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I am trying to transform a laserscan message from one frame to another. The purpose of this is to then merge the resulting laserscans into a single scan. So far I have the following code:
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <math.h>
#include <sstream>
#include <time.h>
#include <geometry_msgs/PointStamped.h>
std::string target_frame = std::string("base_link");
std::string source_topic = std::string("scan");
std::string output_topic = std::string("base_scan");
std::string source_frame = std::string("primesense1_depth_frame");
ros::Publisher scan_pub;
struct polar_point {
float r;
float theta;
};
void polar_to_tf_point(polar_point& p_point,
std::string frame_id, tf::Stamped<tf::Point>& st_point)
{
float x,y,z;
x = p_point.r*cos(p_point.theta);
y = p_point.r*sin(p_point.theta);
z = 0;
const tf::Point point = tf::Point(x,y,z);
st_point = tf::Stamped<tf::Point>(point, ros::Time::now(), frame_id);
}
void st_point_to_polar_point(tf::Stamped<tf::Point>& st_point, polar_point& point)
{
float x = st_point.getX();
float y = st_point.getY();
float r = pow((pow(x,2)+pow(y,2)),0.5);
float theta = atan2(y,x);
point.r = r;
point.theta = theta;
}
void callback(const sensor_msgs::LaserScan& original_msg)
{
if(source_frame.compare(original_msg.header.frame_id) != 0)
{
return;
}
float o_t_min, o_t_max, o_t_inc;
o_t_min = original_msg.angle_min;
o_t_max = original_msg.angle_max;
o_t_inc = original_msg.angle_increment;
int num_points = (int)2.0*o_t_max/o_t_inc;
sensor_msgs::LaserScan new_msg;
tf::TransformListener transformer;
for(int i=0; i<num_points; i++)
{
float theta = o_t_min+i*o_t_inc;
float r = original_msg.ranges[i];
polar_point point;
point.r = r;
point.theta = theta;
tf::Stamped<tf::Point> old_point;
polar_to_tf_point(point, original_msg.header.frame_id, old_point);
tf::Stamped<tf::Point> st_point;
geometry_msgs::PointStamped old_g_point;
geometry_msgs::PointStamped st_g_point;
tf::pointStampedTFToMsg(old_point, old_g_point);
tf::pointStampedTFToMsg(st_point, st_g_point);
try{
transformer.transformPoint(target_frame,
old_g_point, st_g_point);
}
catch(tf::TransformException ex)
{
continue;
}
tf::pointStampedMsgToTF(st_g_point, st_point);
st_point_to_polar_point(st_point, point);
new_msg.ranges[i] = point.r;
if(i == 0)
{
new_msg.angle_min = point.theta;
}
else if(i == num_points - 1)
{
new_msg.angle_max = point.theta;
}
}
new_msg.header = original_msg.header;
new_msg.header.frame_id = target_frame;
new_msg.angle_increment = original_msg.angle_increment;
new_msg.time_increment = original_msg.time_increment;
new_msg.scan_time = original_msg.scan_time;
new_msg.intensities = original_msg.intensities;
scan_pub.publish(new_msg);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "parbot_laserscan_tranform");
ros::NodeHandle n;
/*if(ros::param::get("target_frame", target_frame) &&
ros::param::get("source_frame", source_frame) &&
ros::param::get("source_topic", source_topic) &&
ros::param::get("output_topic", output_topic))
{
}
else
{
ROS_INFO("laserscan_transform error!!!!");
ROS_INFO(target_frame.c_str());
ROS_INFO(source_frame.c_str());
ROS_INFO(source_topic.c_str());
ROS_INFO(output_topic.c_str());
return 1;
}*/
ros::Subscriber sub = n.subscribe(source_topic, 1, callback);
scan_pub = n.advertise<sensor_msgs::LaserScan>(output_topic, 1);
ros::spin();
return 0;
}
The
The code now compiles and runs with the added try/catch but it never finds the transform. I am publishing a transform from base_link to primesense1_depth_frame via a TF to the primesense1_link which has a tf primesense1_depth_frame. I know that the TF's work because I can view them in rvis along with the laserscan messages from that sensor. Can anyone give me advice as to how to fix this?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2013-12-19
Post score: 1
|
Has there been any work to support 6DOF stuart gough platforms or similar parallel geometries?
Originally posted by hojalot on ROS Answers with karma: 1 on 2013-12-19
Post score: 0
|
I have a pointcloud from a laserscan and would like to filter out all points which belong to my robot itself. This could be done by the robot_self_filter, but as far as I know the whole arm_navigation stack which also includes this filter is deprecated since groovy. Is there any equivalent filter functionality in its successor MoveIt?
Originally posted by Tones on ROS Answers with karma: 635 on 2013-12-19
Post score: 0
|
I use rosrun urdfdom check_urdf in ROS Hydro (Ubuntu 13.04) and get:
[rosrun] Couldn't find executable named check_urdf below /opt/ros/hydro/share/urdf
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2013-12-19
Post score: 0
|
Hey,
I have a topic written in Python, inside that workspace I have two message files:
Msg1
Header header
geometry_msgs/Vector3 direction
geometry_msgs/Vector3 normal
geometry_msgs/Point palmpos
geometry_msgs/Vector3 ypr
Msg2
Header header
float64[3] hand_direction
float64[3] hand_normal
float64[3] hand_palm_pos
float64 hand_pitch
float64 hand_roll
float64 hand_yaw
If I therefore do: std_msgs/Header header I get the information. The problem being is that now I'm using C++ to write another topic to subscribe to this. I don't know what to put inside of the callback function, for example:
void callback(const [here]& msg)
{
}
Since when I'm using the Point2Cloud I can use the following:
void callback(const sensor_msgs::PointCloud2Ptr& msg)
{
// Blah
}
COuld anyone please tell me what I should therefore use?
Originally posted by Phorce on ROS Answers with karma: 97 on 2013-12-19
Post score: 0
Original comments
Comment by demmeln on 2013-12-19:
Have you tried your_package::Msg1Ptr?
Comment by dornhege on 2013-12-20:
Why do you have two different messages that seem to contain the same data?
|
I cannot find any documentation on convention used by tf.
$ rosrun tf tf_echo /map /odom
At time 1263248513.809
- Translation: [2.398, 6.783, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.707, 0.707]
in RPY [0.000, -0.000, -1.570]
For translation value and rotation quaternion value,
is translation happening in original frame and then rotation happens?
Or, does it rotate first and then the translation happens?
What is the convention used by tf system?
Which RPY convention is RPY using?
Thanks.
Originally posted by jys on ROS Answers with karma: 212 on 2013-12-19
Post score: 1
|
Dear all,
I have made a map successfully,but it was not so good. How can I change the map size through the gmapping parameters?
The map is useless because there are so many unknown regions , so the map looks so little in the middle of the picture. Although I modified the parameter (max_Range, max_Urange ,x_min and so on（gmapping）)，but I still can not get a good result.
Now my map ：pan.baidu.com/s/1jGwnoto .
the map I really want is just like : pan.baidu.com/s/1eQzdnea (sorry that's a link, please copy it).
By the way, How can I make the origin(.yaml file) [0 0 0]?
Best Regards!
Gerald
Originally posted by Gerald on ROS Answers with karma: 1 on 2013-12-20
Post score: 0
|
hi,
I am new to ROS. I have read binary files of laser dataset and prepared sensor_msgs::PointCloud2 messages. But when i tried to view them in rviz, it not showing anything. Here is one of the pointcloud message from rostopic echo. I would like to know what is the problem.
--thanks
header:
seq: 107
stamp:
secs: 0
nsecs: 0
frame_id: laser_link
height: 1
width: 98322
fields:
-
name: x
offset: 0
datatype: 7
count: 1
-
name: y
offset: 4
datatype: 7
count: 1
-
name: z
offset: 8
datatype: 7
count: 1
-
name: r
offset: 12
datatype: 7
count: 1
is_bigendian: False
point_step: 16
row_step: 1573152
Data : [201, 186, 100, .........<largedata> ..................]
is_dense: True
---
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2013-12-20
Post score: 0
|
This isn't quite ROS-related, but I figure someone around here would know - from watching the DARPA challenge and the Atlas robot, I am very curious to know what the teams use to rotate the Hokuyo lidar 360 degrees. Anyone know what the mechanism/hardware is? How are they powering/getting the data from a unit that is rotating 360deg?
Originally posted by autonomy on ROS Answers with karma: 435 on 2013-12-20
Post score: 0
|
After updating to Hydro, executing:
roslaunch turtlebot_bringup 3dsensor.launch
no longer seems to work correctly.
The expected topics appear, and it is possible to get some data off the Kinect: images and pointcloud data can be visualized in rviz. However, nothing is being published to the \scan topic.
Everything seems to work fine if I grab a copy of the Groovy version of 3dsensor.launch and launch that.
The issue is the same whether I use a Kinect or Asus Xtion.
Has anyone else had luck with 3dsensor.launch under Hydro?
Originally posted by nsprague on ROS Answers with karma: 228 on 2013-12-20
Post score: 1
|
Hi there,
i have a problem with publishing sth. to the ardrone. I am using ROS Hydro and this is a part of my code for one of the publishers i am using:
(in the header-file)
ros::Publisher land_pub;
(in cpp-file)
ros::NodeHandle nh;
land_pub = nh.advertise<std_msgs::Empty>("ardrone/land", 1);
(with a button-klick of my joypad i want to publish this message:)
std_msgs::Empty emptymsg;
land_pub.publish(emptymsg);
But when i am using "rostopic echo ardrone/land" (or takeoff) nothing is published and my ardrone does nothing... but if i am publishing under this topic via terminal it works... could anybody help me solving this, please?
Originally posted by Cookie on ROS Answers with karma: 16 on 2013-12-20
Post score: 0
|
I have just bought a new Retina MacBook Pro which has OS X 10.9 (Mavericks) installed on it and I need to install ROS in the simplest way to continue developing. I am currently using ROSJava Groovy with the gradle build system on Ubuntu 13.04 (unsupported) and I am wondering which way is best to install ROS.
The options I'm currently considering are:
Mac OS X 10.9 install with ROSJava Groovy
Ubuntu 13.04 with ROSJava Groovy
Some OS with Hydro
but any advice would be appreciated.
I would prefer to install on Mac OS X however I have previously tried to install it on OS X 10.6 (Snow Leopard) and could never manage to install it successfully.
I'm also reluctant to upgrade to the Catkin build system as I have been using Gradle and don't have experience of Catkin but I would upgrade if I couldn't avoid it.
Is anyone able to recommend the best install method for people in this situation?
Thanks for your help in advance
Originally posted by heyfred on ROS Answers with karma: 122 on 2013-12-20
Post score: 3
|
I am using pocketsphinx and it works great for recognition. However, when recognizer.py first starts, it outputs one or two random words from the dictionary, as if there was a queue that has to be cleared. This happens even if the microphone is muted. Any idea where that might be originating? Is there some way to suppress that?
Originally posted by dan on ROS Answers with karma: 875 on 2013-12-20
Post score: 0
|
Hi all,
I want to find any solution for launching file like roslaunch in C++, is there any one help me
Originally posted by domikilo on ROS Answers with karma: 89 on 2013-12-21
Post score: 0
|
How can i run hector navigation?
I run urg_node and hector_slam but i don't know how can i run hector navigation for exploration.I searched very much but i can't find anything...
Originally posted by mr.karimi on ROS Answers with karma: 52 on 2013-12-22
Post score: 0
|
I know how to send msgs between two computers. And I try to send txt files through wlan. How can I achieve it?
Originally posted by isnow4ever on ROS Answers with karma: 13 on 2013-12-22
Post score: 0
|
I have ROSBridge server running on my host and a client I wrote connected to it. I can send and receive messages just fine. I have not had any trouble sending strings and numbers, however, when I try to send an image (of type sensor_msgs/Image) from the server to the client, something really peculiar happens.
For test purposes, I'm sending a 1 x 1 pixel image of encoding bgr8. If I send a red pixel (ie BGR value is {0,0,255}), and do rostopic echo /myImage/data, I see {0,0,255} printed to terminal. Just as expected.
However, when I receive the message on my client, the data field actually has 4 bytes of data instead of 3 (I should get 1 byte per color). I cannot figure out where this extra byte comes from, nor how to format the 4 bytes of data to get back my original BGR value.
Here is the pattern I've found so far. The following are hex values of the data I sent from the server (left side) and received on the client (right side). Sorry for the weird spacing... I couldn't figure out how to enter tabs an spaces on this website.
--Sent From Server (BGR Hex) --- Received At Client
----------- 00 00 00 ---------------------- 41 41 41 41 -----
----------- FF FF FF --------------------- 2F 2F 2F 2F -----
----------- 00 00 FF ---------------------- 41 41 44 2F -----
----------- 00 FF 00 ---------------------- 41 50 38 41 -----
----------- FF 00 00 ---------------------- 2F 77 41 41 -----
Once again, I have no idea what's happening here. I believe the endianness of the message may be an issue as well, but it doesn't help explain where the extra byte of data is coming from. Any insight would really be appreciated.
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-12-22
Post score: 0
|
Hi,
where can i get following packages:
Eigen
arm_navigation_msgs
If i try to clone arm navigatin from kforge.ros.org i get an error:
hg clone url:/armnavigation/armnavigation armnavigation
i had to write url because for me it's not allowed to post links url stands for http : //kforge.ros.org
is kforge.ros.org down?
abort: error: Connection timed out
Originally posted by Brainjay on ROS Answers with karma: 13 on 2013-12-22
Post score: 1
Original comments
Comment by gvdhoorn on 2013-12-24:
Is there any reason you cannot install the binary packages? Also, adding information on your OS, version of ROS and what you intent to do might help people answering your question. Also: please know that arm_navigation is sort of EOL in groovy (hydro doesn't have it anymore).
Comment by Brainjay on 2013-12-25:
I have ubuntu 12.04 LTS and ROS Groovy. If i try to install the armnavigation package i get the error "connection timed out" and i don't know where to get the Eigen package.
|
When I use the command:
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
It reports the errors:
executing command [sudo apt-get install -y liblog4cxx10-dev]
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
liblog4cxx10-dev : Depends: libaprutil1-dev but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
apt: command [sudo apt-get install -y liblog4cxx10-dev] failed
Could anyone help me? I googled around and tried, but still cannot install liblog4cxx10-dev. Here is the details:
If I type enter code heresudo apt-get install -y liblog4cxx10-dev`,
It has the error:
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
liblog4cxx10-dev : Depends: libaprutil1-dev but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Originally posted by pennpanda on ROS Answers with karma: 11 on 2013-12-23
Post score: 0
Original comments
Comment by tfoote on 2013-12-25:
What OS are you running? What are your apt-sources?
Comment by pennpanda on 2013-12-26:
Hi, My OS is Ubuntu 12.04 TLS 64bit. I want to install desktop version with the command " $ rosinstall_generator desktop --rosdistro hydro --deps --wet-only > hydro-desktop-wet.rosinstall". But I mistakely typed the command for desktop_full which is "$ rosinstall_generator desktop_full --rosdistro hydro --deps --wet-only > hydro-desktop-full-wet.rosinstall". So I delete the hydro-desktop-full-wet.rosinstall file and re-run the command "$ rosinstall_generator desktop --rosdistro hydro --deps --wet-only > hydro-desktop-wet.rosinstall".
I have added the ros's source into my system with the command "sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'"
Thank you so much for your reply!
|
Hi there,
i have a problem with subscribing to ardrone/navdata, because the library ardrone_autonomy/Navdata.h can not be found. I tried to include it with this line:
#include "ardrone_autonomy/Navdata.h"
and I also tried to include it in my project- file as a file, but it did not work.
How do i include this correctly to my project?
Originally posted by Cookie on ROS Answers with karma: 16 on 2013-12-23
Post score: 0
|
If I send a uint8[] array with 1 byte of data (of value 0x00) over ROSBridge, I receive the string "AA==" on the client end.
How does ROSbridge handle the conversion of byte arrays to strings? How can I retrieve my original data of 0x00?
Originally posted by trianta2 on ROS Answers with karma: 293 on 2013-12-23
Post score: 0
Original comments
Comment by mozcelikors on 2013-12-23:
I don't know how exactly rosbridge handles the data, but since the websockets are used, the memory spaces of payload and trailer are allocated. With websockets data is sent in between 0x00 and 0xFF in a packet. You can examine the rosbridge_library codes to see the conversion.
|
I've noticed several threads where people have claimed to have built ROS on OSX Mavericks, I'm currently unable to install pyqwt via homebrew, basically hitting this same error that has been reported but not solved: https://github.com/Homebrew/homebrew/issues/25224
I've tried reinstalling both qt and sip to no avail.
Any helpful hints?
Originally posted by fergs on ROS Answers with karma: 13902 on 2013-12-23
Post score: 1
Original comments
Comment by Artem on 2013-12-24:
Are you using default Python?
Comment by fergs on 2013-12-25:
Yes, using default Python.
|
I'm trying to build Hydro on OSX Mavericks by following the guide on the wiki. I am using an up-to-date homebrew, which got me this far. After several days of tracking down and fixing other compiler errors, I'm finally stuck on eigen_conversions and in particular eigen_msg.
./src/catkin/bin/catkin_make_isolated --install fails with an error having to do with implicit instantiation of undefined template 'std::allocator<void>'. The full make output is below. Any ideas? Is this an issue relating to clang on OSX? Do I need to update some include paths?
==> Processing catkin package: 'eigen_conversions'
==> Building with env: '/Users/sagar/workspace/ros_catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/Users/sagar/workspace/ros_catkin_ws/build_isolated/eigen_conversions'
==> make -j4 -l4 in '/Users/sagar/workspace/ros_catkin_ws/build_isolated/eigen_conversions'
[ 50%] Building CXX object CMakeFiles/eigen_conversions.dir/src/eigen_msg.cpp.o
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/src/eigen_msg.cpp:31:
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:37:
In file included from /Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/Float64MultiArray.h:51:
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/MultiArrayLayout.h:71:89: error: implicit instantiation of undefined template 'std::allocator<void>'
typedef std::vector< ::std_msgs::MultiArrayDimension_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::std_msgs::MultiArrayDimension_<ContainerAllocator> >::other > _dim_type;
^
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/Float64MultiArray.h:72:16: note: in instantiation of template class 'std_msgs::MultiArrayLayout_<std::allocator<void> >' requested here
_layout_type layout;
^
/Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:97:8: note: in instantiation of template class 'std_msgs::Float64MultiArray_<std::allocator<void> >' requested
here
if (m.layout.dim.size() != 2)
^
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/ros/message_forward.h:33:28: note: template is declared here
template<typename T> class allocator;
^
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/src/eigen_msg.cpp:31:
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:37:
In file included from /Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/Float64MultiArray.h:51:
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/MultiArrayLayout.h:71:118: error: 'rebind' following the 'template' keyword does not refer to a template
typedef std::vector< ::std_msgs::MultiArrayDimension_<ContainerAllocator> , typename ContainerAllocator::template rebind< ::std_msgs::MultiArrayDimension_<ContainerAllocator> >::other > _dim_type;
^~~~~~
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/src/eigen_msg.cpp:31:
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:37:
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/Float64MultiArray.h:74:41: error: implicit instantiation of undefined template 'std::allocator<void>'
typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _data_type;
^
/Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:97:8: note: in instantiation of template class 'std_msgs::Float64MultiArray_<std::allocator<void> >' requested
here
if (m.layout.dim.size() != 2)
^
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/ros/message_forward.h:33:28: note: template is declared here
template<typename T> class allocator;
^
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/src/eigen_msg.cpp:31:
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:37:
/Users/sagar/workspace/ros_catkin_ws/install_isolated/include/std_msgs/Float64MultiArray.h:74:70: error: 'rebind' following the 'template' keyword does not refer to a template
typedef std::vector<double, typename ContainerAllocator::template rebind<double>::other > _data_type;
^~~~~~
In file included from /Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/src/eigen_msg.cpp:31:
/Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:103:18: error: member reference base type '_data_type' (aka 'int') is not a structure or union
if ((int)m.data.size() != e.size())
~~~~~~^~~~~
/Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:104:11: error: member reference base type '_data_type' (aka 'int') is not a structure or union
m.data.resize(e.size());
~~~~~~^~~~~~~
/Users/sagar/workspace/ros_catkin_ws/src/eigen_conversions/include/eigen_conversions/eigen_msg.h:108:13: error: subscripted value is not an array, pointer, or vector
m.data[ii++] = e.coeff(i, j);
~~~~~~^~~~~
7 errors generated.
make[2]: *** [CMakeFiles/eigen_conversions.dir/src/eigen_msg.cpp.o] Error 1
make[1]: *** [CMakeFiles/eigen_conversions.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'eigen_conversions':
Command '/Users/sagar/workspace/ros_catkin_ws/install_isolated/env.sh make -j4 -l4' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Users/sagar/workspace/ros_catkin_ws/build_isolated/eigen_conversions && /Users/sagar/workspace/ros_catkin_ws/install_isolated/env.sh make -j4 -l4
Command failed, exiting.
Originally posted by sagargp on ROS Answers with karma: 13 on 2013-12-23
Post score: 1
|
I tried to get current pose of DENSO VS060 after executing command below
roslaunch denso_launch denso_vs060_moveit_demo_simulation.launch
What I did in python was
group = MoveGroupCommander("manipulator")
temp_pose=group.get_current_pose()
Then I saw error message
time is not initialized. Have you called init_node()?
So I used the command below.
rospy.init_node("move_group")
Then RViz freezed.
Would you please tell me how to get current pose of robot?
Originally posted by wyasuda on ROS Answers with karma: 11 on 2013-12-23
Post score: 1
Original comments
Comment by wyasuda on 2013-12-24:
Thank you!
Now I understand that I made stupid mistake.
|
Is there any way for Bloom to generate 'short descriptions' like what rosbuild used to do?
manifest.xml actually had an explicit brief attribute on the description tag, which seems to have been removed in package.xml. There are a number of packages in Groovy and Hydro (in Ubuntu) that have very long package descriptions, where a succinct short description would definitely help make things a bit more readable.
Update (2015-06-16): an initial implementation for this was added to Bloom with the merge of ros-infrastructure/bloom/pull/366. Short descriptions (or synopses) are automatically extracted from the package manifest description field. Only the rosdebian generator supports this for now.
Originally posted by gvdhoorn on ROS Answers with karma: 86574 on 2013-12-24
Post score: 1
|
Hello
I want to integrate an Adroid app to a platform based on ROS. I use freelancer and have not found anyone with the skillset. Is there anyone here who could point me in the right direction to locate a pool of people (or person) who can offer consultancy and development services for ROS on a time and materials basis?
Many thanks in advance, Dataman.
Originally posted by Dataman on ROS Answers with karma: 1 on 2013-12-24
Post score: 0
|
Hi, i am using kobuki base. I read the it comes with factory calibrated gyro, however, i am having hard time mapping out a 30m x 100m(roughly) library layout. The map is always off when i am driving it on the two column or onwards (kobuki thought that she is still moving on the column before).
I am unable to upload a photo yet, so i link it to google photos.
This is my first screenshot: link text
and this is a screenshot 4 mins after: link text
Should i try to calibrate its gyro as the tutorial for create base? Or anything i could do to get the map out?
Originally posted by chao on ROS Answers with karma: 153 on 2013-12-24
Post score: 0
Original comments
Comment by tfoote on 2013-12-26:
Your links appear to be password protected. I cannot see them.
Comment by chao on 2013-12-26:
my apologies, i have posted them on flikr. Thank you :)
|
hi i am trying to use cmvision stack and have successfully installed and built the package. however, whenever i run the command to launch the colorgui, the gui launches but no image is displayed. upon clicking on the blank image it automatically closes and causes a segmentation error. i have tried to display the image using rosrun image_view image_view image:=/camera/rgb/image_color and it is working ffine. help will be much apreciated
wh07@wh07-VM:~/fuerte_workspace/swri-ros-pkg2/cmvision$ rosrun cmvision colorgui image:= /camera/rgb/image_color
[ WARN] [1388044266.669792195]: couldn't register subscriber on topic []
Segmentation fault (core dumped)
Originally posted by daidalos on ROS Answers with karma: 11 on 2013-12-25
Post score: 0
|
Hello, We have a velodyne(HDL-32E) and Ubuntu 12.04 LTS, groovy user.
I followed this velodyne tutorial.
[Getting Started with the Velodyne HDL-32E]
In this tutorial, we had to set up network like this.
1. sudo ifconfig eth0 192.168.3.100
2. sudo route add 192.168.XX.YY eth0
And here is problem.
It has worked well just for seconds,
after then Ubuntu showed "Wired Connection - Disconnected" Message and
velodyne package stop working.
I saw my route table by "route",
192.168.17.171(our devices IP) has been exsisting for a seconds, and then disappeared.
Do I have to do that progress(sudo ifconfig....)?
Although I have 1 LAN Card, why I need to add velodyne's IP to routing table.
And after modifying routing table, why this table has not maintained forever.
Please help us.
Originally posted by Juni on ROS Answers with karma: 33 on 2013-12-26
Post score: 0
Original comments
Comment by Juni on 2013-12-26:
Thank you for answering.
It is working well.
^^
|
Hello, I'm ubuntu 12.04 , groovy user.
I'm learning pointcloud in ros and want to use Eclipse(Kepler) for IDE.
When making with catkin, Code is perfect.(didn't show any error)
But Eclipse couldn't index some codes(in pointcloud).
I made package for eclipse by following command.
catkin_make --force-cmake \
-G"Eclipse CDT4 - Unix Makefiles" \
-DCMAKE_BUILD_TYPE=Debug \
-DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j4
After doing this, I imported [build] folder in Eclipse.
Many red lines are appeared under code about ros, pcl.
For example, ros::init(argc, argv, "pcl_test_node"), pcl::PointXYZ point ...etc
I solved this problem with following progress.
[Project]-[Properties]-[C/C++ General]-[Preprocessor Include Paths...]-[Providers]
then, check [CDT GCC Build Output Parser] and
[CDT GCC Built-in Compiler Settings[shared]]
[Project]-[Properties]-[C/C++ Include Paths and Symbols]
then, delete include path [/usr/include/eigen3]
rebuild.
Finally, I removed many red lines in codes, but not in some parts of pcl.
In the next code, Eclipse couldn't index two parts.
cloud->points
it showed points as '?' and didn't index the members of points.
and cloud->points.push_back(...)
error message was 'Method 'push_back' could not be resolved'
iterator
iter->x = 10.0; -> red line under 'x' appear
And error message was 'Field 'x' could not be resolved'
I think there may be other things I didn't realize yet.
I did many things for correcting this problem but I failed.
Any one who had same problem, please help me.
And thank for your reading in advance.
source code is here
#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
int main(int argc, char ** argv){
ros::init(argc,argv,"pcl_test_node");
ros::NodeHandle nh;
ros::NodeHandle p_nh("~");
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
for(int i=0;i<20;i++){
cloud->points.push_back(pcl::PointXYZ(i*10.0,2.0,3.0));
}
pcl::PointCloud<pcl::PointXYZ>::iterator iter;
iter = cloud->begin();
for(;iter != cloud->end(); iter++){
iter->x = 10.0;
}
while(ros::ok());
}
Originally posted by Juni on ROS Answers with karma: 33 on 2013-12-26
Post score: 0
Original comments
Comment by gvdhoorn on 2013-12-27:
"and I made package for eclipse": how exactly did you do this? If you used catkin to generate the Eclipse project files, and your pkg depends on the PCL integration pkg, I think catkin should add the PCL include dirs automatically for you.
Comment by Juni on 2013-12-29:
Yes, I did it by catkin. Command is following.
catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_ECLIPSE_MAKE_ARGUMENTS=-j4
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My intention in to implement an algorithm for path planning to Turtlebot. I'd like to implement the RRT (Rapidly-exploring Random Tree) planner using OMPL Library.
Is it possible? or discouraged me to do this?
Thanks
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2013-12-26
Post score: 0
|
Hi all
I am working with ROS turtlebot in ARM-based UDOO board, as I research, ROS Hydro support freekinect library for ARM, so I want to ask , can I use it for ASUS Xtion, because I think ASUS Xtion is more convenient than Kinect. So what should I do now?
Originally posted by domikilo on ROS Answers with karma: 89 on 2013-12-26
Post score: 1
|
CMake Error at CMakeLists.txt:6 (catkin_package):
Unknown CMake command "catkin_package".
http://jenkins.ros.org/job/ros-hydro-r2-gazebo_binarydeb_raring_i386/2/console
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-26
Post score: 0
|
Why do I need to look through over 1000 lines of output to figure out what went wrong with the build?
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-26
Post score: 1
|
Hi,
I am new to ROS. I tryed to use the Pioneer 3-AT urdf model provided in the p2os-Master stack.If I have a frame tree for this robot, and want to show this robot in a fixed map, in Rviz, I would only have to broadcast its transform with parent link: static_map, for example, and child link: base_link and publish the joint states for the joints that are not fixed, if I have robot_state_publisher running. Is that correct?
I checked in the tf topic. All transforms are being published as expected, but in Rviz, when I put the static_map as fixed frame, it says there are only transforms for the base_link and the static_map. Do I need to broadcast all the transforms with the static_map as the parent link? I did one publisher priorly which I only broadcasted the transform for the static_map and published the joints that were not fixed, and that worked.
I had divided the nodes to be launched in 2 diferent launch files, when I tryed to launch then all in one launch file, in Rviz, it says there are tansforms for all, but only the transform for base_link is correct, all others stay on ground beneath the base_link frame.
What should I do?
Originally posted by Ohashi on ROS Answers with karma: 58 on 2013-12-26
Post score: 0
|
Are there any c++ library that contains real-time functionality such as: parameter checking, service calling or action calling? They must be time deterministic in the real time thread.
From my understanding it should be possible. For instance, using polling functions and a parallel thread performing the non-rt tasks (like rosrt::Subscriber does)
Originally posted by Pablo Iñigo Blasco on ROS Answers with karma: 2982 on 2013-12-27
Post score: 0
Original comments
Comment by dornhege on 2013-12-29:
AFAIK no. It could be possible if you are OK with the "latest" instead of the current param, same for actions. With services you'll probably need to work with futures or similar (basically constructing what actions do).
Comment by Pablo Iñigo Blasco on 2013-12-29:
I agree, the latest message is the only we can get if our task works in a RT thread and it being used non-RT functionality such as those based on xml-rpc. BTW,it is possible perform a poll (to get the latest value) operation on the parameter API without block the thread or break the RT capabilities?
Comment by Pablo Iñigo Blasco on 2013-12-29:
Concerning the "future approach" for services, indeed, the resulting API should look like that. However, IMHO the challenge here would be how to perform the inter-thread communication between RT & non-RT threads. The best way probably would be to use POSIX message queues.
Comment by dornhege on 2014-01-02:
For parameters I've written a small, light wrapper that "subscribes" parameters by polling the getParamCached function. If you use something similar in the ROS thread, you could just get the currently stored value from the RT thread. Depending getParamCached implementation RT directly can be OK.
Comment by Pablo Iñigo Blasco on 2014-01-02:
But, how have you done it? The challenge I see here is the thread synchronization. Is the source code public?
Comment by Pablo Iñigo Blasco on 2014-01-03:
My main concern is the priority inversion problem. It is possible to synchronize a NON-RT thread with an RT-Thread without making this issue explicit into the NON-RT thread code? I think that this can be done in a similar way that rosrt::Subscriber works, but I till have to review the code in detail
|
The problem is
E: Unable to locate package ros-hydro-gazebo-taskboard
However, no package in nasa_r2_common depends on taskboard. Why does this error occur?
http://jenkins.ros.org/job/prerelease-hydro-nasa_r2_common/ARCH_PARAM=amd64,UBUNTU_PARAM=precise,label=prerelease/2/console
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-27
Post score: 1
|
I am using depthimage-to-laser. Running as simulation in gazebo with kinetic plug-in. I get the following error. Any thoughts on the nature of this error and if this is a parameter issue.
Would I be better off using: pointcloud-to-laserscan?
[ WARN] [1388168330.681229897, 962.989000000]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.20080
Originally posted by rnunziata on ROS Answers with karma: 713 on 2013-12-27
Post score: 1
|
Any chance there is support for the NXT on hydro. Or a .URDF for MoveIt. I know there are people that have used NXT in MoveIt but there is little support that I can find. Does anyone have any examples?
Originally posted by drews256 on ROS Answers with karma: 1 on 2013-12-27
Post score: 0
|
According to the tutorial of "Using rqt_console and roslaunch", in the node of "mimic" of package "turtlesim", it remaps the topics "/input/pose" and "/output/command_velocity" by just remapping "input" to "/turtlesim1/turtle1" and "output" to "/turtlesim2/turtle1", which i.e. just remaps the base name of the topic rather than the global name.
However, it seems this method fails to work for the node of "turtle_teleop_key". In the launch file, I remap the topic "turtle1/command_veolcity" by remapping "turtle1" to "turtle2", but the topic lists still show "turtle1/command_velocity". When I fix the launch file by remapping "turtle1/command_velocity" to "turtle2/command_velocity", the topics lists finally show the change.
Can someone know figure out the difference between the base name and global name when remapping topics?
Thanks a lot
Originally posted by Dave Chen on ROS Answers with karma: 1 on 2013-12-27
Post score: 0
|
I am trying to build a listener in rosjava. I used the code found at the rosjava core snapshot documentation and changed the GraphName() to GraphNmae.of(). I also added these lines to the code:
package com.github.rosjava.dude.Listener;(The name of my project is dude as it was given in the tutorial)
import org.ros.rosjava_tutorial_pubsub;
When I build this using catkin_make , I get two errors. THe errors and the code is given below. Can somebody please help me fix this. THanks a ton.
1st error:
/home/uahmed9/rosjava/src/rosjava_foo/dude/src/main/java/com/github/rosjava/dude/Listener.java:2: cannot find symbol
symbol : class rosjava_tutorial_pubsub
location: package org.ros
import org.ros.rosjava_tutorial_pubsub;
The dot between ros and rosjava in the import statement is creating error.
2nd error:
/home/uahmed9/rosjava/src/rosjava_foo/dude/src/main/java/com/github/rosjava/dude/Listener.java:21: cannot find symbol
symbol : class of
location: class org.ros.namespace.GraphName
return new GraphName.of("rosjava_tutorial_pubsub/listener");
The dot between GraphName and of in the getDefaultNodeName() method is creating error.
The Code:
package com.github.rosjava.dude.Listener;
import org.ros.rosjava_tutorial_pubsub;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
public class Listener extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
return new GraphName.of("rosjava_tutorial_pubsub/listener");
}
@Override
public void onStart(ConnectedNode connectedNode) {
final Log log = connectedNode.getLog();
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter",
std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
log.info("I heard: \"" + message.getData() + "\"");
}
});
}
}
Originally posted by uzair on ROS Answers with karma: 87 on 2013-12-27
Post score: 0
Original comments
Comment by Daniel Stonier on 2014-01-01:\
Where did you find the GraphNmae.of(). error?
Where did the code for Listener come from? The current create project script doesn't add this, so not sure where your dot error is coming from.
What do your dependency settings look like?
Comment by uzair on 2014-01-02:
I am sorry for the mistake in pointing the GraphName.of error. I found it in the getDefaultNodeName() method.
I fountd the code for the listener form the rosjava_core 0.1.6 documentation. I created the rosjava package and rosjava project using the tutorials on the rosjava wiki. My projects name was dude and hence I was provided with the Dude.java file when i built my project. I changed the name from Dude.java to Listener.java and also removed the statement public class Dude { } to replace it with public class Listener extends AbstractNodeMain { } and added these lines to the code.
1)package com.github.rosjava.dude.Listener;
2)import org.ros.rosjava_tutorial_pubsub;
For the dependency settings, I opened the gradle file in my project folder and uncommented "compile 'org.ros.rosjava_core:rosjava:[0.1,)' ". Before I did this, I was geting a lot of errors but now it got boiled down to these two.
Comment by Daniel Stonier on 2014-01-02:
Why are you trying to import org.ros.rosjava_tutorial_pubsub? That shouldn't be necessary. I don't think you have that as a dependency either, so that will break your build.
Comment by Daniel Stonier on 2014-01-02:
For reference, you could just copy the working code https://github.com/rosjava/rosjava_core/blob/hydro/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java directly from the sources. If that works, and there is differences with the doc code, let us know.
Comment by uzair on 2014-01-02:
THe codes are identical. After I copy the code from github, where do i paste it? I was creating a project called dude following the rosjava tutorials and then making all the changes in the Dude.java class . Today i tried to create a project whith name Listener. The projects name was listener but the name of the class was again Dude.java. How do I make Dude.java to behave like a listener? If I just delete everything in the Dude.java file and paste the listener code, then I am getting an error "Could not copy Manifest.MF". Before this I was trying how i stated above in the question.
Comment by Daniel Stonier on 2014-01-03:
All you should have to do is copy Listener.java in, change the package name in Listener.java to match your folder structure, make sure your build.gradle dependencies match those in the original rosjava_tutorial_pubsub and add rosjava_core to your package.xml.
Comment by uzair on 2014-01-14:
After doing all this, my project builds without any errors. But when i make Listener.java executable and execute the file.. i get a number of errors. THese are the errors i get now
./Listener.java: line 2: package: command not found
./Listener.java: line 4: import: command not found
./Listener.java: line 5: import: command not found
./Listener.java: line 6: import: command not found
./Listener.java: line 7: import: command not found
./Listener.java: line 8: import: command not found
./Listener.java: line 9: import: command not found
./Listener.java: line 10: import: command not found
./Listener.java: line 12: public: command not found
./Listener.java: line 14: @Override: command not found
./Listener.java: line 15: syntax error near unexpected token (' ./Listener.java: line 15: public GraphName getDefaultNodeName() {'
What am i missing?
Comment by uzair on 2014-01-15:
I even tried to download the entire rosjava_core package from github and tried to run the Listener.java class in the pubsub package. When I tried to build, this is all I saw-----####
Running command: "make cmake_check_build_system" in "/home/uahmed9/rosjava_core-hydro/rosjava_tutorial_pubsub/build"
Running command: "make -j4 -l4" in "/home/uahmed9/rosjava_core-hydro/rosjava_tutorial_pubsub/build"
When I tried to execute the Listener.java class i got the following errors-----------./Listener.java: line 1: /bin: Is a directory
./Listener.java: line 2: syntax error near unexpected token (' ./Listener.java: line 2: * Copyright (C) 2011 Google Inc.'
Comment by uzair on 2014-01-20:
I downloaded the rosjava_core package straight from github and made changes in the listener.java class. I build it using the snapshot 1.6 documentation. The listener works fine and receives a statement from python.
|
I'm hoping some kind hearted catkin expert can help me convert my rosbuild package to catkin. The package is skeleton_markers and unfortunately the catkinize script seems to be currently broken for simple packages (though it works OK for stacks).
While I can piece together some of the parts, I can't get the whole thing to work, especially the dependencies on NITE and OpenNI for my cpp executable. Here are the current manifest.xml and CMakeLists.txt files:
manifest.xml:
<package>
<description brief="skeleton_markers">
Skeleton Markers: Publish a list of joint markers for viewing in RViz
</description>
<author>Patrick Goebel</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/skeleton_markers</url>
<depend package="rospy"/>
<depend package="roscpp"/>
<depend package="visualization_msgs"/>
<depend package="std_msgs"/>
<depend package="geometry_msgs"/>
<depend package="openni_camera"/>
<depend package="openni_tracker"/>
<export>
<cpp cflags="-I/usr/include/openni -I/usr/include/nite -I/usr/include/ni"/>
</export>
</package>
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()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
include_directories(/usr/include/openni /usr/include/nite /usr/include/ni)
rosbuild_add_executable(skeleton_tracker src/skeleton_tracker.cpp src/KinectController.cpp src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker glut OpenNI orocos-kdl tf)
Can anyone convert these to the corresponding package.xml and CMakeLists.txt files for catkin?
UPDATE: Here are the package.xml and CMakeLists.txt files I came up with after looking at these files for the openni_tracker package. Below the two files I list the error messages I get when compiling.
package.xml
<package>
<name>skeleton_markers</name>
<version>0.4.0</version>
<description>
Skeleton Markers: Publish a list of joint markers
for viewing in RViz.
</description>
<maintainer email="[email protected]">Patrick Goebel</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/skeleton_markers</url>
<url type="https://github.com/pirobot/skeleton_markers/issues"></url>
<author email="[email protected]">Patrick Goebel</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>libopenni-dev</build_depend>
<build_depend>libopenni-nite-dev</build_depend>
<build_depend>libopenni-sensor-primesense-dev</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>orocos_kdl</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>openni_camera</build_depend>
<build_depend>openni_tracker</build_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>libopenni-dev</run_depend>
<run_depend>libopenni-nite-dev</run_depend>
<run_depend>libopenni-sensor-primesense-dev</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>openni_camera</run_depend>
<run_depend>openni_tracker</run_depend>
<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
<!--
<export>
<cpp cflags="-I/usr/include/openni -I/usr/include/nite -I/usr/include/ni"/>
</export>
-->
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(skeleton_markers)
find_package(orocos_kdl REQUIRED)
find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)
# Find OpenNI
find_package(PkgConfig)
pkg_check_modules(OpenNI REQUIRED libopenni)
# Find Nite
find_path(Nite_INCLUDEDIR
NAMES XnVNite.h
HINTS /usr/include/nite /usr/local/include/nite)
find_library(Nite_LIBRARY
NAMES XnVNite_1_3_1
HINTS /usr/lib /usr/local/lib
PATH_SUFFIXES lib)
link_directories(
${catkin_LIBRARY_DIRS}
${Boost_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${OpenNI_LIBRARIES}
${Nite_LIBRARY}
)
include_directories(${catkin_INCLUDEDIR}
${OpenNI_INCLUDEDIR}
${Nite_INCLUDEDIR}
${orocos_kdl_INCLUDE_DIRS})
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
add_message_files (
FILES
Skeleton.msg
)
generate_messages(
DEPENDENCIES geometry_msgs std_msgs
)
catkin_package(
DEPENDS rospy roscpp visualization_msgs std_msgs geometry_msgs
openni_camera openni_tracker tf message_runtime
CATKIN-DEPENDS # TODO
INCLUDE_DIRS # TODO include
LIBRARIES # TODO
)
add_executable(skeleton_tracker
src/skeleton_tracker.cpp
src/KinectController.cpp
src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker
glut
${catkin_LIBRARIES}
${OpenNI_LIBRARIES}
${Nite_LIBRARY}
${orocos_kdl_LIBRARIES})
And when I run catkin_make, I get the errors below:
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/f75185aecb53aeb63d51e48c7a1bb66e
Originally posted by Pi Robot on ROS Answers with karma: 3706 on 2013-12-28
Post score: 0
|
Hi,
I have been trying to understand ROSJAVA from a while, seems a bit difficult as I couldn't find good tutorials (last week tutorials for Hydro were updated which was v v helpful (many many thanks for that), though they are not sufficient :-( ).
I am using Ubuntu 12.04 and Hydro.
I manage to run ROSJAVA Publishers and subscribers as directed at: http://rosjava.github.io/rosjava_core/latest/getting_started.html
I was able to run Talker from java end and listen it from C++ end, however I am still struggling to find out, how can I use my custom message. Here is my directory structure
~/catkin_ws (catkin workspace, in setup.sh I am doing source ~/catkin_ws/devel/setup.bash)
~/catkin_ws/src/foo_msgs/msg/foo.msg (contains std_msgs/String data)
~/catkin_ws/src/foo_msgs/srv/AddTwoInts.srv (for checking service, to be checked once I manage to run cutsom messgaes)
~/catkin_ws/src/foo_msgs/CMakeLists.txt (contains entries to generate message as directed at : http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv)
~/catkin_ws/src/foo_msgs/package.xml
~/catkin_ws/src/myjava_pkgs (ROSJAVA package, created using : catkin_create_rosjava_pkg myjava_pkgs rosjava_bootstrap rosjava_messages foo_msgs)
~/catkin_ws/src/myjava_pkgs/foo_msgs (cretaed by : catkin_create_rosjava_msg_project foo_msgs
as given at : http://wiki.ros.org/rosjava/Tutorials/hydro/Unofficial%20Messages)
~/catkin_ws/src/myjava_pkgs/pub_sub (using: catkin_create_rosjava_project pub_sub, as given at: http://wiki.ros.org/rosjava_build_tools/Tutorials/hydro/Creating%20Rosjava%20Packages
This automatically created : ~/catkin_ws/src/myjava_pkgs/pub_sub/src/main/java/com/github/rosjava/pub_sub/Dude.java)
Then I created Talker.java and Listener.java in:-
~/catkin_ws/src/myjava_pkgs/pub_sub/src/main/java/org/ros/rosjava_tutorial_pubsub/
as given at: http://rosjava.github.io/rosjava_core/latest/getting_started.html
settings.gradle at ~/catkin_ws/src/myjava_pkgs contains:-
include 'foo_msgs'
include 'pub_sub'
I updated ~/catkin_ws/src/myjava_pkgs/pub_sub/build.gradle seeing http://wiki.ros.org/rosjava_core/graveyard/rosjava_tutorial_pubsub
The exact content of build.gradle is:-
apply plugin: 'application'
mainClassName = 'org.ros.RosRun'
apply plugin: 'java'
apply plugin: 'maven'
apply plugin: 'eclipse'
// uncomment to create an eclipse project using 'gradle eclipse'
//apply plugin: 'eclipse'
sourceCompatibility = 1.6
targetCompatibility = 1.6
// custom maven repository for some rosjava dependencies
repositories {
mavenLocal()
maven {
url 'http://robotbrains.hideho.org/nexus/content/groups/ros-public'
}
}
// we need this for maven installation
version = '0.0.0-SNAPSHOT'
group = 'ros.my_stack'
dependencies {
compile 'org.ros.rosjava_core:rosjava:[0.1,)'
}
Now, I am able to compile it from: /catkin_ws/src/myjava_pkgs/pub_sub$
using: ../gradlew installApp
and able to run Talker using: ./build/install/pub_sub/bin/pub_sub org.ros.rosjava_tutorial_pubsub.Talker
My questions are:-
How can I use my custom message, which is in foo.msg?
On compiling I can see that header files for foo.msg and service are generated at:
/home/aknirala/catkin_ws/devel/include/foo_msgs and java files are generated at:-
/home/aknirala/catkin_ws/src/myjava_pkgs/foo_msgs/build/generated-src/foo_msgs
But how w=can I include it? If I include the line:-
import foo_msgs.foo;
I get compilation error as:-
/home/aknirala/catkin_ws/src/myjava_pkgs/pub_sub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java:10: package foo_msgs does not exist
import foo_msgs.foo;
Should I include foo_msgs somewhere else as well, to make it available to Talker?
I am able to compile and run service as well using command:
./build/install/pub_sub/bin/pub_sub org.ros.rosjava_tutorial_services.Server
I can test it by running client using:
./build/install/pub_sub/bin/pub_sub org.ros.rosjava_tutorial_services.Client
which returns correct result.
But when I try to invoke it from command line using
rosservice call /add_two_ints 3 7
I get an error:-
ERROR: Unable to load type [rosjava_test_msgs/AddTwoInts].
Have you typed 'make' in [rosjava_test_msgs]?
How to fix it? (All the four combination of Talker and Listener from java and C++ side works with each other, but I can't use the java server from command line, I can use the C++ version though)
It is not using the srv file in foo_msgs but is using rosjava_test_msgs from jar : /opt/ros/hydro/share/maven/org/ros/rosjava_messages/rosjava_test_msgs/0.1.27/rosjava_test_msgs-0.1.27.jar
How can I use my custom service over here?
What all commands are executed when I run shortcut commands related to rosjava like:
catkin_create_rosjava_project
catkin_create_rosjava_pkg
etc
How can I customize it?
Any help/comment/pointers is greatly appreciated.
Update: This is how I am writing my Talker.java (its onStart function) for using my custom message foo
....
public class Talker extends AbstractNodeMain {
...
@Override
public void onStart(final ConnectedNode connectedNode) {
final Publisher//
//Changed type from std_msgs.String to foo_msgs.foo
publisher =
connectedNode.newPublisher("chatter", foo_msgs.foo._TYPE); //changed to foo over here
//std_msgs.String._TYPE);
// This CancellableLoop will be canceled automatically when the node shuts
// down.
connectedNode.executeCancellableLoop(new CancellableLoop() {
private int sequenceNumber;
@Override
protected void setup() {
sequenceNumber = 0;
}
@Override
protected void loop() throws InterruptedException {
//std_msgs.String
foo_msgs.foo str = publisher.newMessage(); //Creating object of foo
str.setData("Hello world! " + sequenceNumber); //THIS PART IS NOT ALLOWED
publisher.publish(str);
sequenceNumber++;
Thread.sleep(1000);
}
});
}
}
The line : str.setData("Hello world! " + sequenceNumber); is not allowed as str.setData is expecting std_msgs.String and nt java String. How to fix this?
Originally posted by aknirala on ROS Answers with karma: 339 on 2013-12-28
Post score: 0
|
I'm working my way through the urdf tutorials, specifically this one
On the first task it has me launch rviz to see the "r2d2" robot using the command:
roslaunch urdf_tutorial display.launch model:=01-myfirst.urdf
I am in the proper directory, rviz launches just fine, but there is no robot visible. Just the grid map. This error appears under the Global Status in orange: No tf data. Actual error: Fixed Frame [map] does not exist
So I get that it's not getting transform data, but I'm not sure what to do about it. I have not modified any files, am running hydro on Precise.
Originally posted by richkappler on ROS Answers with karma: 106 on 2013-12-28
Post score: 0
|
HI all, I have an Arduino UNO and a dual H bridge MOSFET motor driver. I want to control two motors using this controller and Arduino via ROS(Fuerte/Groovy/Hydro). I can write a sketch to arduino just for run motors (digitalwrite & analogWrite). But I want to know how to communicate Arduino & ROS. Can I use ROSARIA instead of rosserial_arduino? If yes, please give me a clue to write an Arduino sketch.
Motor Driver from ebay,
(3-36V-10A-Peak-30A-Dual-Motor-Driver-Module-board-H-bridge-DC-MOSFET-IRF3205)
Originally posted by Hasitha on ROS Answers with karma: 19 on 2013-12-29
Post score: 0
|
Hello,
I have a package called skeleton_markers that I am in the process of converting from rosbuild to catkin. The package builds fine and I remembered to do a 'source devel/setup.bash' after compiling. But when I try to run a Python node (in the same package) that imports a message type defined in my package, I get the error:
Traceback (most recent call last):
File "/home/patrick/catkin_ws/src/skeleton_markers/nodes/skeleton_markers.py", line 24, in <module>
from skeleton_markers.msg import Skeleton
File "/home/patrick/Dropbox/Robotics/catkin_ws/src/skeleton_markers/nodes/skeleton_markers.py", line 24, in <module>
from skeleton_markers.msg import Skeleton
ImportError: No module named msg
When I run rosmsg on the message type, I get back the correct response:
$ rosmsg show skeleton_markers/Skeleton std_msgs/Header header
uint32 seq
time stamp
string frame_id
int32 user_id
string[] name
float32[] confidence
geometry_msgs/Vector3[] position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion[] orientation
float64 x
float64 y
float64 z
float64 w
So I'm guessing I'm missing a key ingredient that allows a Python node to import my message type. Here are my package.xml and CMakeLists.txt files. The Python node I am trying to run is skeleton_markers.py.
My package.xml file:
<package>
<name>skeleton_markers</name>
<version>0.4.0</version>
<description>
Skeleton Markers: Publish a list of joint markers
for viewing in RViz.
</description>
<maintainer email="[email protected]">Patrick Goebel</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/skeleton_markers</url>
<url type="https://github.com/pirobot/skeleton_markers/issues"></url>
<author email="[email protected]">Patrick Goebel</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>libopenni-dev</build_depend>
<build_depend>libopenni-nite-dev</build_depend>
<build_depend>libopenni-sensor-primesense-dev</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>orocos_kdl</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>openni_camera</build_depend>
<build_depend>openni_tracker</build_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>libopenni-dev</run_depend>
<run_depend>libopenni-nite-dev</run_depend>
<run_depend>libopenni-sensor-primesense-dev</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>openni_camera</run_depend>
<run_depend>openni_tracker</run_depend>
<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
</package>
My CMakeLists.txt file:
cmake_minimum_required(VERSION 2.8.3)
project(skeleton_markers)
find_package(orocos_kdl REQUIRED)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
tf
geometry_msgs
message_generation)
# Find OpenNI
find_package(PkgConfig)
pkg_check_modules(OpenNI REQUIRED libopenni)
# Find Nite
find_path(Nite_INCLUDEDIR
NAMES XnVNite.h
HINTS /usr/include/nite /usr/local/include/nite)
find_library(Nite_LIBRARY
NAMES XnVNite_1_3_1
HINTS /usr/lib /usr/local/lib
PATH_SUFFIXES lib)
link_directories(
${catkin_LIBRARY_DIRS}
${Boost_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${OpenNI_LIBRARIES}
${Nite_LIBRARY}
)
include_directories(${catkin_INCLUDEDIR}
${OpenNI_INCLUDEDIR}
${Nite_INCLUDEDIR}
${orocos_kdl_INCLUDE_DIRS})
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
add_message_files (
FILES
Skeleton.msg
)
generate_messages(
DEPENDENCIES geometry_msgs std_msgs
)
catkin_package(
DEPENDS rospy roscpp visualization_msgs std_msgs geometry_msgs
openni_camera openni_tracker tf
CATKIN-DEPENDS message_runtime
INCLUDE_DIRS # TODO
LIBRARIES # TODO
)
add_executable(skeleton_tracker
src/skeleton_tracker.cpp
src/KinectController.cpp
src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker
glut
${catkin_LIBRARIES}
${OpenNI_LIBRARIES}
${Nite_LIBRARY}
${orocos_kdl_LIBRARIES})
install(TARGETS skeleton_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
Thanks!
patrick
UPDATE: I added the following setup.py file to the top level of my skeleton_markers package and I added the line:
catkin_python_setup()
to my CMakeLists.txt file. Unfortunately, this did not fix the import problem even after a clean rebuild and doing a 'source devel/setup.bash'.
setup.py:
## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=['skeleton_markers'],
package_dir={'': 'src'})
setup(**setup_args)
Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2013-12-29
Post score: 2
Original comments
Comment by joq on 2013-12-29:
Was it built successfully? Your Python message file should be in your workspace at: devel/lib/python2.7/dist-packages/skeleton_markers/msg/_Skeleton.py
Comment by Pi Robot on 2013-12-29:
Yes, the package builds successfully and the msg file you refer to does exist in the correct location.
|
Hi
when i use rosws init ~/groovy_workspace /opt/ros/groovy on terminal i got this problem
Traceback (most recent call last):
File "/usr/bin/rosws", line 54, in <module>
from rosinstall.common import MultiProjectException
ImportError: No module named commo
i didn’t have any problems on fuerte, How could i fix this?
thanks
Originally posted by Mahyar on ROS Answers with karma: 18 on 2013-12-29
Post score: 0
|
I want to take some packages off the build farm. I tried moving the package.xmls to package.xml.NOBUILD (as I've seen done) but after I prepare my catkin release, the packages won't bloom-release.
==> git push --tags
Total 0 (delta 0), reused 0 (delta 0)
To https://github.com/brown-release/nasa_r2_simulator_release
* [new tag] debian/ros-hydro-r2-gazebo_0.5.4-1_precise -> debian/ros-hydro-r2-gazebo_0.5.4-1_precise
* [new tag] debian/ros-hydro-r2-gazebo_0.5.4-1_quantal -> debian/ros-hydro-r2-gazebo_0.5.4-1_quantal
* [new tag] debian/ros-hydro-r2-gazebo_0.5.4-1_raring -> debian/ros-hydro-r2-gazebo_0.5.4-1_raring
* [new tag] release/hydro/r2_gazebo/0.5.4-1 -> release/hydro/r2_gazebo/0.5.4-1
! [rejected] debian/ros-hydro-gazebo-gripper_0.5.3-1_precise -> debian/ros-hydro-gazebo-gripper_0.5.3-1_precise (already exists)
! [rejected] debian/ros-hydro-gazebo-gripper_0.5.3-1_quantal -> debian/ros-hydro-gazebo-gripper_0.5.3-1_quantal (already exists)
! [rejected] debian/ros-hydro-gazebo-gripper_0.5.3-1_raring -> debian/ros-hydro-gazebo-gripper_0.5.3-1_raring (already exists)
etc....
Originally posted by David Lu on ROS Answers with karma: 10932 on 2013-12-29
Post score: 0
|
Hi Everyone, total noob here...
I've run into a problem while trying to use ROS on Ubuntu 12.04. I installed it according to the instructions on the website and the installation seemed to have gone well, but I am unable to build a catkin workspace. I tried rebooting and even installing catkin again but nothing. Terminal (over ssh to my Macbook Pro) continuously gives me the error:
administrator@ROS:~/catkin_ws/src$ catkin_init_workspace
Could neither symlink nor copy file "/opt/ros/hydro/share/catkin/cmake/toplevel.cmake" to "/home/administrator/catkin_ws/src/CMakeLists.txt":
[Errno 13] Permission denied
[Errno 13] Permission denied: '/home/administrator/catkin_ws/src/CMakeLists.txt
and if I login as root and attempt, I get:
root@ROS:~# cd ~/catkin_ws/src
root@ROS:~/catkin_ws/src# catkin_init_workspace
catkin_init_workspace: command not found
root@ROS:~/catkin_ws/src#
(ROS is the name of my Ubuntu machine).
I'm pretty sure its something really simple that I'm missing (first time with row), but any help is appreciated.
Thanks in Advance!
Mr_E
Originally posted by mr_electric on ROS Answers with karma: 1 on 2013-12-29
Post score: 0
Original comments
Comment by mr_electric on 2013-12-29:
I first tried as a regular user, but it still did not allow me to access the file. Would deleting the directory I created be sufficient to fix the permissions, or will I have to do a full reinstall?
Thanks for your help!!
Mr_E
|
I have a catkin workspace with a lot of packages. Now, if I make changes to CMakeLists.txt in one of the packages, how do I rebuild only that single package, provided my changes do not concern any other package (e.g. other packages need not to be rebuilt)?
Originally posted by AStudent on ROS Answers with karma: 43 on 2013-12-29
Post score: 4
|
I followed the how to
Android - Tutorials - hydro - Installation - Android Studio Development Environment
However the gradle can not build a project.
Environment
Windows 7
Android 0.4.0 Studio
Gradle 1.10
Android API 19
After create a project a apply modifications in bluid.gradle in my subproject. This is the content of the file:
I put spaces in url bacese my karma is insufficient to publish links
buildscript {
repositories {
maven {
url 'h t t p s : / / github.com/rosjava/rosjava_mvn_repo/raw/master'
}
mavenCentral()
}
dependencies {
classpath 'com.android.tools.build:gradle:0.7.+'
}
}
apply plugin: 'android'
repositories {
maven {
url 'h t t p s : / / github.com/rosjava/rosjava_mvn_repo/raw/master'
}
mavenCentral()
}
android {
compileSdkVersion 19
buildToolsVersion "19.0.0"
defaultConfig {
minSdkVersion 10
targetSdkVersion 10
versionCode 1
versionName "1.0"
}
buildTypes {
release {
runProguard false
proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.txt'
}
}
}
dependencies {
compile 'com.android.support:appcompat-v7:+'
compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
// compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
compile 'org.ros.rosjava_core:rosjava:0.1.+'
}
When a "Rebluid the project"
Warning (33 items) of
Ignoring InnerClasses attribute for an anonymous inner class
And this error:
Execution failed for task ':brain:preDexDebug'.
com.android.ide.common.internal.LoggedErrorException: Failed to run command:
C:\Desenvolvimento\android-studio\sdk\build-tools\android-4.4\dx.bat --dex --output C:\Users\Bernardo\SkyDrive\www\arduino\ros\TheLorem-Brain\brain\build\pre-dexed\debug\xml-apis-1.0.b2-99724b73c87f7d301ef14642ea9d40f15a7c68ba.jar C:\Users\Bernardo.gradle\caches\modules-2\files-2.1\xml-apis\xml-apis\1.0.b2\3136ca936f64c9d68529f048c2618bd356bf85c9\xml-apis-1.0.b2.jar
Error Code:
1
Output:
trouble processing "javax/xml/parsers/DocumentBuilder.class":
Ill-advised or mistaken usage of a core class (java.* or javax.*)
when not building a core library.
This is often due to inadvertently including a core library file
in your application's project, when using an IDE (such as
Eclipse). If you are sure you're not intentionally defining a
core class, then this is the most likely explanation of what's
going on.
However, you might actually be trying to define a class in a core
namespace, the source of which you may have taken, for example,
from a non-Android virtual machine project. This will most
assuredly not work. At a minimum, it jeopardizes the
compatibility of your app with future versions of the platform.
It is also often of questionable legality.
If you really intend to build a core library -- which is only
appropriate as part of creating a full virtual machine
distribution, as opposed to compiling an application -- then use
the "--core-library" option to suppress this error message.
If you go ahead and use "--core-library" but are in fact
building an application, then be forewarned that your application
will still fail to build or run, at some point. Please be
prepared for angry customers who find, for example, that your
application ceases to function once they upgrade their operating
system. You will be to blame for this problem.
If you are legitimately using some code that happens to be in a
core package, then the easiest safe alternative you have is to
repackage that code. That is, move the classes in question into
your own package namespace. This means that they will never be in
conflict with core system classes. JarJar is a tool that may help
you in this endeavor. If you find that you cannot do this, then
that is an indication that the path you are on will ultimately
lead to pain, suffering, grief, and lamentation.
1 error; aborting
Originally posted by Bernardo Silva on ROS Answers with karma: 1 on 2013-12-30
Post score: 3
|
I am following the tutorials and created the files named talker.cpp and listner.cpp according to tutorial 11 and also used rosedit to edit CMakeLists.txt.
But i am not able to find the executables in bin.
also $rosrun beginner_tutorials talker is not working.
the error is:
could not find executable named talker below /home/anand/fuerte_workspace/sandbox/beginner_tutorials
i have tried using rospack profile but was not useful.
I am new to ROS...please help as soon as possible.
I am using ros fuerte with rosbuild method in ubuntu 12.04 installed in virtualbox.
Originally posted by Anand on ROS Answers with karma: 26 on 2013-12-31
Post score: 1
|
Hello,
I am trying to build a catkin package (skeleton_markers) that depends on the Ubuntu packages freeglut3 and freeglut3-dev. I tried to use:
find_package(PkgConfig)
pkg_check_modules(GLUT freeglut3)
and I added
<build_depend>freeglut3-dev</build_depend>
and
<run_depend>freeglut3</run_depend>
to my package.xml file but it turns out that freeglut3 does not have a .pc file so pkg-config cannot find it. After checking the catkin docs, I still cannot figure out how to add this external dependency to my build files.
P.S. The truth is I can use the following hack to get it to work on my machine:
# Find Glut
find_path(GLUT_INCLUDE_DIRS
NAMES glut.h
HINTS /usr/include/GL /usr/local/include/GL)
find_library(GLUT_LIBRARIES
NAMES libglut.so)
but this does not work on the ROS build farm because presumably it doesn't have freeglut3 installed and also, I need a user's machine to automatically install freeglut3 if it is not installed.
--patrick
UPDATE: Here are my package.xml and CMakeLists.txt files as well as a link to the latest build failure on Jenkins. The root of the problem seems to be the error message :
skeleton_markers/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/rosdep.py", line 51, in to_apt
return self.r2a[ros_entry]
KeyError: 'freeglut3-dev
Link to Jenkins console output.
package.xml file:
<package>
<name>skeleton_markers</name>
<version>0.4.1</version>
<description>
Skeleton Markers: Publish a list of joint markers
for viewing in RViz.
</description>
<maintainer email="[email protected]">Patrick Goebel</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/skeleton_markers</url>
<url type="https://github.com/pirobot/skeleton_markers/issues"></url>
<author email="[email protected]">Patrick Goebel</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>libopenni-dev</build_depend>
<build_depend>libopenni-nite-dev</build_depend>
<build_depend>libopenni-sensor-primesense-dev</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>orocos_kdl</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>openni_camera</build_depend>
<build_depend>openni_tracker</build_depend>
<build_depend>freeglut3-dev</build_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>libopenni-dev</run_depend>
<run_depend>libopenni-nite-dev</run_depend>
<run_depend>libopenni-sensor-primesense-dev</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>openni_camera</run_depend>
<run_depend>openni_tracker</run_depend>
<run_depend>freeglut3-dev</run_depend>
<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
</package>
CMakeLists.xml file:
cmake_minimum_required(VERSION 2.8.3)
project(skeleton_markers)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
tf
geometry_msgs
message_generation)
# Find Orocos KDL
find_package(orocos_kdl REQUIRED)
# Find OpenNI
find_package(PkgConfig)
pkg_check_modules(OpenNI REQUIRED libopenni)
# Find Glut
find_package(GLUT REQUIRED)
link_directories(
${catkin_LIBRARY_DIRS}
${Boost_LIBRARY_DIRS}
${orocos_kdl_LIBRARY_DIRS}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
)
include_directories(${catkin_INCLUDE_DIRS}
${OpenNI_INCLUDE_DIRS}
${GLUT_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS})
catkin_python_setup()
add_message_files (
FILES
Skeleton.msg
)
generate_messages(
DEPENDENCIES geometry_msgs std_msgs
)
catkin_package(
DEPENDS openni_camera openni_tracker
CATKIN DEPENDS message_runtime
rospy
roscpp
tf
visualization_msgs
std_msgs
geometry_msgs
)
add_executable(skeleton_tracker
src/skeleton_tracker.cpp
src/KinectController.cpp
src/KinectDisplay.cpp)
target_link_libraries(skeleton_tracker
${catkin_LIBRARIES}
${OpenNI_LIBRARIES}
${GLUT_LIBRARIES}
${orocos_kdl_LIBRARIES})
#install(TARGETS skeleton_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
message("DEBUG variable catkin_INCLUDE_DIRS: ${catkin_INCLUDE_DIRS}")
message("DEBUG variable OpenNI_INCLUDE_DIRS: ${OpenNI_INCLUDE_DIRS}")
message("DEBUG variable GLUT_INCLUDE_DIRS: ${GLUT_INCLUDE_DIRS}")
message("DEBUG variable orocos_kdl_INCLUDE_DIRS: ${orocos_kdl_INCLUDE_DIRS}")
Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2013-12-31
Post score: 1
|
According to the ros gtest wiki page (http://wiki.ros.org/gtest):
In ROS 1.0 (Box Turtle) and 1.2 (C Turtle), gtest is included as a ROS package. In later releases of ROS, it has been converted to a rosdep.
However, when I run the command:
$ rosdep install gtest
I get:
ERROR: Rosdep cannot find all required resources to answer your query
Missing resource gtest
The same thing happens if I run the command as root and with I all the variants I can think of (including g-test, googletest, and google-test). So how does one install gtest?
Originally posted by astrokenny on ROS Answers with karma: 78 on 2013-12-31
Post score: 0
|
I can't get the turtlebot to calibrate using the turtlebot_calibration calibrate.launch file. It just outputs "Still waiting for scan" and I can see that the IR sensor never turns on. The kinect works fine when I've tried gmapping though so I know it does work.
Originally posted by jdd on ROS Answers with karma: 11 on 2013-12-31
Post score: 1
|
I've worked through the tutorials on urdf and am working through tf. I have created a urdf for my physical robot. I am striving to get my robot set up to use the Nav stack and somehow had in my mind that the urdf is required and a step towards setting up the transforms for the robot, but if I read that somewhere I cannot now find it and am having a hard time getting my head wrapped around this. I understand why I need transforms, I'm starting to understand how to write the code for the transforms, I am quite confident in my abilities writing a urdf, but I don't see where, if anywhere, the two come together. Do I even need a urdf for a physical robot? I feel I am missing a big BIG part of the picture here and could use a good explanation or at least a nudge in the right direction.
Originally posted by richkappler on ROS Answers with karma: 106 on 2013-12-31
Post score: 0
|
In pcl tutorial,
catkin_create_pkg my_pcl_tutorial pcl pcl_ros roscpp sensor_msgs
AFAIK there's no package called pcl in hydro, and catkin_create_pkg only takes catkin packages as an argument, but this command passes without errors and creates a package. Why is it?
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-01-01
Post score: 0
|
I am wondering if it would be possible to get Kinect to work with Udoo board (Quad). I have found that there is now support for ROS+Udoo. Also saw a question asked about Xtion + Udoo but it would really be great if it could be possible for Kinect+Udoo. I wish someone could give some insights on this matter. Thanks.
Originally posted by Kalmah on ROS Answers with karma: 11 on 2014-01-01
Post score: 1
|
Is there anyway to use the structures and functions in ros::Time without the requirement to initialize a node and connect to a master? I want to use it as part of a test fixture for a library that does not otherwise use ros (ie, it only needs a level 1 test; see http://wiki.ros.org/UnitTesting), and it would be nice not to incur the overhead of needing to initialize a ros node, run roscore, connect to it, etc.
Originally posted by astrokenny on ROS Answers with karma: 78 on 2014-01-01
Post score: 0
|
When doing the roslaunch tutorial I was suppose to use this command:
roslaunch beginner_tutorials turtlemimic.launch
I get an error which prevents me from continuing the tutorial and I've set the ROS_PACKAGE_PATH to include the catkin_ws. (also am I suppose to add the path of the catkin or the rospackage). Anyways the error I get is:
WARNING: unable to configure logging. No log files will be generated
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Invalid <param> tag: Cannot load command parameter [rosversion]: command [rosversion roslaunch] returned with code [1].
Param xml is <param command="rosversion roslaunch" name="rosversion"/>
Any help on this would be great as I am trying to learn ROS for the AUV we are making and I can't find anything related to this online.
Thanks
EDIT: Using ROS Hydro on Ubuntu 12.04
Originally posted by capa_matrix on ROS Answers with karma: 16 on 2014-01-01
Post score: 0
Original comments
Comment by ahendrix on 2014-01-02:
Can you run rosversion roslaunch ? Is this an installation from debs or from source?
Comment by h iman on 2014-02-25:
I have the same error when following the tutorial. When I run 'rosversion roslaunch' the version is 1.9.50.
|
I would like to ask if the bagfiles in open for public. Cause the access deny when i tried to download the files.
I am now trying to calibrate my camera (Logitech Carl Zeiss Tessar) under calib_camera2 from artoolkit, it shows the following error
Using supplied video config string [-width=640 -height=480].
ioctl failed
init(): Unable to open connection to camera.
Originally posted by chao on ROS Answers with karma: 153 on 2014-01-01
Post score: 0
|
Edit I gave up at the time and only installed ROS-COMMs, which went through fine. But now that I have a need for the other tools, I decided to have a go at Desktop-Full again. After a bunch of hurdles (some of which were probably self-induced) I was able to get it all working. I can post my steps if there is interest (My log file is 5MB, so I will only do that if there is a demand.)
--
Hi,
I'm following the guide Installing on Ubuntu from source.
Whilst building the isolated install (using ./src/catkin/bin/catkin_make_isolated --install --make-args -d), I got a cmake error while processing qt_gui_cpp. I've posted the error message below:
==> Processing catkin package: 'qt_gui_cpp'
==> Creating build directory: 'build_isolated/qt_gui_cpp'
==> Building with env: '/home/username/ros_catkin_ws/install_isolated/env.sh'
==> cmake /home/username/ros_catkin_ws/src/qt_gui_cpp -DCATKIN_DEVEL_PREFIX=/home/username/ros_catkin_ws/devel_isolated/qt_gui_cpp -DCMAKE_INSTALL_PREFIX=/home/username/ros_catkin_ws/install_isolated in '/home/username/ros_catkin_ws/build_isolated/qt_gui_cpp'
-- The C compiler identification is GNU 4.8.1
-- The CXX compiler identification is GNU 4.8.1
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Using CATKIN_DEVEL_PREFIX: /home/username/ros_catkin_ws/devel_isolated/qt_gui_cpp
-- Using CMAKE_PREFIX_PATH: /home/username/ros_catkin_ws/install_isolated
-- This workspace overlays: /home/username/ros_catkin_ws/install_isolated
-- Found PythonInterp: /usr/bin/python (found version "2.7.5")
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/username/ros_catkin_ws/build_isolated/qt_gui_cpp/test_results
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.77
-- Boost version: 1.53.0
-- Found the following Boost libraries:
-- filesystem
-- system
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython2.7.so (found version "2.7.5+")
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Found Qt4: /usr/bin/qmake (found version "4.8.4")
-- Using default python: -python3.3
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Shiboken-1.1.2/ShibokenConfig.cmake:5 (include):
include could not find load file:
/usr/lib/x86_64-linux-gnu/cmake/Shiboken-1.1.2/ShibokenConfig-python3.3.cmake
Call Stack (most recent call first):
/home/username/ros_catkin_ws/install_isolated/share/python_qt_binding/cmake/shiboken_helper.cmake:6 (find_package)
src/qt_gui_cpp_shiboken/CMakeLists.txt:41 (include)
-- Using default python: -python2.7
-- Shiboken binding generator available.
-- SIP binding generator available.
-- Python binding generators: shiboken;sip
-- Configuring incomplete, errors occurred!
<== Failed to process package 'qt_gui_cpp':
Command '/home/username/ros_catkin_ws/install_isolated/env.sh cmake /home/username/ros_catkin_ws/src/qt_gui_cpp -DCATKIN_DEVEL_PREFIX=/home/username/ros_catkin_ws/devel_isolated/qt_gui_cpp -DCMAKE_INSTALL_PREFIX=/home/username/ros_catkin_ws/install_isolated' returned non-zero exit status 1
Reproduce this error by running:
==> cd /home/username/ros_catkin_ws/build_isolated/qt_gui_cpp && /home/username/ros_catkin_ws/install_isolated/env.sh cmake /home/username/ros_catkin_ws/src/qt_gui_cpp -DCATKIN_DEVEL_PREFIX=/home/username/ros_catkin_ws/devel_isolated/qt_gui_cpp -DCMAKE_INSTALL_PREFIX=/home/username/ros_catkin_ws/install_isolated
Command failed, exiting.
My version of python is 2.7.5+, not 3.3.
I have the following ShibokenConfig files: .cpython-33m.cmake, -python2.7.cmake, and Version.cmake
(Is this the source of the error? Should I update my python? Or, does the version comparison (in ShebrokenConfigVersion.cmake) fail because of the '+' sign in my version number?)
Before building, I ran the command: rosdep install --from-paths src --ignore-src --rosdistro hydro -y to make sure I had everything needed: #All required rosdeps installed successfully. I have also been keeping my Ubuntu install up to date and I am using Gnome Flashback as my GUI, not Unity.
Has anyone else faced this problem, and how were you able to resolve it?
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-01-02
Post score: 1
Original comments
Comment by Nap on 2014-04-21:
I gave up at the time and installed ROS-COMMs. Today I came back to this and was able to perform a full, working, desktop installation from source, after spending some time investigating the hurdles that were thrown up along the way. If anyone is interested still, I can post the steps I performed.
Comment by soon on 2016-01-16:
Yes, I am interested on it.
I hope this is not too late to ask you to post the steps that you had performed.
|
Hi, I have a callback that I need to run after subscribing to a ROS image topic:
void imageCallback(const sensor_msgs::ImageConstPtr& original_image, int n) {
..
}
as you can see, the callback takes two parameters, the image and a number.
I know that is possible to use boost library to send two parameters to the callback in this way:
image_transport::Subscriber sub = it.subscribe("/camera1/RGB", 1, boost::bind(imageCallback,_1, 1));
but I would like to use also a compression transport plug-in.
So, if I write
image_transport::Subscriber sub = it.subscribe("/camera1/RGB", 1, boost::bind(imageCallback, _1, 1),image_transport::TransportHints::TransportHints("compressed"));
I cannot build the code:
error: no matching function for call to ‘image_transport::ImageTransport::subscribe(const char [13], int, boost::_bi::bind_t<void, void (*)(const sensor_msgs::ImageConstPtr&, int), boost::_bi::list2<boost::arg<1>, boost::_bi::value<int> > >, image_transport::TransportHints)’
/opt/ros/fuerte/stacks/image_common/image_transport/include/image_transport/image_transport.h:40: note: candidates are: image_transport::Subscriber image_transport::ImageTransport::subscribe(const std::string&, uint32_t, const boost::function<void(const sensor_msgs::ImageConstPtr&)>&, const ros::VoidPtr&, const image_transport::TransportHints&)
/opt/ros/fuerte/stacks/image_common/image_transport/include/image_transport/image_transport.h:48: note: image_transport::Subscriber image_transport::ImageTransport::subscribe(const std::string&, uint32_t, void (*)(const sensor_msgs::ImageConstPtr&), const image_transport::TransportHints&)
So, how I should write the subscriber line code?
Thanks
Originally posted by rosmat88 on ROS Answers with karma: 3 on 2014-01-02
Post score: 0
|
Hi all
I am installing the ros turltebot. I see in this website http://namniart.com/repos/status/hydro.html of libraries for ubuntu arm, it has ros-hydro-turtlebot-bringup or the other packages of turtlebot but when I typed command
sudo apt-get install ros-hydro-turtlebot-bringup
I had the notice
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-hydro-turtlebot-bringup : Depends: ros-hydro-kobuki-bumper2pc but it is not installable
Depends: ros-hydro-kobuki-description but it is not installable
Depends: ros-hydro-kobuki-node but it is not installable
Depends: ros-hydro-kobuki-safety-controller but it is not installable
Depends: ros-hydro-openni-camera but it is not installable
Depends: ros-hydro-rocon-app-manager but it is not installable
E: Unable to correct problems, you have held broken packages.
It means I have to install the below packages, but they are not supported in ros hydro for arm.
So what problem in here?
Originally posted by domikilo on ROS Answers with karma: 89 on 2014-01-02
Post score: 0
|
Is there a ROS tool that enforces the ROS coding style and in particular the naming conventions?
I am currently using roslint, but it doesn't seem to be checking the variable/class/method naming conventions.
I would like a tool that catches/fixes naming issues (those that don't adhere to a style). Currently, I catch these issues at code review time, but it would be better if developers had a tool to catch/fix these mistakes themselves.
Originally posted by sedwards on ROS Answers with karma: 1601 on 2014-01-02
Post score: 5
|
I installod ROS Hydro and am trying to get it working. None of the commands seem to work . I started to reinstall ROS and when I got to sudo apt-get update (to get the latest Debian stuff)I get this message E: Type 'dep' is not known on line 1 in source list /etc/apt/sources.list.d/ross-latest.list
followed by: E: The list of sources could not be read.
I did not get these messages on the initial install (or didn't see them).
How do I fix this? It seems to be what's keeping ROS from working.
Originally posted by DelWilson on ROS Answers with karma: 1 on 2014-01-02
Post score: 0
Original comments
Comment by DelWilson on 2014-01-02:
Clarification: one file is named ros-latest.list and starts with dep and the other ross-latest.list which starts with deb.
|
i noticed that ar_pose is subscribing only camera_info and image_raw while image_proc doesn't publish image_raw. so, i wonder what is its purpose in ar_pose?
btw, i noticed that the surrounding lighting affects the ar_pose performance greatly. is there anything i can look at to reduce the effect of the lighting or increase ar_pose performance (e.g. detection distance etc)?
Originally posted by chao on ROS Answers with karma: 153 on 2014-01-02
Post score: 1
|
Hi guys,
Usually if we were to set the estimated pose of robot we will just reposition it in rviz by simply clicking to relocate it to our desire position.
What if I wanted to reposition it programatically? (Not a fixed one.)
Or it can be done in terminal?
Because somehow I cant relocate myself in the rviz after I put everything together into my robot. Previously it is able to relocate with only one laser.
Thank you so much.
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2014-01-02
Post score: 0
|
Hello and happy new year!
I am trying to migrate some simple ROS packages (Fuerte) to Hydro and catkin.
As far as I understand the catkinize programm should be able to migrate packages from rosbuild to catkinize. But so far it has failed with two simple packages showing this traceback. According to http://wiki.ros.org/catkin/migrating_from_rosbuild no special preperations, except for setting up the workspace should be required.
catkinize sas_utils 1.0.0
Traceback (most recent call last):
File "/usr/local/bin/catkinize", line 5, in <module>
pkg_resources.run_script('catkinize==0.1', 'catkinize')
File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 499, in run_script
self.require(requires)[0].run_script(script_name, ns)
File "/usr/lib/python2.7/dist-packages/pkg_resources.py", line 1235, in run_script
execfile(script_filename, namespace, namespace)
File "/usr/local/lib/python2.7/dist-packages/catkinize-0.1-py2.7.egg/EGG-INFO/scripts/catkinize", line 61, in <module>
main()
File "/usr/local/lib/python2.7/dist-packages/catkinize-0.1-py2.7.egg/EGG-INFO/scripts/catkinize", line 56, in main
changeset = catkinize_stack(path, version)
File "/usr/local/lib/python2.7/dist-packages/catkinize-0.1-py2.7.egg/catkinize/main.py", line 79, in catkinize_stack
path)
ValueError: Path is not a rosbuild stack, missing stack.xml at sas_utils
Why does it require a Sack as an input?
Furtermore I would like to know what the version number (the second input Parameter) is good for and when it becomes relevant.
Thats my OS specs:
Linux Grot-M58p 3.8.0-34-generic #49~precise1-Ubuntu SMP Wed Nov 13 18:05:00 UTC 2013 x86_64 x86_64 x86_64 GNU/Linux
BR,
Mario
Originally posted by Eisenhorn on ROS Answers with karma: 82 on 2014-01-03
Post score: 0
|
I have a simple sonar sensor running to an Arduino Mega ADK. On the Arduino I have the following code patched together from rosserial_arduino tutorials and the code specific to my sensor:
#include <ros.h>
#include <ros/time.h>
#include <sensor_msgs/Range.h>
#include <Ultrasonic.h>
ros::NodeHandle nh;
sensor_msgs::Range range_msg;
ros::Publisher pub_range( "/ultrasound", & range_msg);
char frameid[] = "/ultrasound";
int inMsec;
#define TRIGGER_PIN 48
#define ECHO_PIN 49
Ultrasonic ultrasonic(TRIGGER_PIN, ECHO_PIN);
void setup()
{
nh.initNode();
nh.advertise(pub_range);
range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND;
range_msg.header.frame_id = frameid;
range_msg.field_of_view = 0.1; // fake
range_msg.min_range = 0.0;
range_msg.max_range = 6.47;
}
long range_time;
void loop()
{
long microsec = ultrasonic.timing();
inMsec = ultrasonic.convert(microsec, Ultrasonic::IN);
//publish the adc value every 50 milliseconds
//since it takes that long for the sensor to stablize
if ( millis() >= range_time ){
int r =0;
range_msg.range = inMsec;
range_msg.header.stamp = nh.now();
pub_range.publish(&range_msg);
range_time = millis() + 50;
}
nh.spinOnce();
}
I know it is publishing as rostopic list shows .ultrasound as one of the running topics. As I expect based on the line
range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND;
it is publishing a Range and that is confirmed by running rostopic type ultrasound.
My subscriber, however, refuses to read this because of the Range type. Here's the code:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_name() + ": I heard %s" % data.data)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("ultrasound", Range, callback)
rospy.spin()
if __name__=='__main__':
listener()
based on the simple publisher and subscriber tutorials.
However, when I run it, the error message tells me
Traceback (most recent call last):
rospy.Subscriber("ultrasound", Range, callback)
NameError: global name 'Range' is not defined
I tried changing it to rospy.Range and got
rospy.Subscriber("ultrasound", rospy.Range, callback)
AttributeError: 'module' object has no attribute 'Range'
I understand the error, but have no idea how to fix it. Can I get a gentle-ish shove in the right direction?
Originally posted by richkappler on ROS Answers with karma: 106 on 2014-01-03
Post score: 1
Original comments
Comment by mukut_noob on 2016-04-08:
Hello mate, I am thinking of doing the same but as you have included the file Ultrasound.h, I am asking that this file contains the code that gets the raw data from the sensor?
|
Hello all,
I'm interested in programming Turtlebot in gazebo environment. I've finished the basic stuff on its tutorial page however I'm interested in doing more advanced stuff.
For example, I want to get data from either its virtual Kinect or a real one and then program it with C++ to function it as an obstacle avoiding robot.
Can someone point me in the right direction ?
Thanks.
Originally posted by SpiderRico on ROS Answers with karma: 35 on 2014-01-03
Post score: 0
|
when i input the command"rosrun urdf_parser check_urdf my_robot.urdf "to the new terminal.error emerge as below:
[ERROR] [1388809948.900513147]: Could not find the 'robot' element in the xml file
ERROR: Model Parsing the xml failed
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2014-01-03
Post score: 0
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.this is just a small part of the urdf file.actually i do not know the meaning of"rpy=0 0 1.57".what does rpy stand for?
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2014-01-03
Post score: 1
|
rosrun urdfdom check_urdf my_robot.urdf
[rospack] Error: stack/package urdfdom not found
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2014-01-03
Post score: 0
|
I know that the "python-problem" in arch linux is already known, and i don't like it. I've managed to install ros-hydro from source in my arch, which took a lot of time for me. I've replaced all calls to python for a explicit python2 call with grep and sed, like this:
grep -rl ./ "/bin/env python" | xargs sed -i 's/env python/env python2/g'
"#!/bin/env python" -> "#!/bin/env python2".
But, even with that, i had to set the option -DPYTHON_EXECUTABLE=python2 manually on the command line. I've tried to figure out how i could set some kind of default in the sources, so i put this line on the "python.cmake" file, in catkin/cmake/:
set(PYTHON_EXECUTABLE python2).
that works fine, but it just doesn't seem the correct way to do it, because if i do the following to build ros: ./src/catkin/bin/catkin_make_isolated -DPYTHON_EXECUTABLE=python3.3 for example, it builds normally, like if PYTHON_EXECUTABLE option became constant somehow.
could someone explain me how this variable is set, and how i could make this solution seem more "correct"... and, why doesn't the official sources make explicit calls for python2, instead of python? wouldn't that make ros more portable? I also don't like the way it feels like the only supported platform is ubuntu.
Originally posted by Edno on ROS Answers with karma: 46 on 2014-01-04
Post score: 2
Original comments
Comment by tfoote on 2014-01-05:
@Dirk Thomas I retagged this if you didn't get the notification.
|
Hi,
I started ROS tutorials, using catkin system as a workspace builder. I didn't had any issue until this tutorial examining service and client nodes.
After creating having written my service and client nodes in the previous tutorial, I tried to run them :
$ rosrun beginner_tutorials add_two_ints_server.py
and i get this error :
"Traceback (most recent call last):
File
"~/catkin_ws/src/beginner_tutorials/scripts/add_two_ints_server.py",
line 4, in
from beginner_tutorials.srv import *
ImportError: No module named beginner_tutorials.srv"
I searched how to resolve this problem, but i didn't find an answer for catkin system build (for rosbuild, it seems like uncomment #rosbuild_genmsg() and #rosbuild_gensrv() lines on the CMakeLists.txt is enough).
However, there is no comments like that in my CMakeLists.txt (due to the fact I used catkin and not rosbuild).
I even tried to rebuild my workspace by erasing devel and build files in my catkin workspace, and rebuild it, but it didn't work.
I could use some help on this if you know how to do it. Thank you !
Originally posted by Polo on ROS Answers with karma: 1 on 2014-01-04
Post score: 6
|
I'm working through the URDF Tutorial and one of the first things to do is to load a example file, 01-myfirst.urdf, into rviz for visualization. So I load the example file as is, run the rviz launch file, rviz opens up, and the rviz grid is empty -- no robot!
I do get a warning message in rviz that says:
No tf data. Actual error: Fixed Frame [map] does not exist
What does this mean? What's missing? Why can't I see the robot?
P.S. I'm running Hydro.
Originally posted by daalt on ROS Answers with karma: 159 on 2014-01-04
Post score: 0
|
Hi, I am using an Acer Aspire 4935G on Ubuntu 13.04 But I cannot install Ros Hydro, Can Someone please help me?
Originally posted by Ludwig on ROS Answers with karma: 1 on 2014-01-05
Post score: 0
Original comments
Comment by Hamid Didari on 2014-01-05:
what kind of error you recieved?
Comment by SL Remy on 2014-01-05:
Hello, can you edit your question with more details about the installation process used and (as mentioned above) what specific error messages you observed?
Comment by Ludwig on 2014-01-06:
I first tried to run it on 12.04. I copy the source code for 12.04 in but it said there was missing packages when I tried to update. I tried it on 13.04 but I got the same problem
|
This is a cross-post with one at answers.gazebosim.org, but it's not getting much traffic over there so I thought I would try here as well.
I have a basic differential drive robot that uses the differential drive ROS plugin that stops responding after I call reset_simulation or reset_world. I'm using ROS Hydro and Gazebo 1.9. For context, I am trying to collect data on several sets of trajectories (100's of trajectories total), which is why I would like to be able to reset the simulator and drive the next trajectory automatically.
As far as I can tell, this has nothing to do with any code I have written. When I start up Gazebo and the model loads in an empty world, the model will respond to commands sent on /cmd_vel, even using rostopic pub, so I know it's not any problem with code I have written. After using rosservice call /gazebo/reset_simulation or reset_world, the position of the model is reset correctly and the simulation continues to run, but commands sent to /cmd_vel are ignored.
One hint that might be helpful, is that if I call reset_simulation, the /odom topic is no longer published to either, but if I call reset_world, the /odom topic continues to be published (and it indicates a tiny amount of movement in the model).
I'm not sure if this is a bug, or some sort of problem with the way I am specifying my model (it's a pretty simple model, so that seems unlikely), but I have replicated it on two different computers.
Has anyone else run into this issue? If so, how did you resolve it? If it is in fact a bug, where should I submit the bug report?
Thanks in advance for your time.
Originally posted by Matt_Derry on ROS Answers with karma: 41 on 2014-01-05
Post score: 2
|
I was working through the MoveIt tutorials in which I launched the PR2 configuration demo using the RViz plugin and saw how you could use the 6-DOF interactive markers to move the robot joints. I then tried to do the same thing for my robot, but the interactive markers don't appear. Nothing happens when I click on the "Interact" button in RViz. The button is selected but my mouse cursor still displays as the camera control cursor.
How can I check to see what's preventing RViz from allowing me to interact with my robot?
Originally posted by daalt on ROS Answers with karma: 159 on 2014-01-05
Post score: 1
|
I just want to be able to use my custom launch files and am not having much success getting them to work.
Since I'm still new I didn't want to mess with the .bashrc file yet.
Edit: I added this to the .bashrc and it still didn't work
export ROS_PACKAGE_PATH=/home/mycomputer/Desktop/workspace:$ROS_PACKAGE_PATH
I'll provide the steps I did and maybe someone can tell me where I went wrong. I've looked through all of the tutorials on the ROS wiki, googled, and looked on here and am still coming up short.
I created a copy of openni_launch and renamed test_openni_launch on my desktop. I also created a barebones example_launch with example.launch inside a launch folder and a package.xml. I went to a new terminal and typed:
export | grep ROS
I then changed my ROS_PACKAGE_PATH from
ROS_PACKAGE_PATH="/opt/ros/hydro/share"
to
ROS_PACKAGE_PATH="/home/my_computer/Desktop:/opt/ros/hydro/share"
Yet I still receive the same message:
[test_openni.launch] is neither a launch file in package [test_openni_launch] nor is [test_openni_launch] a launch file name
I've been looking at the structure of launch files and I don't think it's my problem, I think that the path is my problem. I've been unable to resolve this, so I'm hoping someone can help. If I completely change the ROS_PACKAGE_PATH like so:
declare -x ROS_PACKAGE_PATH="/home/my_computer/Desktop"
It returns this for roslaunch openni_launch openni.launch:
Invalid tag: Cannot load command parameter [rosversion]: command [rosversion roslaunch] returned with code [1].
Param xml is param command="rosversion roslaunch" name="rosversion"/
And does the same "invalid package" for my example.launch as previously shown.
Any ideas?
Edit2: I checked the answer here and it looks like my method of adding a folder from the desktop should be valid. What gives?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-01-05
Post score: 0
Original comments
Comment by Hamid Didari on 2014-01-07:
did you solve your problem?
Comment by Athoesen on 2014-01-07:
Yes, thank you!
|
Why does openni_tracker not show in Ubuntu software center
sudo apt-get install openni_tracker
[sudo] password for viki:
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package openni_tracker
Originally posted by rnunziata on ROS Answers with karma: 713 on 2014-01-05
Post score: 0
|
I am doing a simple android app using Ros in Android Studio. I followed the tutorial 'Installation-Android Studio Development Environment' http://wiki.ros.org/android/Tutorials/hydro/Installation%20-%20Android%20Studio%20Development%20Environment
Everything was good and I successfully compiled it. But then I got an error when I tried to Run it. After that, I couldn't compile it successfully anymore.
Gradle: trouble processing "javax/xml/parsers/DocumentBuilder.class":
Ill-advised or mistaken usage of a core class (java.* or javax.*) when not building a core library. This is often due to inadvertently including a core library file in your application's project, when using an IDE (such as Eclipse). If you are sure you're not intentionally defining a core class, then this is the most likely explanation of what's going on. However, you might actually be trying to define a class in a core namespace, the source of which you may have taken, for example, from a non-Android virtual machine project. This will most assuredly not work. At a minimum, it jeopardizes the compatibility of your app with future versions of the platform. It is also often of questionable legality. If you really intend to build a core library -- which is only appropriate as part of creating a full virtual machine distribution, as opposed to compiling an application -- then use the "--core-library" option to suppress this error message. If you go ahead and use "--core-library" but are in fact building an application, then be forewarned that your application will still fail to build or run, at some point. Please be prepared for angry customers who find, for example, that your application ceases to function once they upgrade their operating system. You will be to blame for this problem. If you are legitimately using some code that happens to be in a core package, then the easiest safe alternative you have is to repackage that code. That is, move the classes in question into your own package namespace. This means that they will never be in conflict with core system classes. JarJar is a tool that may help you in this endeavor. If you find that you cannot do this, then that is an indication that the path you are on will ultimately lead to pain, suffering, grief, and lamentation. 1 error; aborting
Error:Gradle: Execution failed for task ':MyApplication:dexDebug'. Could not call IncrementalTask.taskAction() on task ':MyApplication:dexDebug'
I searched for the solution and it seems that i need to exclude some dependencies but I don't know which one need to be exclude and why. I only depends on what the tutorial asked me to do. I don't know which one conflict with the core library.
Can anybody help me solve this? the project compiled successfully. FYI: Ubuntu 12.04 Android Studio
0.3.2 Android API 19 Gradle 0.6.+
here is the the sub project build.gradle:
buildscript {
repositories {
mavenCentral()
}
dependencies {
classpath 'com.android.tools.build:gradle:0.6.+'
} } apply plugin: 'android'
repositories {
maven {
url 'https://github.com/rosjava/rosjava_mvn_repo/raw/master'
}
mavenCentral() }
android {
compileSdkVersion 19
buildToolsVersion "19.0.0"
defaultConfig {
minSdkVersion 13
targetSdkVersion 19
} }
dependencies { compile 'com.android.support:appcompat-v7:+'
compile 'org.ros.android_core:android_gingerbread_mr1:0.1.+'
compile 'org.ros.android_core:android_honeycomb_mr2:0.1.+'
compile 'org.ros.rosjava_core:rosjava:0.1.+' }
Originally posted by Lunbo on ROS Answers with karma: 93 on 2014-01-05
Post score: 1
|
Hello everyone,
I want to setup a connection between my robot and my laptop. I had done it successfully like a thousand times before but this time something went wrong and now, I am unable to locate the problem. Here are the details:
This is the error message:
Unable to contact my own server at
[http://192.168.10.200:59534/]. This
usually means that the network is not
configured properly.
A common cause is that the machine
cannot ping itself. Please check for
errors by running:
ping 192.168.10.200
For more tips, please see
http://www.ros.org/wiki/ROS/NetworkSetup
IPs of the machines:
IP of the robot: 192.168.10.200
My IP: 192.168.10.199
On my laptop, exports are as follows:
export ROS_MASTER_URI=http://192.168.10.200:11311
export ROS_IP=192.168.10.200
Every ping combination works and also netcat tests are successful.
Furthermore, when I start both machines with this configurations and start roscore on my robot, I am able to see the topics on my laptop by typing
rostopic list
This means that the robot and my laptop can indeed communicate. However, when I try to run a node from the laptop I got the error message given above.
I performed an exhaustive search on almost all the combinations of ROS_xxx environment variables (which are related with network setup) and /etc/hosts file entries on both machines with no luck.
Hope someone guides me through these complicated configurations.
Thanks in advance.
Originally posted by yigit on ROS Answers with karma: 796 on 2014-01-06
Post score: 2
|
Does this have to be done through the catkin process or can you simply create a necessary folder structure with the requisite files? If so, how do you add it so that Hydro will recognize it since ROS_PACKAGE_PATH is used differently for Hydro than previous editions?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-01-06
Post score: 0
Original comments
Comment by Hamid Didari on 2014-01-06:
I'm not sure to understand your problem correctly but if you want to add one folder as an extra work space you can do it in bashrc for example
export ROS_PACKAGE_PATH=~/working_space:$ROS_PACKAGE_PATH
Comment by Athoesen on 2014-01-06:
Except that I've done that and it refuses to recognize any addition to ROS_PACKAGE_PATH that isn't in /opt/ros/~. I finally got one launch working by adding the fuerte path into the package path but I can't add any folders from my desktop. I'm not sure why.
Comment by Athoesen on 2014-01-06:\
Does it matter if I use cd && nano .bashrc to edit it? I've already put my test directory in the .bashrc before and it didn't work to make roslaunch recognize my custom launch files.
I created the test package but I am unsure how this is used with launch files?
Comment by Athoesen on 2014-01-06:
Hamid, it worked! I can run any launch file by placing it in a launch folder in that test folder. Why does it work that way? I looked all over the tutorials and could not find this. Is it because roslaunch needs all of the other stuff in the test folder? Thank you my friend!
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I'm working on a kinect project. I'm trying to write a pair of files that test out the PointCloud2 sensor message. I don't know how to make the 'listener' python script read the value that I have created in the 'talktest' script. I am using the class defined here:
sensor_msgs/point_cloud2.py (I could not post a link)
This is my code. These are my includes. I use them pretty much the same in both files.
#!/usr/bin/env python
import rospy
import sensor_msgs.point_cloud2 as pc2
from sensor_msgs.msg import PointCloud2, PointField
This is the 'talktest' code.
#talktest
def test():
rospy.init_node('talktest', anonymous=True)
pub_cloud = rospy.Publisher("camera/depth_registered/points", PointCloud2)
while not rospy.is_shutdown():
pcloud = PointCloud2()
# make point cloud
cloud = [[33,22,11],[55,33,22],[33,22,11]]
pcloud = pc2.create_cloud_xyz32(pcloud.header, cloud)
pub_cloud.publish(pcloud)
rospy.loginfo(pcloud)
rospy.sleep(1.0)
if __name__ == '__main__':
try:
test()
except rospy.ROSInterruptException:
pass
Then I have written a script that listens for point cloud data. It always throws a AttributeError.
#listener
def listen():
rospy.init_node('listen', anonymous=True)
rospy.Subscriber("camera/depth_registered/points", PointCloud2, callback_kinect)
def callback_kinect(data) :
# pick a height
height = int (data.height / 2)
# pick x coords near front and center
middle_x = int (data.width / 2)
# examine point
middle = read_depth (middle_x, height, data)
# do stuff with middle
def read_depth(width, height, data) :
# read function
if (height >= data.height) or (width >= data.width) :
return -1
data_out = pc2.read_points(data, field_names=None, skip_nans=False, uvs=[width, height])
int_data = next(data_out)
rospy.loginfo("int_data " + str(int_data))
return int_data
if __name__ == '__main__':
try:
listen()
except rospy.ROSInterruptException:
pass
I always get this error:
[ERROR] [WallTime: 1389040976.560028]
bad callback: <function
callback_kinect at 0x2a51b18>
Traceback (most recent call last):
File
"/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py",
line 681, in _invoke_callback
cb(msg) File "./turtlebot_listen.py", line 98, in
callback_kinect
left = read_depth (left_x, height, data) File "./turtlebot_listen.py",
line 126, in read_depth
int_data = next(data_out) File "/opt/ros/hydro/lib/python2.7/dist-packages/sensor_msgs/point_cloud2.py",
line 74, in read_points
assert isinstance(cloud, roslib.message.Message) and
cloud._type ==
'sensor_msgs/PointCloud2', 'cloud is
not a sensor_msgs.msg.PointCloud2'
AttributeError: 'module' object has no
attribute 'message'
Can anyone tell me how to use this library correctly?
Originally posted by david.c.liebman on ROS Answers with karma: 125 on 2014-01-06
Post score: 0
|
I came across this while reading the ROS wiki: http://download.ros.org/downloads/ROScheatsheet.pdf
I know at least the rxgraph has been replaced by rqt_graph but does anyone know if there's a more updated sheet like this?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-01-06
Post score: 4
Original comments
Comment by gustavo.velascoh on 2014-01-06:
Feel free to do it and share it to the community :D
|
Should it be possible to set a xacro property with a value passed in as an argument?
<xacro:property name="length" value=$(arg length_arg)" />
Right now I get:
ValueError: could not convert string to float: $(arg chassis_length_arg)
I'd like to be able to do math on xacro arguments, but
${$(arg length_arg) / 2}
also doesn't work so there appears to be no way to do it other than precomputing the right values and passing them in as args.
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-01-06
Post score: 0
|
If I do this:
<rosparam command="load" file="$(find mypkg)/config/example.yaml" />
Can I then use values set in the yaml as arguments going into a xacro file?
(I haven't experimented much here and I'll update this when I do try it tomorrow, but it seems like the documentation says only the other direction is possible: values can be set on the parameter server from within a launch file, and the local copies of those values can be used inside that same launch file and used as arguments, but there is no read access to the parameter server?)
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-01-06
Post score: 1
Original comments
Comment by ahendrix on 2014-01-06:
I'm not sure this is possible. You may get better answers if you elaborate on why you want to do this.
Comment by lucasw on 2014-01-08:
I'd like to have a centralized place (the yaml file) defining critical robot dimensions, then pass these into a xacro file defining the robot, but also allow certain nodes to get some of the same dimensions from the parameter server.
Comment by fvd on 2017-06-04:
How did you end up solving this? Did you find a satisfactory solution?
Comment by lucasw on 2017-06-13:
I saw another question similar to this http://answers.ros.org/question/263768/yaml-parameters-to-node-args/ and then starting trying out using eval in kinetic to try to access the parameter server (see the comments), but so far no luck.
Comment by lucasw on 2017-06-13:
It would be nice if there was a $(load_param /foo/x) but maybe there would be race conditions with <param ... setting in the same launch files?
|
I have a rospy node that has both a main loop and a subscriber callback that both need to modify the same global variable and I'm wondering if I have to use thread locking to prevent weirdness. The following snippet exhibits what I mean. Does the variable self.move_cmd.angular.z need locking in this situation?
def __init__():
rospy.init_node("test")
rospy.subscriber('roi', RegionOfInterest, self.roi_callback)
while not rospy.is_shutdown():
if not target_visible:
self.move_cmd.angular.z = 0
rospy.sleep(1)
def roi_callback(self, msg):
if msg.width !=0 and msg.height != 0:
self.move_cmd.angular.z = 0.1 * msg.x_offset
Thanks!
patrick
Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2014-01-06
Post score: 1
|
I want to install the hector_slam package in ROS. I downloaded the file from the URL, but I don't know where to put it and how to install the package. Instead of having package.xml in the root folder, it has a stack.xml. I don't know the difference and "rosmake" doesn't work here. If I put the files under the /src folder in my catkin workspace, when I run "catkin_make" it doesn't make the files in this package. I found a few methods online for the earlier versions of ROS, one of them is using "rosws", but it gave a lot of errors and I don't really know what to do when specifying a target workspace. It's my first time installing a package from source, could anyone kindly help me? If possible, I wish to know the general way to install packages in ROS.
Many thanks in advance!
Originally posted by CathIAS on ROS Answers with karma: 15 on 2014-01-06
Post score: 1
|
I have a vehicle that uses sbpl to travel through an environment. The vehicle uses lidar to populate the costmap during travel, but data may also be received through other means (visual, other vehicles). Is there a way to populate a costmap using other data?
Currently, I may have obstacle information such as x,y,z position as well as shape information (lenght, width, etc). The only way I can see how to populate the map at the moment is to generate a point cloud with the known obstacle information and then to publish that data.
Another question is whether there is a way to remove that same information from the costmap? For example, what if I travel through the environment near that previous target and find that it is actually not there or has moved?
Originally posted by orion on ROS Answers with karma: 213 on 2014-01-06
Post score: 0
|
i am using ubuntu 12.04 and ros groovy. is there anyway i can install it on groovy or anything i can do to use it? and any tutorial on this? thanks.
Originally posted by chao on ROS Answers with karma: 153 on 2014-01-06
Post score: 0
|
Hi,
I am using hokuyo UTM-30lx to do mapping using hector slam and i am facing a problem when running the hector slam.
It shows the following message below:
[INFO][1389574162.6000311161]: lookupTransform base_stabilized to laser timed out. Could not transform laser scan into base_frame.
"Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (4): Frame /base_link exists with parent /base_stabilized.
Frame /base_stabilized exists with parent NO_PARENT.
Frame /laser exists with parent /base_link."
rostopic:
/diagnostics
/hokuyo/parameter_updates
/hokuyo/parameter_descriptions
/imu
/initialpose
/map
/map_metadata
/pose2D
/poseupdate
/rosout
/rosout_agg
/scan
/slam_cloud
/slam_out_pose
/syscommand
/tf
/tf/tfMessage
/trajectory
edited: laser scan cannot be seen if fixed frame is set to base_stabilized in rviz can be seen if fixed frame is set to base_link.
target frame: laser
<launch>
<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="min_ang" value="-2.356194437"/>
<param name="max_ang" value="2.35619443"/>
<param name="cluster" value="1"/>
</node>
#### 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 0.0 0.0 0.0 /base_link /laser 40" />
<node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
<remap from="imu_topic" to="thumper_imu" />
<param name="base_stabilized_frame" type="string" value="base_stabilized" />
<param name="base_frame" type="string" value="base_link" />
</node>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_stabilized" />
<param name="odom_frame" value="base_stabilized" />
<param name="output_timing" value="false"/>
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="scan_topic" value="scan"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.025"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_update_distance_thresh" value="0.1" />
<param name="map_update_angle_tresh" value="0.3" />
<param name="laser_z_min_value" value="-1.0" />
<param name="laser_z_max_value" value="1.5" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="pub_map_odom_transform" value="true"/>
<!--
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
</node>
<param name="hector_mapping/pub_map_odom_transform" value="true"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />
</launch>
How do i solve this problem?
Thanks in advance
Originally posted by saunders on ROS Answers with karma: 3 on 2014-01-06
Post score: 0
|
import roslib
roslib.load_manifest('pr2_pick_and_place_demos').
this is one part of a python file. i do not know the meaning of roslib.load_manifest('pr2_pick_and_place_demos').someone to tell me .TA
Originally posted by peter_pan_lqm on ROS Answers with karma: 126 on 2014-01-06
Post score: 10
Original comments
Comment by Athoesen on 2014-01-07:
Please provide more details to your problem.
|
Observations:
roswtf gives me an error stating that Not all paths in ROS_PACKAGE_PATH point to an existing directory; the missing one is /opt/ros/hydro/stacks;
I believe that the /opt/ros/hydro/stacks item in ROS_PACKAGE_PATH environment variable comes from the /opt/ros/hydro/setup.bash script;
if I understand it correctly, there are no stacks in ROS hydro;
there already is an answer proposing to simply create the missing stacks directory;
There is a document that states that the /opt/ros/hydro/stacks directory is there for backwards compatibility with rosmake packages
Question:
Is there a bug in /opt/ros/hydro/setup.bash or should have been the /opt/ros/hydro/stacks created during installation? Where to report that bug/how to find out what package is responsible for creation of such a directory?
The environment:
I am running ROS hydro on top of Ubuntu 12.04.3. My system contains an installation of ROS groovy too.
Originally posted by Filip Jareš on ROS Answers with karma: 3 on 2014-01-06
Post score: 0
|
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 /odom is not connect to /robot1/base_footprint and /robot2/base_footprint.
On Gazebo there isn't problem, but the problems are there when I do the navigation.
This is my tf_tree (http://db.tt/FBCGz4sD)
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 -->
<param name="/use_sim_time" value="true" />
<!-- start world -->
<node name="gazebo" pkg="gazebo_ros" type="gzserver" args="$(find tesi_gazebo)/worlds/empty.world" respawn="false" output="screen" />
<!-- start gui -->
<node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"/>
<!-- BEGIN ROBOT 1-->
<group ns="robot1">
<param name="tf_prefix" value="robot1" />
<include file="$(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" />
<param name="tf_prefix" type="string" value="robot1"/>
</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" />
<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="$(arg 3d_sensor)"/>
<arg name="init_pose" value="-x 1 -y -1 -z 0" />
<arg name="robot_name" value="Robot2" />
</include>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
<param name="tf_prefix" type="string" value="robot2"/>
</node>
<!-- Fake laser -->
<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/camera_depth_frame"/>
<param name="range_min" value="0.45"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
This is kobuki.launch.xml
<launch>
<arg name="base"/>
<arg name="stacks"/>
<arg name="3d_sensor"/>
<arg name="robot_name"/>
<arg name="init_pose"/>
<arg name="urdf_file" default="$(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>
I don't know if in order to make the navigation of the two turtlebot I must connect odom to /robot1/base_footprint and /robot2/base_footprint. Or if it is already correct.
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2014-01-06
Post score: 2
|
Hi all,
do someone know how to update the slam gmapping map more often.
I need continuous updates in time. It should not longer depend on the degree of exploration. So far I did not manage it, quite long delays appear until the map is extended.
I appreciate every hint ...
Thanks, Daniel
Originally posted by dneuhold on ROS Answers with karma: 205 on 2014-01-06
Post score: 1
|
Hi, recently I installed hydro in a computer with fuerte while mantaining this latter version. I had several problems, one solved here:
"answers.ros.org/question/44996/cannot-run-roscore-due-to-error-in-rosversion/"
and another with rviz showing this message:
[ WARN] [1388656039.856059873]: OGRE EXCEPTION(7:InternalErrorException): Cannot compile GLSL high-level shader : rviz/glsl120/nogp/box.frag Cannot compile GLSL
The latter was solved after actualizing to rviz 1.10.10, but now it doesn't display any meshes: not collada meshes sent through a marker not even a point cloud when is displayed in style "cubes" (though it properly represent the cloud in any of the other sytles).
The packages and meshes I am using works fine in other computers where I also installed hydro jointly with a fuerte version (though I never got this warn from rviz previously).
I don't know what more to do, I uninstalled fuerte and reinstalled hydro with no improvements. Any one has idea about where this fail may come from? Thanks in advance!
Originally posted by ercarrion43 on ROS Answers with karma: 11 on 2014-01-07
Post score: 0
|
Trying to follow the how to (it says link to it but doesn't let me link because I haven't the karma) leads to the following error log
../i586-poky-linux-libtool --mode=link i586-poky-linux-gcc -m32 -march=i586 --sysroot=/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/sysroots/clanton -o setfattr -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed setfattr.o ../libmisc/libmisc.la ../libattr/libattr.la
attr.o: In function `usage':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:45: undefined reference to `libintl_gettext'
attr.o: In function `main':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:69: undefined reference to `libintl_bindtextdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:70: undefined reference to `libintl_textdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:136: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:176: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:91: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:240: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:199: undefined reference to `libintl_gettext'
attr.o:/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr/attr.c:230: more undefined references to `libintl_gettext' follow
collect2: error: ld returned 1 exit status
make[2]: *** [attr] Error 1
make[2]: Leaving directory `/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/attr'
make[1]: *** [attr] Error 2
make[1]: *** Waiting for unfinished jobs....
i586-poky-linux-libtool: link: i586-poky-linux-gcc -m32 -march=i586 --sysroot=/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/sysroots/clanton -o .libs/getfattr -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed getfattr.o ../libmisc/.libs/libmisc.a ../libattr/.libs/libattr.so
getfattr.o: In function `print_attribute':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:258: undefined reference to `libintl_gettext'
getfattr.o: In function `help':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:375: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:377: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:377: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:379: undefined reference to `libintl_gettext'
getfattr.o:/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:97: more undefined references to `libintl_gettext' follow
getfattr.o: In function `main':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:402: undefined reference to `libintl_bindtextdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:403: undefined reference to `libintl_textdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:490: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr/getfattr.c:476: undefined reference to `libintl_gettext'
collect2: error: ld returned 1 exit status
make[2]: *** [getfattr] Error 1
make[2]: Leaving directory `/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/getfattr'
make[1]: *** [getfattr] Error 2
i586-poky-linux-libtool: link: i586-poky-linux-gcc -m32 -march=i586 --sysroot=/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/sysroots/clanton -o .libs/setfattr -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed -Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed setfattr.o ../libmisc/.libs/libmisc.a ../libattr/.libs/libattr.so
setfattr.o: In function `help':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:175: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:176: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:177: undefined reference to `libintl_gettext'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:178: undefined reference to `libintl_gettext'
setfattr.o: In function `restore':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:124: undefined reference to `libintl_gettext'
setfattr.o:/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:128: more undefined references to `libintl_gettext' follow
setfattr.o: In function `main':
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:196: undefined reference to `libintl_bindtextdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:197: undefined reference to `libintl_textdomain'
/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr/setfattr.c:254: undefined reference to `libintl_gettext'
collect2: error: ld returned 1 exit status
make[2]: *** [setfattr] Error 1
make[2]: Leaving directory `/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46/setfattr'
make[1]: *** [setfattr] Error 2
make[1]: Leaving directory `/home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/attr-2.4.46'
make: *** [default] Error 2
ERROR: oe_runmake failed
ERROR: Function failed: do_compile (see /home/peter/devel_gal/meta-clanton_v0.7.5/yocto_build/tmp/work/i586-poky-linux/attr/2.4.46-r4/temp/log.do_compile.20832 for further information)
Originally posted by r2djoe on ROS Answers with karma: 1 on 2014-01-07
Post score: 0
|
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