-users.org/How-do-I-use-PCL-from-ROS-Hydro-td4029613.html
Could any one be as kind to tell me what I should do? or even which commands should I use in terminal. I would also d'like to know if making those conversations will solve the problem, if there is any one who can share it. I really don't like the idea of manually changing code without knowing if it will help.
Edit1:
Is it possible to use rosbuild and catkin workspaces simultaniously? Despite trying to use code writen for older version of ROS I'm trying to convert it too catkin_ws too. There are only a few files that need to be changed so I will pase them here. Please help.
I receave fallowing error:
CMake Error at rgbdslam_freiburg/rgbdslam/CMakeLists.txt:240 (add_executable):
add_executable cannot create target "rgbdslam" because another target with
the same name already exists. The existing target is a shared library
created in source directory
"/home/wilk/catkin_ws/src/rgbdslam_freiburg/rgbdslam". See documentation
for policy CMP0002 for more details.
My files looks like that:
CMakeLists.txt
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/3ecc59d1a1602e0a07acac59966bd314
package.xml
<package>
<name>rgbdslam</name>
<version>0.1.0</version>
<description>This package can be used to register the point clouds from RGBD sensors such as the kinect or stereo cameras.
The created world model can be saved as point cloud or integrated into an octomap.</description>
<author>Felix Endres</author>
<maintainer email="[email protected]">Felix Endres</maintainer>
<license>GPL v3</license>
<url type="website">http://ros.org/wiki/rgbdslam</url>
<!-- <url type="bugtracker"></url> -->
<!-- Dependencies which this package needs to build itself. -->
<buildtool_depend>catkin</buildtool_depend>
<!-- Dependencies needed to compile this package. -->
<build_depend>tf</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rosbag</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>octomap_server</build_depend>
<build_depend>octomap_ros</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
<!-- Dependencies needed after this package is compiled. -->
<run_depend>tf</run_depend>
<run_depend>pcl_conversions</run_depend>
<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rosbag</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>octomap_server</run_depend>
<run_depend>octomap_ros</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>visualization_msgs</run_depend>
<!-- Dependencies needed only for running tests. -->
<!-- <test_depend>tf</test_depend> -->
<!-- <test_depend>pcl_conversions</test_depend> -->
<!-- <test_depend>rospy</test_depend> -->
<!-- <test_depend>roscpp</test_depend> -->
<!-- <test_depend>rosbag</test_depend> -->
<!-- <test_depend>pcl_ros</test_depend> -->
<!-- <test_depend>cv_bridge</test_depend> -->
<!-- <test_depend>sensor_msgs</test_depend> -->
<!-- <test_depend>octomap_server</test_depend> -->
<!-- <test_depend>octomap_ros</test_depend> -->
<!-- <test_depend>geometry_msgs</test_depend> -->
<!-- <test_depend>visualization_msgs</test_depend> -->
<export>
<rosdoc config="rosdoc.yaml"/>
<nodelet plugin="${prefix}/nodelet_plugins.xml"/>
<cpp cflags="-I${prefix}/srv_gen/cpp"/>
</export>
</package>
Now I will paste headers that needs pcl conversions. I have no idea if i made them good
gic-fallback.h
/* This file is part of RGBDSLAM.
*
* RGBDSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RGBDSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* gicp.cpp
*
* Created on: Jan 23, 2011
* Author: engelhar
*/
#include "gicp-fallback.h"
#include <fstream>
#include <sstream>
#include <iostream>
#include <pcl/filters/voxel_grid.h>
using namespace std;
void saveCloud(const char* filename, const pointcloud_type& pc, const int max_cnt, const bool color){
ofstream of;
of.open(filename);
assert(of.is_open());
int write_step = 1;
if (max_cnt>0 && (int)pc.points.size()>max_cnt)
write_step = floor(pc.points.size()*1.0/max_cnt);
int cnt = 0;
assert(write_step > 0);
// only write every write_step.th points
for (unsigned int i=0; i<pc.points.size(); i += write_step)
{
point_type p = pc.points[i];
bool invalid = (isnan(p.x) || isnan(p.y) || isnan(p.z));
if (invalid)
continue;
of << p.x << "\t" << p.y << "\t" << p.z;
/*
if (color) {
int color = *reinterpret_cast<const int*>(&p.rgb);
int r = (0xff0000 & color) >> 16;
int g = (0x00ff00 & color) >> 8;
int b = 0x0000ff & color;
of << "\t \t" << r << "\t" << g << "\t" << b << "\t" << endl;
}
else
*/
of << endl;
// cout << p.x << "\t" << p.y << "\t" << p.z << endl;
cnt++;
}
// ROS_INFO("gicp.cpp: saved %i pts (of %i) to %s", cnt,(int) pc.points.size(), filename);
// printf("gicp.cpp: saved %i pts (of %i) to %s \n", cnt,(int) pc.points.size(), filename);
of.close();
}
void downSample(const pointcloud_type& src, pointcloud_type& to){
pcl::VoxelGrid<point_type> down_sampler;
down_sampler.setLeafSize (0.01, 0.01, 0.01);
pcl::PCLBase<point_type>::PointCloudConstPtr const_cloud_ptr = boost::make_shared<pointcloud_type> (src);
down_sampler.setInputCloud (const_cloud_ptr);
down_sampler.filter(to);
ROS_INFO("gicp.cpp: Downsampling from %i to %i", (int) src.points.size(), (int) to.points.size());
}
bool gicpfallback(const pointcloud_type& from, const pointcloud_type& to, Eigen::Matrix4f& transform){
// std::clock_t starttime_gicp = std::clock();
FILE *fp;
char f1[200];
char f2[200];
char line[130];
char cmd[200];
sprintf(f1, "pc1.txt");
sprintf(f2, "pc2.txt");
// default values for algo work well on this data
sprintf(cmd, "/home/endres/Phd/rospacks/rgbdslam/external/gicp/test_gicp %s %s --d_max 0.1 --debug 0",f1,f2);
int N = 10000;
saveCloud(f1,from,N);
saveCloud(f2,to,N);
// cout << "time for writing: " << ((std::clock()-starttime_gicp*1.0) / (double)CLOCKS_PER_SEC) << endl;
// std::clock_t starttime_gicp2 = std::clock();
/*
ICP is calculated by external program. It writes some intermediate results
and the final homography on stdout, which is parsed here.
Not very beautiful, but works :)
*/
fp = popen(cmd, "r");
std::vector<string> lines;
// collect all output
while ( fgets( line, sizeof line, fp))
{
lines.push_back(line);
// ROS_INFO("gicp.cpp: %s", line);
}
int retval = pclose(fp);
// cout << "time for binary: " << ((std::clock()-starttime_gicp2*1.0) / (double)CLOCKS_PER_SEC) << endl;
// std::clock_t starttime_gicp3 = std::clock();
if(retval != 0){
ROS_ERROR_ONCE("Non-zero return value from %s: %i. Identity transformation is returned instead of GICP result.\nThis error will be reported only once.", cmd, retval);
transform = Eigen::Matrix<float, 4, 4>::Identity();
return false;
}
int pos = 0;
// last lines contain the transformation:
for (unsigned int i=lines.size()-5; i<lines.size()-1; i++){
stringstream ss(lines.at(i));
for (int j=0; j<4; j++)
{
ss >> line;
transform(pos,j) = atof(line);
}
// cout << endl;
pos++;
}
// read the number of iterations:
stringstream ss(lines.at(lines.size()-1));
ss >> line; // Converged in
ss >> line;
ss >> line;
int iter_cnt;
iter_cnt = atoi(line);
return iter_cnt < 200; // check test_gicp for maximal allowed number of iterations
// ROS_INFO_STREAM("Parsed: Converged in " << iter_cnt << "iterations");
// ROS_DEBUG_STREAM("Matrix read from ICP process: " << transform);
// ROS_INFO_STREAM("Paper: time for icp1 (internal): " << ((std::clock()-starttime_gicp*1.0) / (double)CLOCKS_PER_SEC));
}
node.h
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/67d19860165c1eedc1fce77a85e66c89
parameter_server.h
/* This file is part of RGBDSLAM.
*
* RGBDSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* RGBDSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef PARAMETER_SERVER_H_
#define PARAMETER_SERVER_H_
#include <string>
#include <ros/ros.h>
#include <boost/any.hpp>
//this is a global definition of the points to be used
//changes to omit color would need adaptations in
//the visualization too
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"
#ifndef RGB_IS_4TH_DIM
typedef pcl::PointXYZRGB point_type;
#else
typedef pcl::PointXYZ point_type;
#endif
typedef pcl::PointCloud<point_type> pointcloud_type;
//#define CONCURRENT_EDGE_COMPUTATION
//Compile out DEBUG Statements. Hardly benefitial though
#define ROSCONSOLE_SEVERITY_INFO 1
/*!
* \brief Getting values from parameter server.
* This class is used for getting the parameters from
* the parameter server
*/
class ParameterServer {
public:
/*!
* Returns the singleton instance
*/
static ParameterServer* instance();
/*!
* The method sets a value in the local cache and on the Parameter Server.
* You can use bool, int, double and std::string for T
*
* \param param the name of the parameter
* \value the new parameter value
*/
template<typename T>
void set(const std::string param, T value) {
if(config.count(param)==0){
ROS_ERROR("ParameterServer: Ignoring invalid parameter: \"%s\"", param.c_str());
return;
}
try{
boost::any_cast<T>(value); //fails if wrong param type
} catch (boost::bad_any_cast e) {
ROS_ERROR("ParameterServer: Ignoring invalid parameter type: %s", e.what());
return;
}
config[param] = value;
setOnParameterServer(pre+param, value);
}
/*!
* The method returns a value from the local cache.
* You can use bool, int, double and std::string for T
*
* \param param the name of the parameter
* \return the parameter value
*/
template<typename T>
T get(const std::string param) {
if(config.count(param)==0){
ROS_FATAL("ParameterServer object queried for invalid parameter \"%s\"", param.c_str());
assert(config.count(param)==0);
}
boost::any value = config[param];
try{
return boost::any_cast<T>(value);
} catch( boost::bad_any_cast bac){
ROS_ERROR_STREAM("Bad cast: Requested data type <" << typeid(T).name() << "> for parameter '" << param << "'");
throw; //Programmer needs to fix this. Rethrow.
}
}
/*!
* Returns the description text for the named option
*/
std::string getDescription(std::string param_name);
/*!
* Provides access to the raw config data
*/
std::map<std::string, boost::any>& getConfigData(){
return config;
}
/*!
* Receives all values from the parameter server and store them
* in the map 'config'.
* Will be called in the constructor
*/
void getValues();
private:
void addOption(std::string name, boost::any value, std::string description);
std::map<std::string, boost::any> config;
std::map<std::string, std::string> descriptions;
static ParameterServer* _instance;
std::string pre;
ros::NodeHandle handle;
/*!
* Default constructor
* private, because of singleton
*/
ParameterServer();
/*!
* Loads the default configuration
*/
void defaultConfig();
/*!
* Checks, whether the parameters are ok
*/
void checkValues();
/*!
* Returns a value from the parameter server
* Will only be used by getValue()
*
* \param param name of the parameter
* \param def default value (get through defaultConfig())
*
* \return the parameter value
*/
template<typename T>
T getFromParameterServer(const std::string param, T def) {
T result;
handle.param(param, result, def);
return result;
}
template<typename T>
void setOnParameterServer(const std::string param, T new_val) {
handle.setParam(param, new_val);
}
};
#endif /* PARAMETER_SERVER_H_ */
Recently I have found that I dont have libgsl. To install it the easies way is:
sudo apt-get install gsl-bin libgsl0-dev
libqt4, libglev, libdevil and libg2o are not catkin dependencies right?
hmm its seems like g2o is catkin dependency but doesn't provieds it pkg-config file yet ;/
Still got other problems with other things. Please help
I was playing a bit with CmakeLists and now i get this error:
CMake Error at rgbdslam_freiburg/rgbdslam/CMakeLists.txt:83 (target_link_libraries):
Cannot specify link libraries for target "rgbdslam" which is not built by
this project.
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Błąd 1
Invoking "make cmake_check_build_system" failed
My CmakeLists looks like that:
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/f2d8cdc69dd684dc1b54ab37bd93fcf7
Originally posted by Wilk on ROS Answers with karma: 67 on 2013-12-15
Post score: 1
|
I'm not able to create the arduino library with groovy on either the Raspberry Pi or Ubuntu 12.04. When I switched to Hydro on Ubuntu I was able to create the library and plan to copy it over, but I'm not sure if there will be incompatibilities to try and use the hydro ros_lib while running groovy.
pi@raspbian ~/Arduino/libraries $ rosrun rosserial_arduino make_libraries.py .
Exporting to .
Traceback (most recent call last):
File "/opt/ros/groovy/share/rosserial_arduino/make_libraries.py", line 88, in <module>
rosserial_client_copy_files(rospack, rosserial_arduino_dir+"/src/ros_lib/")
File "/opt/ros/groovy/lib/python2.7/dist-packages/rosserial_client/make_library.py", line 580, in rosserial_client_copy_files
shutil.copy(mydir+"/src/ros_lib/"+f, path+f)
File "/usr/lib/python2.7/shutil.py", line 119, in copy
copyfile(src, dst)
File "/usr/lib/python2.7/shutil.py", line 83, in copyfile
with open(dst, 'wb') as fdst:
IOError: [Errno 2] No such file or directory: '/opt/ros/groovy/share/rosserial_arduino/src/ros_lib/ros/duration.h'
Originally posted by getSurreal on ROS Answers with karma: 3 on 2013-12-15
Post score: 0
|
Hello,
I am trying to establish a mysql database connection within a ROS package.
I have found the following two questions;
answers.ros.org/questions/32520/add-mysql-to-a-ros-project
answers.ros.org/questions/34308/mysql-and-ros
In regards to the first question, I have done everything as said.
libmysqlclient15-dev is installed, but still getting the error below. What have I done wrong?
======Error
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package zuros_sequencer
-- Using CATKIN_DEVEL_PREFIX: /home/robot/git/zuros/zuros_sequencer/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/robot/git/zuros/zuros_sequencer/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.77
[rosbuild] Including /opt/ros/hydro/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/hydro/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/hydro/share/rospy/rosbuild/rospy.cmake
CMake Error at CMakeLists.txt:23 (find_package):
Could not find module FindMySql.cmake or a configuration file for package
MySql.
Adjust CMAKE_MODULE_PATH to find FindMySql.cmake or set MySql_DIR to the
directory containing a CMake configuration file for MySql. The file will
have one of the following names:
MySqlConfig.cmake
mysql-config.cmake
-- Configuring incomplete, errors occurred!
make: *** [all] Error 1
======Cmakelists.txt
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
# add include search paths
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/ros/include
${PROJECT_SOURCE_DIR}/common/include)
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
find_package(MySql REQUIRED)
include_directories(${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
# add build commands
rosbuild_add_executable(sequence ros/src/sequence.cpp
ros/src/zwaveSubscriber.cpp
ros/src/databaseConnector.cpp)
======manifest.xml
<package>
<description brief="zuros_sequencer">
zuros_sequencer
</description>
<author>robot</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>XXX</url>
<depend package="std_msgs"/>
<depend package="rospy"/>
<depend package="roscpp"/>
<depend package="zuros_sensors"/>
<rosdep name="libmysqlclient-dev"/>
<export>
<cpp lflags="-lmysqlclient"/>
</export>
</package>
Originally posted by robertjacobs on ROS Answers with karma: 21 on 2013-12-16
Post score: 0
|
Is it possible to load some 3D mechanical drawing in ROS? I mean .step or similar files.
Thanks
Originally posted by Karel on ROS Answers with karma: 1 on 2013-12-16
Post score: 0
Original comments
Comment by dornhege on 2013-12-16:
Load to where?
|
I'm tring to run rviz out of a beaglebone with Hydro.
I know the port is still ongoing due to missing lisp libraries, but is the rviz package affected?
I'm asking because in the rviz user guide page there is a command for getting it out of the apt repo and I can't find the package...
Originally posted by Gust on ROS Answers with karma: 3 on 2013-12-16
Post score: 0
|
Hi everyone
I define my Variable as follow:
std_msgs::Float64MultiArray Atest;
I want to assign a value to specific element. for example i want to change value of fifth element to 5. how i can write it?
Best
Originally posted by sina on ROS Answers with karma: 3 on 2013-12-16
Post score: 1
|
I am currently trying to simulate a robot in Gazebo using the ROS framework. I used this (www.gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo) Tutorial to get an existing robot model running with the controller from the ros_control package. Everything works fine, the controller for each joints are up and running. I can use the corresponding ROS topics to send commands to each controller.
There is one slight problem: The controllers are even unable to fight the robots own weight. No mather what combination of PID gains I set for the controller, the robot is always pulled down by its own weight.
I am using a UR5 robot for simulation, the URDF file can be found here (www.github.com/ros-industrial/universal_robot/tree/groovy-devel/ur_description).
Here are two screenshots of the simulation, one with gravity enabled:
www.s14.directupload.net/images/131214/u6f4585l.jpg
and one with gravity disabled:
www.s1.directupload.net/images/131214/oya39ubp.jpg
Can anyone help me here?
Originally posted by miniME05 on ROS Answers with karma: 33 on 2013-12-16
Post score: 1
|
hi,
i'm trying to install tum_simulator on hydro.
wiki.ros.org/tum_simulator
However, cvg_sim_gazebo_plugins package depends on 'gazebo' package in ros. Ros hydro comes with a pre-installed gazebo but its package name is 'gazebo_ros' so tum_simulator cannot find 'gazebo' package because of its new name. How can i make tum_simulator to see 'gazebo_ros' package as 'gazebo' package?
Originally posted by lvntbkdmr on ROS Answers with karma: 23 on 2013-12-16
Post score: 0
Original comments
Comment by learningpro on 2014-01-08:
have you solved the problem? I come with the same with you,may I know your solution? Thank you.
Comment by lvntbkdmr on 2014-01-09:
no, i couldn't use that package with ROS Hydro. i'm using hector_quadrotor instead.
|
I followed the source-based install documentation for ROS Hydro to compile ros_comm. It seems as if the the .rosinstall file lists stable released versions of packages from https://github.com/ros-gbp/ros_comm-release.git . However the development files for ros_comm is being hosted here: https://github.com/ros/ros_comm .
My ultimate goal is to compile roscpp from source in a catkin workspace so every package in that workspace is built against the local [and patched] version of roscpp. I also want to be able to merge upstream changes when there is an update available. I tried to clone ros_comm from github (the development repo) and make it, but it failed because of unmet dependencies (check the update below).
My questions is: What is the workflow to compile (and install) ROS core components in general (or roscpp in specific) from development repositories.
UPDATE 1
As @dirk mentioned, the current hydro-devel branch for ros_comm is unstable. That was the reason that building sources from github did not work. This is what I've done to overlay the latest stable version of roscpp in a catkin workspace based on @dirk and @demmeln answers.
mkdir roscppsrc_ws && cd roscppsrc_ws
roslocate info roscpp > roscpp-stable.rosinstall
# As the `hydro-devel` branch is unstable edit the `roscpp-stable.rosinstall` file
# and change version from `hydro-devel` to latest stable (e.g `1.9.50`)
wstool init src roscpp-stable.rosinstall
rosdep install --from-paths src --rosdistro hydro
# Above did nothing on my computer with `ros-hydro-desktop` installed
source /opt/ros/hydro/setup.bash # Not an isolated build
catkin_make
To test the overlay I copied the talker.cpp and listener.cpp from roscpp_tutorials in a new package in src/sample of the same workspace. After a catkin_make I can confirm than the executables are linked against the local versions of roscpp:
ldd ./devel/lib/sample/talker | grep roscpp
libroscpp.so => /home/mani/roscppsrc_ws/devel/lib/libroscpp.so (0x00007fc47ab80000)
Originally posted by Mani on ROS Answers with karma: 1704 on 2013-12-16
Post score: 3
Original comments
Comment by demmeln on 2013-12-21:
Just ot mention this in case you get strange behaviour/segfaults: In your described setup you might run intro trouble when the package you build ontop of your modified roscpp is linking also against a library from the Debian packages, which itself is linked against the Debian version of roscpp.
|
Hello,
I want to get the distance of an object from the depth sensor(Primesense). I am able to subscribe to all the topics. I am not sure which one to use for my purpose. I tried using "/camera/depth_registered/image_rect_raw" topic.
I have the following information from the topic:
Image Height: 480
Image Width: 640
Encoding: 16UC1
Is Big Endian ?: 0
Step: 1280
The data looks like this:
2 86 2 85 2 85 2 85 2 84 2 84 2 83 2 82 2 82 2 82 2 82 2 82 2 82 2 82 2 82 2 81 2 81 2 81 2 81 2 80 2 80 2 78 2 77 2 75 2 75 2 63 2 63 2 62 2 61 2 60 2 59 2 59 2 58 2 58 2 57 2 57 2 57 2 57 2 56 2 57 2 56 2 57 2 58 2 58 2 58 2 58 ..............
But I don't know what these array of bytes indicate. It would be very helpful if someone can teach me How to get the distance from this data?
Thanks in advance.
Originally posted by Keerthi Raj on ROS Answers with karma: 7 on 2013-12-16
Post score: 0
|
terminal output:
sudo apt-get install ros-hydro-robot-model-visualization
[sudo] password for jaysin:
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-hydro-robot-model-visualization
it locates for ros-groovy but i need it for hydro.
Originally posted by jay75 on ROS Answers with karma: 259 on 2013-12-16
Post score: 0
|
Hi there!
I am implementing a system that has a GUI for visualization. The core system starts with a roslaunch file and the GUI with another one. Ideally the GUI should open and close when wanted.
The problem I'm facing is the following: If I run roslaunch for GUI in console A and then roslaunch for my core application in console B and close the GUI, the roslaunch in console A does not terminate (probably because roscore and rosout are attached to it and other nodes from console B need them).
So is there any way to modify GUI roslaunch to not start a roscore, or even initialize the nodes only if roscore is already active?
Thnx in advance!
Originally posted by etsardou on ROS Answers with karma: 31 on 2013-12-16
Post score: 1
|
I cloned package from git repository. After that I tried to make it with catkin, but it fails. Firstly I use my package in groovy, but robot is on hydro. Maybe it makes any difference. This is an output of catkin_make:
Base path: /home/turtlebot2/catkin_ws
Source space: /home/turtlebot2/catkin_ws/src
Build space: /home/turtlebot2/catkin_ws/build
Devel space: /home/turtlebot2/catkin_ws/devel
Install space: /home/turtlebot2/catkin_ws/install
####
#### Running command: "cmake /home/turtlebot2/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/turtlebot2/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/turtlebot2/catkin_ws/install" in "/home/turtlebot2/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/turtlebot2/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/turtlebot2/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.77
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - rop_client
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'rop_client'
-- ==> add_subdirectory(rop_client)
-- rop_client: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/turtlebot2/catkin_ws/build
####
#### Running command: "make -j2 -l2" in "/home/turtlebot2/catkin_ws/build"
####
[ 6%] Building CXX object rop_client/CMakeFiles/event_grabber.dir/src/start_event_grabber.cpp.o
In file included from /home/turtlebot2/catkin_ws/src/rop_client/src/start_event_grabber.cpp:1:0:
/home/turtlebot2/catkin_ws/src/rop_client/src/event_grabber.h:7:31: fatal error: rop_client/RopInt.h: No such file or directory
компиляция прервана.
make[2]: *** [rop_client/CMakeFiles/event_grabber.dir/src/start_event_grabber.cpp.o] Ошибка 1
make[1]: *** [rop_client/CMakeFiles/event_grabber.dir/all] Ошибка 2
make: *** [all] Ошибка 2
make: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!
Invoking "make" failed
I checked catkin_ws/devel/include/ path, but there are no generated .h files. What's wrong?
Originally posted by pelment on ROS Answers with karma: 47 on 2013-12-16
Post score: 0
|
I want to send data from one node to another. For example: One node is publishing data to the topic /mobile_base/commands/velocity and other one is subscribed to /mobile_base/events/bumper. Both the subscriber & publisher are working fine.
What I want to do is to make the robot move backward once the bumpers are pressed. I do not know how to send the event of bumper pressed to the other node.
The solution I thought was of using pipes or sockets or shared memory to exchange data between two nodes.
Is this the right approach? Or does ROS has a builtin method for that?
Thanks in Advance.
Originally posted by Safeer on ROS Answers with karma: 66 on 2013-12-16
Post score: 0
|
Hi, i am trying to use a face detector node in python with follower node in c++. I have copy the whole turtlebot_follower packages and placed the python node inside src. Following is the error message it shows when i tried to run the node:
OpenCV Error: Null pointer (NULL or empty buffer) in cvOpenFileStorage, file /tmp/buildd/ros-groovy-opencv2-2.4.6-1precise-20131020-2316/modules/core/src/persistence.cpp, line 2703
Traceback (most recent call last):
File "/home/chao/abc/src/turtlebot_follower/nodes/face_detector.py", line 140, in <module>
FaceDetector(node_name)
File "/home/chao/abc/src/turtlebot_follower/nodes/face_detector.py", line 42, in __init__
self.cascade_1 = cv2.CascadeClassifier(cascade_1)
cv2.error: /tmp/buildd/ros-groovy-opencv2-2.4.6-1precise-20131020-2316/modules/core/src/persistence.cpp:2703: error: (-27) NULL or empty buffer in function cvOpenFileStorage
Shutting down vision node.
and this is the python node i placed inside src folder:
#!/usr/bin/env python
""" face_detector.py - Version 1.0 2012-02-11
Based on the OpenCV facedetect.py demo code
Extends the ros2opencv2.py script which takes care of user input and image display
Created for the Pi Robot Project: http://www.pirobot.org
Copyright (c) 2011 Patrick Goebel. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details at:
http://www.gnu.org/licenses/gpl.html
"""
import roslib; roslib.load_manifest('turtlebot_follower')
import rospy
import cv2
import cv2.cv as cv
from ros2opencv2 import ROS2OpenCV2
class FaceDetector(ROS2OpenCV2):
def __init__(self, node_name):
super(FaceDetector, self).__init__(node_name)
# Get the paths to the cascade XML files for the Haar detectors.
# These are set in the launch file.
cascade_1 = rospy.get_param("~cascade_1", "")
cascade_2 = rospy.get_param("~cascade_2", "")
cascade_3 = rospy.get_param("~cascade_3", "")
# Initialize the Haar detectors using the cascade files
self.cascade_1 = cv2.CascadeClassifier(cascade_1)
self.cascade_2 = cv2.CascadeClassifier(cascade_2)
self.cascade_3 = cv2.CascadeClassifier(cascade_3)
# Set cascade parameters that tend to work well for faces.
# Can be overridden in launch file
self.haar_scaleFactor = rospy.get_param("~haar_scaleFactor", 1.3)
self.haar_minNeighbors = rospy.get_param("~haar_minNeighbors", 3)
self.haar_minSize = rospy.get_param("~haar_minSize", 30)
self.haar_maxSize = rospy.get_param("~haar_maxSize", 150)
# Store all parameters together for passing to the detector
self.haar_params = dict(scaleFactor = self.haar_scaleFactor,
minNeighbors = self.haar_minNeighbors,
flags = cv.CV_HAAR_DO_CANNY_PRUNING,
minSize = (self.haar_minSize, self.haar_minSize),
maxSize = (self.haar_maxSize, self.haar_maxSize)
)
# Do we should text on the display?
self.show_text = rospy.get_param("~show_text", True)
# Intialize the detection box
self.detect_box = None
# Track the number of hits and misses
self.hits = 0
self.misses = 0
self.hit_rate = 0
def process_image(self, cv_image):
# Create a greyscale version of the image
grey = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
# Equalize the histogram to reduce lighting effects
grey = cv2.equalizeHist(grey)
# Attempt to detect a face
self.detect_box = self.detect_face(grey)
# Did we find one?
if self.detect_box is not None:
self.hits += 1
else:
self.misses += 1
# Keep tabs on the hit rate so far
self.hit_rate = float(self.hits) / (self.hits + self.misses)
return cv_image
def detect_face(self, input_image):
# First check one of the frontal templates
if self.cascade_1:
faces = self.cascade_1.detectMultiScale(input_image, **self.haar_params)
# If that fails, check the profile template
if len(faces) == 0 and self.cascade_3:
faces = self.cascade_3.detectMultiScale(input_image, **self.haar_params)
# If that also fails, check a the other frontal template
if len(faces) == 0 and self.cascade_2:
faces = self.cascade_2.detectMultiScale(input_image, **self.haar_params)
# The faces variable holds a list of face boxes.
# If one or more faces are detected, return the first one.
if len(faces) > 0:
face_box = faces[0]
else:
# If no faces were detected, print the "LOST FACE" message on the screen
if self.show_text:
font_face = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 0.5
cv2.putText(self.marker_image, "LOST FACE!",
(int(self.frame_size[0] * 0.65), int(self.frame_size[1] * 0.9)),
font_face, font_scale, cv.RGB(255, 50, 50))
face_box = None
# Display the hit rate so far
if self.show_text:
font_face = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 0.5
cv2.putText(self.marker_image, "Hit Rate: " +
str(trunc(self.hit_rate, 2)),
(20, int(self.frame_size[1] * 0.9)),
font_face, font_scale, cv.RGB(255, 255, 0))
return face_box
def trunc(f, n):
'''Truncates/pads a float f to n decimal places without rounding'''
slen = len('%.*f' % (n, f))
return float(str(f)[:slen])
if __name__ == '__main__':
try:
node_name = "face_detector"
FaceDetector(node_name)
rospy.spin()
except KeyboardInterrupt:
print "Shutting down face detector node."
cv2.destroyAllWindows()
can anyone help me to solve this problem please? Thank you.
Originally posted by chao on ROS Answers with karma: 153 on 2013-12-16
Post score: 1
|
Hi!
I'm using a VM with Ubuntu 12.04, the Kinect xbox 360 (1414) and a ROS Groovy installation. I can connect the Kinect to the VM and I get the full topic list using rostopic list with both Oppenni and Freenect running (my USB ports are USB 2.0). However, no data is shown when I type rostopic hz /camera/rgb/image_raw or rostopic echo /camera/rgb/image_raw and if I try rviz or image_view I don't get any output.
Any suggestions to what might be wrong?
Thanks!
Originally posted by trinnan on ROS Answers with karma: 1 on 2013-12-17
Post score: 0
Original comments
Comment by Tim Sweet on 2013-12-18:
Are you trying to do this on just the virtual machine, or is your system distributed over the network using multiple machines? This usually happens when the two ros nodes (ie OpenNI and rostopic) cannot communicate with eachother, in which case you might just need to set ROS_MASTER_URI and ROS_IP
|
I tried to simulate multiple turtlebot in Gazebo. It seems there are no problem, but when I tried to see view_frames I have observed that it only read /robot1 or /robot2.
This is my launch file
<launch>
<arg name="base" value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
<arg name="battery" value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> <!-- /proc/acpi/battery/BAT0 -->
<arg name="stacks" value="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="use_sim_time" value="true"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find turtlebot_gazebo)/worlds/empty.world"/>
</include>
<!-- BEGIN ROBOT 1-->
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<include file="$(find tesi_gazebo)/launch/includes/$(arg base).launch.xml">
<arg name="base" value="$(arg base)"/>
<arg name="stacks" value="$(arg stacks)"/>
<arg name="3d_sensor" value="$(arg 3d_sensor)"/>
<arg name="init_pose" value="-x 1 -y 1 -z 0" />
<arg name="robot_name" value="Robot1" />
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</group>
<!-- BEGIN ROBOT 2-->
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<include file="$(find tesi_gazebo)/launch/includes/$(arg base).launch.xml">
<arg name="base" value="$(arg base)"/>
<arg name="stacks" value="$(arg stacks)"/>
<arg name="3d_sensor" value="$(arg 3d_sensor)"/>
<arg name="init_pose" value="-x 1 -y -1 -z 0" />
<arg name="robot_name" value="Robot2" />
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
I don't know why in tf tree I see only one robot and not both.
This is kobuki.launch.xml
<launch>
<arg name="base"/>
<arg name="stacks"/>
<arg name="3d_sensor"/>
<arg name="robot_name"/>
<arg name="init_pose"/>
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
<param name="/robot_description" command="$(arg urdf_file)" />
<!-- Gazebo model spawner -->
<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
args="$(arg init_pose) -unpause -urdf -param /robot_description -model $(arg robot_name)"/>
<!-- Velocity muxer -->
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux"
args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml" />
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>
<!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
<include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>
</launch>
This is a link to frames.pdf file that I see
//db.tt/fsy2voVy
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2013-12-17
Post score: 0
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Hey,
I'm creating a rosbag and want to record two topics into a .bag file. I am using a Python script to create this. The problem being is that I don't know whether or not I need to create a workspace, so then I could have the following command: rosrun project bag which would then record the topics or just have a script that I can run from terminal manually?
Thanks
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-17
Post score: 0
|
Hey all,
I realized that /costmap topic only publishes OBSTACLE, INFLATED and UNKNOWN space. All the rest is assumed to be FREE space.
Now I need to get all available freespace blocks within my local costmap. As soon as the robot moves, the costmap steadily changes with direct impact on obstacle and inflated space.
Now I wonder if this is different to free space. As I discovered, SLAM gmapping requires some time to create the map. During this time the amount of free space blocks do not change, which results in the fact that free space is not available in the instantiated costmap until the underlying map is created.
Which approach can be used to mitigate this behaviour?
- Faster updates of the SLAM map
- Somehow update freespace blocks, whenever the costmap changes
I really appreciate every hint. Thanks
Daniel
Originally posted by dneuhold on ROS Answers with karma: 205 on 2013-12-17
Post score: 0
|
Hello
I need to put a motor for my robot. I got the mesh from besttechnology.co.jp/modules/knowledge/?BTX050%20Dynamixel%20EX-106%2B ,
but it is on STP format. I opened it with 3D tool and i realiced that his long measure was 65m, when it should be 65mm. Then i scaled it into mm (on 3dtool-> moretools -> rescaling), and convert it into a stl file. I can open this new 3d file with all viewers (3dtool, freecad, meshlab...) but when i load it on my URDF file, the Rviz dont show the figure, and no error appears.. The color material is ok, couse i use it on another link. Some idea?
THX
Originally posted by cedaone on ROS Answers with karma: 16 on 2013-12-17
Post score: 0
|
Hello everyone,
I'm following this tutorial on sending simple goals to the Turtlebot navigation stack;
SendingSimpleGoals
When I run the program, the Turtlebot moves in a backwards direction in the sense that, it moves opposite to the direction the Kinect sensor is facing. We've calibrated the gyro and odometry as described in the wiki page but the Turtlebot never seems to move forward (in the direction the Kinect is facing). Whenever we run the program, the Turtlebot rotates a couple of times (creating a map) and then moves in the opposite direction.
Could anyone please provide some assistance as to why this is the problem?
EDIT: Thanks everyone, the kinect was mounted the wrong way around by the people who used it previously and hence why the Turtlebot was moving backwards.
Originally posted by aviprobo on ROS Answers with karma: 61 on 2013-12-17
Post score: 0
Original comments
Comment by tfoote on 2013-12-17:
What happens if you send a direct command velocity of forward only?
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Robot-pose-ekf it publishes a tf :odom_combined → base_footprint. I would like to change it to base_link. How is this best done rather then adding a base_footprint to my urdf.
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-12-18
Post score: 0
|
I am a beginner of both ROS, Kinect and Ubuntu. What i want is to visualize kinect data on rviz environment then run object recognition on it.
I've tried a few tutorials but had no luck. All I got was an empty rviz world.
Since I am a beginner I would appreciate any step-by-step intructions (preferably for hydro or groovy).
I would also like to note that I've menaged to get visual from kinect so the device is working fine.
Originally posted by SpiderRico on ROS Answers with karma: 35 on 2013-12-18
Post score: 0
|
I am using gmapping to send a map to the amcl via the map topic. This all works as long as I remap the tf topic in the amcl node to some other topic. If not then the base_foot print and the lazer scans jump between the map origin and the current goal location.
Can anyone shed light on this behavior?
In amcl is says it publishes the transform from odom (which can be remapped via the ~odom_frame_id parameter) to map.
In gmapping it says it publishes:
map → odom the current estimate of the robot's pose within the map frame
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-12-18
Post score: 0
|
Hey all,
I am trying to run 3dsensor.launch file on hydro without any success. the strange thing is that the follower demo which uses 3dsensor.launch file is working good. What can be the problem? How can I fix this?
Thanks in advance.
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-18
Post score: 0
Original comments
Comment by bit-pirate on 2013-12-18:
Please add more details to "tried without success". With the given information I am unable to help you.
Comment by SHPOWER on 2013-12-21:
Sorry I am working with turtlebot-2. my problem was that when I run the 3dsensor.launch to activate the kinect I coudn't get a DepthCloud data. I found the reason. I changed the argument (in 3dsensor.launch file) "depth_registration" to be "false" and that worked. I couldn’t see a "/scan" topic either.
I still have a question. What does the depth_registration parameter do?
|
Hello there,
I want to calibrate my Carmine 1.09 depth sensor. I am using a tutorial "How to Calibrate a Monocular Camera" in ROS.
It asks me to find the topic "/camera/image_raw". However, I don't have such topic, instead I have following similar topics
"/camera/depth/image_raw"
"/camera/depth_registered/image_raw"
"/camera/ir/image_raw"
"/camera/rgb/image_raw"
I tried to calibrate the camera using "camera/depth/image_raw" with the following command:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/depth/image_raw camera:=/camera/depth
Is this command correct? If I run this command, I get a message like this:
Waiting for service /camera/depth/set_camera_info ...
Service not found
Do I need to make any changes to the code in cameracalibrator.py? Please let me know the right way to calibrate?
Thanks in advance.
Originally posted by Keerthi Raj on ROS Answers with karma: 7 on 2013-12-18
Post score: 0
Original comments
Comment by demmeln on 2013-12-20:
Without knowing much about camera calibration, it seems that the tutorial is talking about calibration of a grayscale/color camera, not a depth camera. So for calibration of the primesense rgb camera you might want to rather use "/camera/rgb/image_raw"? How to calibrate the depth is another story.
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I try to create a catkin workspace and add some packages from git-repositories to it.
the manual process seems straight forward:
mkdir my_ws; cd my_ws; mkdir src; catkin_make
source devel/setup.bash
cd src
git clone <pkg1>; git clone <pkg2>; ...
cd ..
catkin_make
I'm a bit confused on which tools to use in order to make this a bit more user friendly. I tried
mkdir my_ws; cd my_ws; mkdir src;
rosinstall -c src pkg_1_to_N.rosinstall
catkin_make
But rosinstall creates a top-level CMakeLists.txt file different from catkin_make and the subsequent build fails.
If I call catkin_make once before rosinstall, the rosinstall command fails trying to overwrite the CMakeLists.txt file, as the existing one is a link to /opt/ros/hydro/...
It seems like wstool is a replacement for rosws. But I did not yet find an example of how to use it as a replacement for rosinstall.
Originally posted by roadrunner on ROS Answers with karma: 23 on 2013-12-18
Post score: 1
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I'm trying to adjust the laser scan height of kinect in ROS Hydro. The default configuration is for the kobuki base, however I'm using the turtlebot with create base. What should be the scan height for turtlebot?
The parameter is param name="scan_height" value="10" in 3dsensor.launch file.
Please let me know the correct parameter value for scan_height to work with turtlebot.
Originally posted by Brijendra Singh on ROS Answers with karma: 68 on 2013-12-18
Post score: 0
|
Hello
I would like to write to a text file different parameters obtained from different topics (scan, raw_imu, odom). I obtained some parameters in different CallBacks like scanCallback poseCallback, imuCallback. I would like to have those output parameters in on file but synchronized (with same frequency, like for example every 1 second.)
I know that can use the commands
myfile.open("/home/user/file.ttx");
myfile << "timestamp" << ".... "\n";
But I cant make it that all output parameters are written in same time stamp. Like for example
time in sec parameter1 parameter2 parameter3
1 value value value
2 value value value
3 value value value
I know that laser scaner and Imu publish with different frequencies.
Any help?
Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-12-18
Post score: 0
|
Hello,
I´m searching for a way to connect ROS to standard industrial automation software like Freelance, WinCC/PCS7, Wonderware etc.
The obvious approach would be to use OPC (UA) but I can´t find a lot of info to this here in the wiki. I heard that there are some projects using OPC but I just don´t find any information.
Did anybody use OPC with ROS or has some info about it? Maybe there are some easier solutions?
Originally posted by Joe123456 on ROS Answers with karma: 11 on 2013-12-18
Post score: 1
|
Hi all,
I use turtlebot 2 with hydro version. I want to run turtlebot_bringup/concert/bringup.concert file from the upstart of my laptop. I tried to use robot_upstart package, but it works only for launch files and not concert files.
How can I configure the concert file to run from an upstrat?
Thanks in advance.
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2013-12-19
Post score: 0
|
Let's say I have two topics publishing data:
/chatter1
/chatter1
These two topics are currently saving to a rosbag file as they publish the data. I'm creating another node which extracts the features. I therefore need to create a node that subscribes to the .bag file and then writes these to an array which I can then use for extracting the features from.
Is this possible in ros? And can anyone offer any tutorials on this?
Thanks
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-19
Post score: 0
|
I have attached my code. I am trying to make the turtlebot go backward once the bumper is pressed. I'm able to make it move forward and get the bumper pressed signal separately. The problem I'm facing is that it I cannot make them work together. It either moves forward or send the bumper pressed signal. (Depending upon where ros::Spin() is placed)
I think the issue is about the ordering/placement of the following lines in my PublishData Class.
ros::Subscriber bumper = n.subscribe("/mobile_base/events/bumper",1, callback);
pub_data.publish(tw);
ros::spin();
My Code:
void callback(const kobuki_msgs::BumperEventConstPtr msg)
{
ROS_ERROR("MOVE!!! Bumper pressed.");
ROS_INFO("MOVE!!! Bumper pressed.");
}
class PublishData
{
ros::NodeHandle n;
ros::NodeHandle n1;
public:
PublishData()
{
ros::Publisher pub_data = n.advertise<geometry_msgs::Twist>("/mobile_base/commands/velocity", 10);
geometry_msgs::Twist tw;
tw.linear.x = 0.1;
ROS_INFO("DataPublished");
while(ros::ok())
{
ros::Subscriber bumper = n.subscribe("/mobile_base/events/bumper",1, callback);
//ROS_WARN("In Loop.");
pub_data.publish(tw);
ros::spin();
}
}
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "move_data");
PublishData object;
return 0;
}
Originally posted by Safeer on ROS Answers with karma: 66 on 2013-12-19
Post score: 0
|
Hi, can help me to check what is my mistake in the following code please? I did try to refer to http://wiki.ros.org/roscpp_tutorials/Tutorials/UsingClassMethodsAsCallbacks but fail. Thank you.
#include "ros/ros.h"
#include <visualization_msgs/Marker.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_ros/point_cloud.h>
ros::Subscriber sub_;
ros::Publisher markerpub_;
class Listener{
public:
double publishBbox();
};
void cloudcb(const PointCloud::ConstPtr& cloud){
publishBbox();
}
double Listener::publishBbox(){
double x = (min_x_ + max_x_)/2;
double y = (min_y_ + max_y_)/2;
double z = (0 + max_z_)/2;
double scale_x = (max_x_ - x)*2;
double scale_y = (max_y_ - y)*2;
double scale_z = (max_z_ - z)*2;
visualization_msgs::Marker marker;
marker.header.frame_id = "/camera_rgb_optical_frame";
marker.header.stamp = ros::Time();
marker.ns = "my_namespace";
marker.id = 1;
marker.type = visualization_msgs::Marker::CUBE;
marker.action = visualization_msgs::Marker::ADD;
marker.pose.position.x = x;
marker.pose.position.y = -y;
marker.pose.position.z = z;
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
marker.scale.x = scale_x;
marker.scale.y = scale_y;
marker.scale.z = scale_z;
marker.color.a = 0.5;
marker.color.r = 0.0;
marker.color.g = 1.0;
marker.color.b = 0.0;
//only if using a MESH_RESOURCE marker type:
bboxpub_.publish( marker );
}
int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_broadcaster");
ros::NodeHandle nh;
sub_= nh.subscribe("camera/depth/points", 1, cloudcb);
Listener bbox;
bboxpub_ = nh.advertise<visualization_msgs::Marker>("bbox",1, &Listener::publishBbox, &bbox);
ros::spin();
return 0;
};
Originally posted by chao on ROS Answers with karma: 153 on 2013-12-19
Post score: 0
Original comments
Comment by VC on 2013-12-19:
Could you post the error messages please?
Comment by chao on 2013-12-19:
hi VC, my apologies. the error message was "error: ‘publishBbox’ was not declared in this scope". hav tried the suggestion given by Ben_S and it worked. Thanks :)
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