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I currently have a setup where I have about 10 shell scripts that listen to 10 different KNX addresses (using the shell command grouplisten) and publish their state to a ROS topic. These scripts can run in the background, so it's quite convenient to 'listen' to the state of these devices.
I tried to replace these 10 scripts with a single python program that basically does this:
Declare a subprocess.Popen for each device, to listen to its knx device.
self.listen_stat = subprocess.Popen(self.cmds,stdout=subprocess.PIPE,preexec_fn=os.setsid)
Declare the node (in __main__) , and topic for each device ( in device.__init__()).
class DeviceProp:
def __init__(self):
...
self.pub = rospy.Publisher(self.name,Int32,latch=True)
Call a talker function like so:
try:
for device in device_props:
p = multiprocessing.Process(target=device.device_talker)
procs.append(p)
p.start()
except (KeyboardInterrupt,rospy.ROSInterruptException,IOError) as e:
for p in procs:
p.join()
(The device_talker basically just publishes new data to device.pub)
What happens is that the logs suggest data is being published, but I don't see anything on when I subscribe to those topics or if I do rostopic echo. If I run rostopic pub from a new shell, I get the data on the topic as expected. I've also added a rospy.sleep(1) at multiple places (in loops too) so that even if I lose the first few messages, I should get the later ones. But I don't.
Any suggestions on what I should do?
(In case you are wondering why - I want to replace 10 scripts with 1 for easier code management. Also, Since I can store all address and device props in a yaml file, it will be trivial to add, or edit the configuration file).
Originally posted by Mandar on ROS Answers with karma: 73 on 2014-01-20
Post score: 2
Original comments
Comment by Mandar on 2014-01-20:
I realize that I may be using the multiprocessing module wrong to share variables (the publisher for instance). It would be helpful if someone could suggest a way to fix that.
|
Hi people.
I'm looking forward to install an ubuntu BSP, but before that I would like to know if it is possible to install the ROS Hydro Medusa on it or any other release.
Originally posted by Origanne on ROS Answers with karma: 1 on 2014-01-20
Post score: 0
Original comments
Comment by Kamiccolo on 2014-01-20:
Could You be more specific on the board You trying to use?
Short googling came up with this wiki.ROS.org manual of installing Ubuntu + BPS + ROS Hydro on Intel Galileo. So, it appears, in general case it's possible :)
Still, You should consider using rosserial instead.
Comment by Athoesen on 2014-01-20:
This should be a good start.
http://wiki.ros.org/hydro
http://wiki.ros.org/ROS/Installation
|
Hi ros community
Im planing on migrating my packages to catkin. However I have a question regarding the structure of the catkin workspace. Currently I have this setup
/quadrotor [this is my github repro]
/controllers
/controller_1
-CMakeLists.txt
-manifest.xml
/src
/controller_2
-CMakeLists.txt
-manifest.xml
/src
/experiments
/user_1
/what_evernode_1
-CMakeLists.txt
-manifest.xml
/src
So i extensively used folders to structure my ros code. Is there a way i can maintain this hierarchy in catkin? Is it possible to have metapackages of metapackages? then i could easily make for every folder which only holds packages a metapackage.
Thanks a lot for your help
Originally posted by ffontana on ROS Answers with karma: 21 on 2014-01-20
Post score: 2
|
Hey Robot Enthusiasts,
I am currently working on a robot that is supposed to navigate a dynamic environment. So far I managed to build a robot model (with sensors like camera and LASERS) that I can spawn in Gazebo, use the already provided navigation stack to enable the robot to localize itself and to find a good path to a target position. So far so good.
Right now I have introduced a Visual Servoing controller which is suppose to take over the robot as soon as I can ensure a save control. So I still need the navigation stack to do its work in the beginning (to get me on the right track). Basically I am looking for a modular navigation in which I (or a supervising controller) can choose which sub-controller (my visual servoing controller, the ros navigation solution, further controllers) is used at any given time.
So what is my question:
Is there a way to stop (and later reengage) the published <geometry_msgs::Twist> from the ros navigation stack? I already tried "overwriting" this message with my own, but it did not work.
Thanks in advance
Marcus
Originally posted by Marcus on ROS Answers with karma: 164 on 2014-01-20
Post score: 1
|
I am trying to build the "openrave_planning", so that I can connect both openrave and ros together, but whenever I try to build is, I get this error at 94% of the completion.
Here is the error:
[ 90%] Building CXX object python/bindings/CMakeFiles/openravepy_int.dir/openravepy_collisionchecker.cpp.o
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp: In member function ‘boost::python::api::object openravepy::PyKinBody::GetViewerData() const’:
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp:1998:47: warning: ‘virtual OpenRAVE::UserDataPtr OpenRAVE::KinBody::GetViewerData() const’ is deprecated (declared at /home/karim/openrave_planning/openrave/openrave_git/include/openrave/kinbody.h:1737) [-Wdeprecated-declarations]
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp: In member function ‘boost::python::api::object openravepy::PyKinBody::GetPhysicsData() const’:
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp:2035:48: warning: ‘virtual OpenRAVE::UserDataPtr OpenRAVE::KinBody::GetPhysicsData() const’ is deprecated (declared at /home/karim/openrave_planning/openrave/openrave_git/include/openrave/kinbody.h:1756) [-Wdeprecated-declarations]
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp: In member function ‘boost::python::api::object openravepy::PyKinBody::GetCollisionData() const’:
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_kinbody.cpp:2039:50: warning: ‘virtual OpenRAVE::UserDataPtr OpenRAVE::KinBody::GetCollisionData() const’ is deprecated (declared at /home/karim/openrave_planning/openrave/openrave_git/include/openrave/kinbody.h:1760) [-Wdeprecated-declarations]
Linking CXX executable openrave0.9
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_robot.cpp: In member function ‘openravepy::PyRobotBase::PyManipulatorPtr openravepy::PyRobotBase::SetActiveManipulator(int)’:
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_robot.cpp:794:44: warning: ‘virtual void OpenRAVE::RobotBase::SetActiveManipulator(int)’ is deprecated (declared at /home/karim/openrave_planning/openrave/openrave_git/include/openrave/robot.h:672) [-Wdeprecated-declarations]
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_robot.cpp: In member function ‘int openravepy::PyRobotBase::GetActiveManipulatorIndex() const’:
/home/karim/openrave_planning/openrave/openrave_git/python/bindings/openravepy_robot.cpp:810:51: warning: ‘virtual int OpenRAVE::RobotBase::GetActiveManipulatorIndex() const’ is deprecated (declared at /home/karim/openrave_planning/openrave/openrave_git/include/openrave/robot.h:698) [-Wdeprecated-declarations]
make[3]: Leaving directory `/home/karim/openrave_planning/openrave/build'
[ 90%] Built target openrave
[ 91%] Building CXX object python/bindings/CMakeFiles/openravepy_int.dir/openravepy_controller.cpp.o
[ 92%] Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/linearsmoother.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[3]: *** [python/bindings/CMakeFiles/openravepy_int.dir/openravepy_kinbody.cpp.o] Error 4
make[3]: *** Waiting for unfinished jobs....
[ 92%] Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/randomized-astar.cpp.o
[ 93%] Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/workspacetrajectorytracker.cpp.o
/home/karim/openrave_planning/openrave/openrave_git/plugins/rplanners/workspacetrajectorytracker.cpp: In member function ‘virtual bool WorkspaceTrajectoryTracker::InitPlan(OpenRAVE::RobotBasePtr, OpenRAVE::PlannerBase::PlannerParametersConstPtr)’:
/home/karim/openrave_planning/openrave/openrave_git/plugins/rplanners/workspacetrajectorytracker.cpp:74:27: warning: variable ‘tstate’ set but not used [-Wunused-but-set-variable]
/home/karim/openrave_planning/openrave/openrave_git/plugins/rplanners/workspacetrajectorytracker.cpp: In member function ‘virtual OpenRAVE::PlannerStatus WorkspaceTrajectoryTracker::PlanPath(OpenRAVE::TrajectoryBasePtr)’:
/home/karim/openrave_planning/openrave/openrave_git/plugins/rplanners/workspacetrajectorytracker.cpp:163:31: warning: variable ‘fendtime’ set but not used [-Wunused-but-set-variable]
[ 93%] [ 94%] Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/parabolicsmoother.cpp.o
Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/pathoptimizers.cpp.o
make[3]: Leaving directory `/home/karim/openrave_planning/openrave/build'
make[2]: *** [python/bindings/CMakeFiles/openravepy_int.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
Linking CXX shared library librplanners.so
make[3]: Leaving directory `/home/karim/openrave_planning/openrave/build'
[ 94%] Built target rplanners
make[2]: Leaving directory `/home/karim/openrave_planning/openrave/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/karim/openrave_planning/openrave/build'
Originally posted by Bondoky on ROS Answers with karma: 1 on 2014-01-20
Post score: 0
|
Hello.
I'd like to install ROS on our department HPC cluster.
The cluster OS is CentOS 6.4.
$ uname -rms
Linux 2.6.32-358.el6.x86_64 x86_64
$ cat /etc/redhat-release
CentOS release 6.4 (Final)
Could anybody please tell me
what packages (source or binaries) to download
the install procedure
Thank you and best regards.
Robi
Originally posted by Robi on ROS Answers with karma: 11 on 2014-01-20
Post score: 1
Original comments
Comment by William on 2014-01-21:
Also, it is very likely many people did not see this question due to the tags you used, I'll try to improve my tag filter, as I don't know what other tags you would have put in.
|
Is it possible to make a ros python node that has more than one subscriber and more than one publisher? Are there examples of this?
Originally posted by david.c.liebman on ROS Answers with karma: 125 on 2014-01-20
Post score: 0
|
I have a custom msg data file containing the data field names that I wish to use for a project.
This data is published in a topic, that is written in Python. What I am trying to do is create a C++ script (Subscriber) that subscribes to this topic and displays a particular name within the msg data.
So far I have written the following:
void callback(const leap_motion_sensor::leap& msg)
{
ROS_INFO("I heard" + msg);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "features");
ros::NodeHandle n;
//ros::Timer timer1 = n.createTimer(ros::Duration(0.08), callback);
ros::Subscriber sub = n.subscribe("/leapmotion/data", callback);
ros::spin();
return 0;
}
I get the following warning message:
[WARN] [WallTime: 1390260279.317426] Could not process inbound connection: topic t
types do not match: [leap_motion_sensor/leap] vs. [leap_motion_sensor/leapros]
{'topic': '/leapmotion/data', 'tcp_nodelay': '0', 'md5sum':
'3e9a0dc7fd1a98f1d7489e9011c78807', 'type': 'leap_motion_sensor/leap', 'callerid':
'/features'}
Here is what the msg file contains:
Header header
float64[3] hand_direction
float64[3] hand_normal
float64[3] hand_palm_pos
float64 hand_pitch
float64 hand_roll
float64 hand_yaw
I just want to copy the data from the "hand_direction" into a std::vector<float> Is this possible and if so, what needs to be in my callback function in order to be able to pass through this data?
Thanks
Originally posted by Phorce on ROS Answers with karma: 97 on 2014-01-20
Post score: 0
|
I currently have a robot running Ubuntu with ROS installed and an Asus Xtion Pro Live attached. What I'm trying to do is to capture the video and push it to a server, and then have the server re-stream it so that other clients that connect to my server can view the stream. The server is running Windows, has a public ip and does not have ROS installed.
What I currently have now is, while the robot is on the same wifi as a client, use mjpeg_server, and have the client connect directly to the robot to view the stream. What I'm trying to overcome is, if I wanted to use my robot outside and use a 3G/4G dongle, I wouldn't be able to connect to it directly. Or, if I wanted to view the video stream from outside the network. So I want it to push the stream to my server, and then have clients connect to the server to view the stream through a webapp. The server currently runs a webapp on tomcat, using java, javascript jsp, jquery, mssql. I want to add on to the webapp to allow viewing the video stream from the Asus Xtion on my robot, without having to install ROS on the server if possible.
I roughly know that there will be three things I have to do:
Stream the Asus Xtion camera feed to the server,
Receive the stream on my server somehow, and
Have my server re-stream the video.
But I don't really have any idea on how to go about doing this. Can anyone help?
EDIT: I know that with VLC, I can pull a video stream, and then re-stream it. However this won't work for me because I won't be able to pull from the robot; it doesn't have a public ip so it wouldn't be accessible.
Originally posted by Andrew.A on ROS Answers with karma: 324 on 2014-01-20
Post score: 3
Original comments
Comment by Tim Sweet on 2014-01-21:
It seems like this is unrelated to ROS, where would you want to fit ROS in? If you just need a rough implementation, it is possible to stream on OpenCV matrix over TCP/UDP sockets, but don't expect excellent performance for the resolution of the Xtion. If you need more fidelity I'd use videolan.org
Comment by Andrew.A on 2014-01-21:
It doesn't necessarily have to use ROS, but I was thinking perhaps I could use ROS to get the stream produced by mjpeg_server, and then push it out to the server.
Comment by Andrew.A on 2014-01-21:
Also, as far as I know, VLC can only pull a video stream, and then re-stream it. This isn't possible for me because the robot doesn't have a public IP, as I've mentioned I'll be using 3G or 4G. I've also stated in my question that I need to push to the server, not pull from the server.
Comment by Tim Sweet on 2014-01-22:
The mjpeg_server package is serving the OpenCV matrix over TCP, so you could try it. To solve the public IP problem I'd suggest using openvpn (openvpn.net). Either way your going to have terrible quality and latency over 3G/4G, so I would do some processing on the robot to reduce the data size.
Comment by Andrew.A on 2014-01-22:
I do not want clients connecting directly to the robot, because its specs are quite weak. I want the robot to push the stream to the server, and then have clients connect to that server instead. Do you know how I can do this?
Comment by Tim Sweet on 2014-01-22:
I'm trying to say your results over 3G/4G are going to be very poor, likely in the order of a frame every few seconds, plus lag of a few seconds. But if you set up openvpn on the robot and server you will be able to use mjpeg_server to do exactly that.
Comment by Tim Sweet on 2014-01-22:
You could implement it directly by serializing each image (using opencv) over a TCP socket. The server would open a port for listening, and the robot would connect to it and send the image, and the server would deserialize it. That would avoid openvpn assuming the server has a public IP
Comment by Andrew.A on 2014-01-22:
Could you perhaps write an answer with more details on doing this? I get that the results over 3G/4G might be poor, but where does openvpn come in? How will this help? Also, in your second comment, would that mean writing my own ROS package to do the serializing? Lastly, server already has public ip
|
Hey there,
I do have a problem with my local costmap.
As I move with my robot, the map (slam gmapping) changes but the overlying costmap remains unchanged!!!
The launch files for the costmap work, since they are retrieved from move_base costmap. The costmap created under /move_base does change corresponding to the map! But as soon as I instantiate a costmap in my code, it does not update the costmap ...
Here is my rqt_graph:
Thanks for your contributions,
BR Daniel
Originally posted by dneuhold on ROS Answers with karma: 205 on 2014-01-20
Post score: 0
|
Hi
I am using Ubutu 12.4 and working on a catkin project. I had a package which was running successfully then I had to remove the dependency of this package from another package named sba. I did this by making some changes in CMakeList.txt and package.xml then I also copied that part of code from sba which was being used by my main package but unfortunately at the time of linking i am getting some undefined reference to "cs_di_spfree", cs_di_cholsol' and cs_di_spalloc' which do not exist in any of the file in my project. If any one can give me hint about this error that will be great... thanks..
the terminal message is copied here....
[ 0%] [ 0%] [ 0%] Built target std_msgs_generate_messages_lisp
Built target std_msgs_generate_messages_cpp
Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 6%] Built target sba_vis
[ 8%] Built target OpenKarto
[ 8%] Built target geometry_msgs_generate_messages_lisp
[ 11%] Built target geometry_msgs_generate_messages_py
[ 24%] [ 22%] Built target karto_srv_generate_messages_lisp
Built target karto_srv_generate_messages_py
[ 27%] Built target sba
[ 30%] Built target karto_srv_generate_messages_cpp
[ 37%] Built target karto_scan_matcher
[ 40%] Built target sba_generate_messages_lisp
[ 48%] Built target sba_generate_messages_cpp
Linking CXX executable /home/mig-mj/git/catkin_ws/devel/lib/karto/slam_karto
[ 59%] Built target sba_generate_messages_py
[ 61%] Built target sba_node_test
[ 62%] Built target sba_node
[ 64%] Built target single_plane_vis
[ 67%] Built target vis-2d
[ 69%] Built target vis-bundler
[ 72%] [ 72%] Built target vis-mono
Built target karto_srv_generate_messages
Linking CXX executable test_scan_matcher
[ 75%] [ 75%] Built target point_plane2_vis
Built target cholmod_timing
[ 77%] Built target point_plane_vis
[ 79%] Built target run_sba_bundler_file
[ 80%] Built target run_sba_graph_file
[ 83%] Built target run_sba_sphere
[ 87%] Built target run_sba_spiral
[ 90%] Built target run_spa
[ 93%] Built target run_spa2d
[ 95%] Built target run_spa_graph_file
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_spfree'
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_cholsol'
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_spalloc'
collect2: ld returned 1 exit status
make[2]: *** [cob_karto/karto_scan_matcher/test_scan_matcher] Error 1
make[1]: *** [cob_karto/karto_scan_matcher/CMakeFiles/test_scan_matcher.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 95%] Built target sba_generate_messages
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_spfree'
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_cholsol'
/home/mig-mj/git/catkin_ws/devel/lib/libOpenKarto.so: undefined reference to `cs_di_spalloc'
collect2: ld returned 1 exit status
make[2]: *** [/home/mig-mj/git/catkin_ws/devel/lib/karto/slam_karto] Error 1
make[1]: *** [cob_karto/karto/CMakeFiles/slam_karto.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by Jamil on ROS Answers with karma: 3 on 2014-01-21
Post score: 0
|
I am using solvepnp() to get the pose of a checkerboard. But with a static marker and a moving camera the rotations and translations are not correct.
solvepnp() gives a rotation in Rodriguez angles and a translation. Through a rotation matrix I convert this to quaternions. And broadcast this to tf as the transformation camera to marker. But is this the correct way?
Originally posted by davinci on ROS Answers with karma: 2573 on 2014-01-21
Post score: 1
|
Hi, I implemented a object detection classifier working on rgb and depth data (from openni_launch) which provides object center coordinates in the image plane (u,v). Now I want to convert those image coordinates (+depth) to world coordinates (resp. the 3D camera frame).
I know I could just use the (u,v) coordinates and the registered cloud to get the point stored at (u,v,) but sometimes there is a NaN at this point and I dont want to deal with that as it would require to look for the neighbours which biases the object center and stuff. Another drawback is that after some pcl-calculations (resampling, removing nans, calculating normals, removing major planes etc.) the cloud is not organized anymore.
Second I could use the /cameraInfo topic to get the intrinsics of my depth sensor in order to calculate the conversion by hand using the lens equation, but this is some trouble if you want to do it the correct way (considering all instrinsics of the camera matrix).
So ... as openni_launch already does this for the whole pointcloud-creation, is there a function or service offering this conversion in openni_launch, openni api, pcl api, ros_perception etc?
Originally posted by stfn on ROS Answers with karma: 287 on 2014-01-21
Post score: 1
|
Our goal is to drive a nonholonomic robot around in a given map.
We use the navigation_stage package in the navigation_tutorials stack.
Now follows a description what causes our problem:
If the robot is moving a certain distance, its position is different in the Rviz-map and the map in stageros.
We guess it's the wrong set resolution parameter from the map_server inside our launch file which causes the problem:
<launch>
...
<!-- Run the map server (section inside the launch file) -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find Navigo)/world/our_world.pgm 0.12"/>
...
</launch>
The definition of this resolution parameter is:
Resolution of the map, meters/pixel
Therefore we measured the corridor width, which is 1.85m,
and the same spot inside the given our_world.pgm file which has 36pixels.
This leads to a resolution of:
1.85m/36pixels = 0.0514
But if we set this value instead of the 0.12 in our launch file, our robot is much to large inside the Rviz map.
The question is how to find the correct value or if there is another way of "sycronizing" these map resolutions.
Do we have to change some parameters inside the world file or the Rviz our_world.vcg file?
Here is our our_world.world file:
define block model
(
size [0.5 0.5 0.5]
gui_nose 0
)
define topurg ranger
(
sensor(
range [ 0.0 5.0 ]
fov 240
samples 666.7
)
# generic model properties
color "black"
size [ 0.05 0.05 0.07 ]
)
define erratic position
(
#size [0.415 0.392 0.25]
size [0.656 0.43 0.25]
origin [-0.05 0 0 0]
gui_nose 1
drive "car"
wheelbase 0.35
topurg(pose [ 0.2375 0.000 0 0.150 ])
)
define floorplan model
(
# sombre, sensible, artistic
color "gray30"
# most maps will need a bounding box
boundary 1
gui_nose 0
gui_grid 0
gui_outline 0
gripper_return 0
fiducial_return 0
laser_return 1
)
# set the resolution of the underlying raytrace model in meters
resolution 0.02
interval_sim 100 # simulation timestep in milliseconds
window
(
size [ 745.000 448.000 ]
#rotate [ 0.000 -1.560 ]
rotate [0.0 0.0]
#scale 28.806
scale 5.0
)
# load an environment bitmap
floorplan
(
name "our_world"
bitmap "our_world.pgm"
size [54.0 58.7 0.5]
pose [20 28 0 6]
)
# throw in a robot
erratic( pose [34.5 16 0 90.0] name "car" color "blue")
block( pose [ -33 37 0 180.000 ] color "red") # An obstacle for testing
Originally posted by fjp on ROS Answers with karma: 200 on 2014-01-21
Post score: 0
|
Hi,
I am trying to build slam_gmapping in catkin workspace. I had cloned and build openslam_gmapping package but i am getting below error.
I was able to find openslam_gmapping from rospack find openslam_gmapping. I am using ros groovy
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - gmapping
-- ~~ - slam_gmapping (metapackage)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'gmapping'
-- ==> add_subdirectory(slam_gmapping/gmapping)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package openslam_gmapping.
Set openslam_gmapping_DIR to the directory containing a CMake configuration
file for openslam_gmapping. The file will have one of the following names:
openslam_gmappingConfig.cmake
openslam_gmapping-config.cmake
Call Stack (most recent call first):
slam_gmapping/gmapping/CMakeLists.txt:4 (find_package)
-- +++ processing catkin metapackage: 'slam_gmapping'
-- ==> add_subdirectory(slam_gmapping/slam_gmapping)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
Edit
Operating System - Ubuntu 12.04
openslam_gmapping cloned from https://github.com/ros-perception/openslam_gmapping
I tried apt-get install ros-groovy-openslam-gmapping but not working.
thanks.
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-01-21
Post score: 0
Original comments
Comment by Kamiccolo on 2014-01-21:
Could You please, be more specific on details like: 1. Operating System. 2. Where did You installed it (openslam_gmapping) from sources? (it smells like an issue with not following the Catkin Workspace directory structure). 3. Did you source the setup.bash file which was created in the place you installed it to before trying to compile with it? 4. If it's Ubuntu, have You considered simply apt-get install ros-groovy-openslam-gmapping?
Comment by bvbdort on 2014-01-21:
@Kamiccolo i updated the question for 1,2,4 question. I didnt source setup.bash
Comment by Wolf on 2014-01-21:
Do you have your catkin workspace initialized properly (see 'http://wiki.ros.org/catkin/Tutorials/create_a_workspace'). Plz source setup.bash in your catkin_ws/devel folder. If you create a simple package and than a second package that depends on your first package, do they find each other?
Comment by bvbdort on 2014-01-21:
@Wolf After doing source devel/setup.bash build is proper.
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Looking at the outputs from the leg_detector package, I'm wondering if it could benefit from a more diverse set of training examples. Notably, the detection confidence falls quickly as people move away from the laser and it is fooled easily by round objects like chair legs.
Does anyone know if the original training data is available anywhere? Maybe also the labelling/annotation method that was used?
Relevant links:
here's an unofficial repo of leg_detector/leg_detector2.
this is David Lu's fork of leg_detector
this is the SRS leg_detector fork
Originally posted by Angus on ROS Answers with karma: 438 on 2014-01-21
Post score: 1
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I am new to ROS. So, I have some simple doubts.
1. If multiple goals is set through rviz window, then which goal Robot will take to move?
2.If 2D Pose Estimate button doesn't work properly, then will the 2D Nav Goal somehow manage to move towards the goal?
3. After starting the autonomous navigation, can the teleop operation be started again? Is there any procedure?
4. What should global_frame and robot_base_frame for local_costmap_params.yaml and global_costmap_params.yaml?
Thanks for your time.
Originally posted by Mercy on ROS Answers with karma: 31 on 2014-01-21
Post score: 1
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Sbpl_lattice_planner's default for navigation seems to be to move forward with minimal reverse movements. It seems to choose inefficient routes in order to move forward rather than in reverse. For example, sometimes it will turn around prior to running a forward route rather than taking a simpler reverse route.
1-Is this true?
2-Is there any functionality in sbpl_lattice_planner to make the default to be to prefer moving in reverse with minimal forward motion?
The robot has Ackermann-like steering and it needs to move predominately in the reverse direction. We could switch the forward direction to reverse however there are times where forward motion is needed.
Originally posted by bk on ROS Answers with karma: 25 on 2014-01-21
Post score: 2
Original comments
Comment by ahendrix on 2014-01-21:
Out of curiosity, which local planner are you using for your robot?
Comment by bk on 2014-01-21:
We created a custom local planner
Comment by ahendrix on 2014-01-21:
Is the source available somewhere? There's a distinct lack of good local planners for ackermann-style vehicles.
Comment by orion on 2014-01-21:
I will second this. I will confirm the solution below works, as I have made primitives for ackermann for SBPL. I am working on making my own local planner, but would be up for working with some people on it. Have even been looking at converting "carlike planner" or seeing how hector is doing it.
Comment by bk on 2014-01-22:
The local planner is in a very preliminary stage. It does not adhere to the nav_core::BaseLocalPlanner interface, does not use cmd_vel nor the ackermann steering message types, and will unfortunately not be universally helpful in other ways. I will let you know if something changes
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The title says all - I've one (or two cameras, maybe handy for stereo vision) which I would like to use for localization. Data from odometry is here, too.
Originally posted by mifritscher on ROS Answers with karma: 23 on 2014-01-21
Post score: 1
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when I type the roslaunch to try to run the package I create before, the terminal showed that:
ERROR: the config file '/opt/ros/groovy/stacks/robot_model_tutorials/urdf_tutorial/urdf.vcg' is a .vcg file, which is the old rviz config format.
I can't understand how to change the file, cause I didn't change the content of the urdf_tutorial since I downloaded from ROS. I have no idea about this....is there someone could help me, thanks so much for your time!
Originally posted by saina110 on ROS Answers with karma: 107 on 2014-01-21
Post score: 0
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So basically, what I want to have is this:
Have ROS collect data, and process this data into a vector. (This is done)
Once the data has been recorded, write the vector to a text file (Not done)
The problem that I have is, how do I stop ros from spinning? How can I then just simply run the function which writes the text to the file?
I've been thinking along the lines of threading, I create a thread that subscribes handles the callback function and another thread that handles writing to the text file. So in essence, the plan would be to have thread1 run for a set amount of time, then halt thread1 and begin to start thread2
Is this possible using ROS? And, is this the only method to solving the above?
Thanks
Originally posted by Phorce on ROS Answers with karma: 97 on 2014-01-21
Post score: 0
Original comments
Comment by demmeln on 2014-01-21:
Do you want to do 1) and 2) repeatedly, or just once? In any case try checking out the suggestion by @ahendrix.
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I need some knowledge and clarification from people who know ROS better than I do.
I've been trying to use camera_pose_calibration with no success. I've tried a lot of different things including overlaying a fork which is commonly cited to help fix problems. Still, nothing.
So after wrestling with the same problem for a while I decided to go look at the Fuerte --> Groovy migration page to get some clues. In it, it says that catkin packages (Groovy and later) cannot depend on rosbuild based packages. Right now our lab computer has Fuerte, Groovy, and Hydro installed with one other student and I switching between Groovy and Hydro when we need to. We switch the sourcing in the .bashrc and then continue on our way.
However, there is a guide to switching from rosbuild to catkin. If I'm understanding this correctly, then there should be a way to take a Fuerte package and make it usable in Hydro. However, my question would be a) is there a program to automate this and b) assuming I have to do it myself, how difficult would it be?
http://wiki.ros.org/groovy#Migrating
http://wiki.ros.org/camera_pose_calibration
http://wiki.ros.org/catkin/migrating_from_rosbuild
By the way, if there are common AR or tag-style stacks that allow one to calibration multiple Kinects to one world frame I'm all ears. Right now I'm stuck.
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-01-21
Post score: 3
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Hello, I'm trying to create a program that will have a turtlebot map a given area. However, I am very new to this. I understand that the turtlebots publish some kind of point cloud as sensed by the kinect, but I don't understand exactly how to subscribe to this data, and what type it is so that I can work with it to create a map.
Anyone have any suggestions or know any good tutorials that could help me out?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-01-21
Post score: 0
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Hey guys, I am new to ros and try to learn it by going through the beginner tutorial. However, when I tried typing the code "rosrun turtlesim turtlesim_node" provided in "Understandingnodes" part of the tutorial, the turtlesim window just flicked and then disappeared. I got the error message:
[ INFO] [1390367521.100598911]: Starting turtlesim with node name /turtlesim
[ INFO] [1390367521.107999703]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
/opt/ros/hydro/lib/turtlesim/turtlesim_node: symbol lookup *****error: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderC1Ev*****
I simply cannot do anything with the turtle since I can't see the window at all. Do you guys have any idea or suggestion? Thanks.
Originally posted by mrq44106 on ROS Answers with karma: 3 on 2014-01-21
Post score: 0
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I have gone through the tutorial where goals has been sent to navigation stack through simple_navigation_goals.
My question is using simple_navigation_goals, we can move a robot 1 meter forward, is there any provision in the package to move to a particular goal location (x,y)?
Originally posted by Mercy on ROS Answers with karma: 31 on 2014-01-21
Post score: 1
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i want to use both hydro and groovy ros desktop but when i use below commad to change ros hydro to ros groovy not happened, what's problem?
#source /opt/ros/groovy/setup.bash
Originally posted by programmer on ROS Answers with karma: 61 on 2014-01-21
Post score: 0
Original comments
Comment by bchr on 2014-01-22:
Could you clarify your problem?
Comment by programmer on 2014-01-22:
I was written my codes in groovy, now i install hydro but i can't run my codes now,
i want to run my code on groovy but, by default ros run it on hydro...
what's problem?
How can i do?
Comment by bchr on 2014-01-22:
Try to explain exactly what you are running, how, and what the errors are. If you do not give any detail, we cannot help you.
Comment by programmer on 2014-01-22:
i want to run hector_slam on groovy but always ros run it on hydro.
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Hello everyone!!
I have a hokuyo laser scanner, kinnect, imu, and other stuff,
How can i create a map using ros?
Originally posted by programmer on ROS Answers with karma: 61 on 2014-01-21
Post score: 1
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How can i write a tf?
do anybody have a example of tf?
Originally posted by programmer on ROS Answers with karma: 61 on 2014-01-22
Post score: 0
Original comments
Comment by ZdenekM on 2014-01-22:
What you mean by "write a tf"?
Comment by programmer on 2014-01-22:
I don't know but when i want to creating a map using hector slam, it needs a tf?
Comment by ZdenekM on 2014-01-22:
Is your laser fixed on a robot or are you using laser alone without anything else? It would be nice to make your question more detailed - more details will lead to better answers ;)
Comment by ZdenekM on 2014-01-22:
Did you check this tutorial: http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot ?
Comment by programmer on 2014-01-22:
Thanks for your attention dear.
yes, i read tutorial but i don't understand it completely.
my laser fixed on robot by two dynamixel motor (roll and pitch) to Balance it by gyro,
how can i write a tf with this stuff?
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Dear all
I have installed
ros-hydro-openni-launch
And when I run the command:
roslaunch openni_launch openni.launch
I get the following error:
Image: PrimeSense/SensorV2/5.1.0.41: Failed to set USB interface!
And after running dmesg | tail
[19250.592329] usb 3-6: New USB device found, idVendor=1d27, idProduct=0600
[19250.612487] usb 3-6: New USB device strings: Mfr=2, Product=1, SerialNumber=0
[19250.612496] usb 3-6: Product: PrimeSense Device
[19250.612502] usb 3-6: Manufacturer: PrimeSense
[19250.613072] usb 3-6: Not enough bandwidth for new device state.
[19250.613091] usb 3-6: can't set config #1, error -28
[21923.567674] usb 3-6: USB disconnect, device number 27
Does someone have a clue?
In advance thank you.
Originally posted by acp on ROS Answers with karma: 556 on 2014-01-22
Post score: 1
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When running the Universal robots ur5_driver and connecting to the robot I always see these messages:
[WARN] [WallTime: 1390394126.210844] No calibration offset for joint "shoulder_pan_joint"
[WARN] [WallTime: 1390394126.212435] No calibration offset for joint "shoulder_lift_joint"
[WARN] [WallTime: 1390394126.214354] No calibration offset for joint "elbow_joint"
[WARN] [WallTime: 1390394126.216533] No calibration offset for joint "wrist_1_joint"
[WARN] [WallTime: 1390394126.219127] No calibration offset for joint "wrist_2_joint"
[WARN] [WallTime: 1390394126.222308] No calibration offset for joint "wrist_3_joint"
[ERROR] [WallTime: 1390394126.223789] Loaded calibration offsets: {}
I can however not find anything in the documentation about this. Is this to compensate any drift? Or with the calibration loaded you don't have to initialize the joints by moving them around? How can this be used?
Originally posted by davinci on ROS Answers with karma: 2573 on 2014-01-22
Post score: 1
Original comments
Comment by sedwards on 2014-01-22:
Can you please verify which version of the driver you are using? Debian (ROS version) or from source (which branch)?
Comment by davinci on 2014-01-22:
I think it is the Debian version (as I copied it from /opt/ros/fuerte) of this package: http://wiki.ros.org/ur5_driver
Comment by maxgitt on 2017-08-03:
Did this end up being an issue for you? I'm having the exact same [WARN] message.
Comment by expo on 2018-10-19:
when these warns occured,the python file didn't run successfully to control the robot.As the answer said,the robot should run well in this situation.Is there something else wrong with my robot?
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I am trying to use the global_planner, I added it in move_base parameters as
base_global_planner: global_planner/PlannerCore
but it keeps saying this planner is not registered. Is there a special way to register it?
These are the errors:
Using the deb (/opt/ros/hydro/share/global_planner)
[FATAL] [1390401478.753618530, 223.054000000]: Failed to create the global_planner/PlannerCore planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class global_planner/PlannerCore with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are SBPLLatticePlanner carrot_planner/CarrotPlanner goal_passer/GoalPasser iri_bspline_navfn/NavfnROS navfn/NavfnROS
If I try using an overlay (catkin_ws/navigation/global_planner)
[FATAL] [1390401282.627051354, 30.763000000]: Failed to create the global_planner/PlannerCore planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create object of class type global_planner::PlannerCore as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
Originally posted by martimorta on ROS Answers with karma: 843 on 2014-01-22
Post score: 0
Original comments
Comment by avicenna on 2017-05-25:
how can u solve your problem. I have same error. İ try to install package which located this link: https://github.com/coins-lab/relaxed_astar
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Hi There,
I receive following error message when starting my costmap, which is instantiated:
The /scan observation buffer has not been updated for 140.78 seconds, and it should be updated every 5.00 seconds.
So how do I update the LaserScan in my code?
In addition, I recognized that I need to instantiate the global and local costmap, otherwise the LaserScannerCallback is never entered. If I instantiate both, LaserScannerCallback is entered right at the beginning and not updated later on.
How I instantiate:
tf::TransformListener tf(ros::Duration(10));
costmap2d = new costmap_2d::Costmap2DROS("local_costmap", tf);
costmap2d_global = new costmap_2d::Costmap2DROS("global_costmap", tf);
//start updating the costmap
costmap2d->start();
costmap2d_global->start();
while (true)
{
costmap2d->updateMap();
costmap2d_global->updateMap();
ROS_ERROR("SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!");
}
This are the debugging messages in the costmap_2d_ros.cpp file (line 240):
//create a callback for the topic
if(data_type == "LaserScan"){
boost::shared_ptr<message_filters::Subscriber<sensor_msgs::LaserScan> > sub(
new message_filters::Subscriber<sensor_msgs::LaserScan>(g_nh, topic, 50));
boost::shared_ptr<tf::MessageFilter<sensor_msgs::LaserScan> > filter(
new tf::MessageFilter<sensor_msgs::LaserScan>(*sub, tf_, global_frame_, 50));
filter->registerCallback(boost::bind(&Costmap2DROS::laserScanCallback, this, _1, observation_buffers_.back()));
observation_subscribers_.push_back(sub);
observation_notifiers_.push_back(filter);
observation_notifiers_.back()->setTolerance(ros::Duration(0.05));
ROS_WARN("LaserScan Callback created."); // <<-- I SHOULD GET THIS MESSAGE IF THE CALLBACK IS CREATED
}
There is the callback in costmap_2d_ros.cpp (line 998):
void Costmap2DROS::laserScanCallback(const sensor_msgs::LaserScanConstPtr& message, const boost::shared_ptr<ObservationBuffer>& buffer){
//project the laser into a point cloud
sensor_msgs::PointCloud2 cloud;
cloud.header = message->header;
ROS_WARN("CALLBACK !!!!"); // <<-- THIS SHOULD BE CALLED WHENEVER THE CALLBACK IS ENTERED
//project the scan into a point cloud
try
{
projector_.transformLaserScanToPointCloud(message->header.frame_id, *message, cloud, tf_);
}
catch (tf::TransformException &ex)
{
ROS_WARN ("High fidelity enabled, but TF returned a transform exception to frame %s: %s", global_frame_.c_str (), ex.what ());
projector_.projectLaser(*message, cloud);
}
//buffer the point cloud
buffer->lock();
buffer->bufferCloud(cloud);
buffer->unlock();
}
This is the output when I start my node:
[ INFO] [1390551857.199559862]: Subscribed to Topics: scan
[ WARN] [1390551858.117169643]: Created an observation buffer for data type: LaserScan source: scan, topic: /scan, global frame: /odom, expected update rate: 5.00, observation persistence: 0.00
[ WARN] [1390551858.120995261]: LaserScan Callback created.
[ INFO] [1390551858.413191936]: Subscribed to Topics:
[ INFO] [1390551858.455085838]: Requesting the map...
[ WARN] [1390551858.459802919]: CALLBACK !!!!
[ INFO] [1390551858.461015799]: Still waiting on map...
[ WARN] [1390551859.459632166]: CALLBACK !!!!
[ WARN] [1390551859.460424412]: CALLBACK !!!!
[ WARN] [1390551859.461023054]: CALLBACK !!!!
[ WARN] [1390551859.461938169]: CALLBACK !!!!
[ WARN] [1390551859.462500109]: CALLBACK !!!!
[ WARN] [1390551859.463153905]: CALLBACK !!!!
[ WARN] [1390551859.464408500]: CALLBACK !!!!
[ WARN] [1390551859.474896956]: CALLBACK !!!!
[ WARN] [1390551859.475409172]: CALLBACK !!!!
[ WARN] [1390551859.475852453]: CALLBACK !!!!
[ WARN] [1390551859.476327935]: CALLBACK !!!!
[ WARN] [1390551859.476803132]: CALLBACK !!!!
[ WARN] [1390551859.477267024]: CALLBACK !!!!
[ WARN] [1390551859.477728195]: CALLBACK !!!!
[ WARN] [1390551859.478331598]: CALLBACK !!!!
[ WARN] [1390551859.478928722]: CALLBACK !!!!
[ WARN] [1390551859.479506096]: CALLBACK !!!!
[ WARN] [1390551859.480412325]: CALLBACK !!!!
[ WARN] [1390551859.481133095]: CALLBACK !!!!
[ WARN] [1390551859.481902018]: CALLBACK !!!!
[ WARN] [1390551859.482498100]: CALLBACK !!!!
[ WARN] [1390551859.482904982]: CALLBACK !!!!
[ WARN] [1390551859.483329213]: CALLBACK !!!!
[ WARN] [1390551859.483728536]: CALLBACK !!!!
[ WARN] [1390551859.484164747]: CALLBACK !!!!
[ WARN] [1390551859.484736968]: CALLBACK !!!!
[ WARN] [1390551859.485151610]: CALLBACK !!!!
[ WARN] [1390551859.485624194]: CALLBACK !!!!
[ WARN] [1390551859.486024053]: CALLBACK !!!!
[ WARN] [1390551859.486758580]: CALLBACK !!!!
[ WARN] [1390551859.487176375]: CALLBACK !!!!
[ WARN] [1390551859.487598087]: CALLBACK !!!!
[ WARN] [1390551859.488217605]: CALLBACK !!!!
[ INFO] [1390551859.488647106]: Still waiting on map...
[ WARN] [1390551860.470007964]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those of the map server
[ INFO] [1390551860.470453220]: Received a 800 X 800 map at 0.010000 m/pix
[ERROR] [1390551860.852783590]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551860.932992655]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.013353698]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.092613647]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.172171341]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.265645795]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.344098548]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.444890504]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.563250378]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.759625451]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.839900151]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.918588397]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551861.996885997]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.076387145]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.154786022]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.244727698]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.324159266]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.407031019]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551862.486244886]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.467708836]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.557531665]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.727346287]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.808174815]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.896049261]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551863.989772975]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.075443061]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.153290010]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.238701008]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.319080165]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.405990749]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.487675764]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551864.577738340]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551865.513357442]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551865.609056396]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ERROR] [1390551865.776650880]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551865.776827630]: The /scan observation buffer has not been updated for 5.03 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551865.856221137]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551865.856363460]: The /scan observation buffer has not been updated for 5.11 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551865.937278526]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551865.937817439]: The /scan observation buffer has not been updated for 5.19 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551866.019037569]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551866.019541493]: The /scan observation buffer has not been updated for 5.27 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551866.098517770]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551866.099021746]: The /scan observation buffer has not been updated for 5.35 seconds, and it should be updated every 5.00 seconds.
[ WARN] [1390551866.178367975]: The /scan observation buffer has not been updated for 5.43 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551866.185031563]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551866.185527269]: The /scan observation buffer has not been updated for 5.44 seconds, and it should be updated every 5.00 seconds.
[ERROR] [1390551866.303455188]: SIMULATION COMPLETED, SEARCHING FOR NEW GOALS !!!
[ WARN] [1390551866.304250416]: The /scan observation buffer has not been updated for 5.56 seconds, and it should be updated every 5.00 seconds.
...
Since I set the maximum time of non-updating the costmap to 5 sec I get warnings after that time. The buffer is then anymore updated and also the CALLBACK is not entered. This means I get /scan data at the beginning and then the update routine is not executed.
This is the local_costmap.yaml file:
local_costmap:
global_frame: /odom
robot_base_frame: /base_link #/base_footprint
height: 4
width: 4
max_obstacle_height: 0.6
max_obstacle_range: 2.5
obstacle_range: 4.0
publish_frequency: 2.0
update_frequency: 2.0
publish_voxel_map: false
raytrace_range: 4.0
resolution: 0.01
static_map: false
rolling_window: true
track_unknown_space: true
unknown_cost_value: 255
transform_tolerance: 2.5
robot_radius: 0.18
inflation_radius: 0.50
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 5.0}
global_costmap:
global_frame: /map
robot_base_frame: /base_link #/base_footprint
map_topic: /map
map_type: costmap
max_obstacle_height: 0.6
max_obstacle_range: 2.5
obstacle_range: 4.0
publish_frequency: 1.0
update_frequency: 1.0
publish_voxel_map: false
raytrace_range: 4.0
resolution: 0.01
static_map: true
rolling_window: false
track_unknown_space: true
unknown_cost_value: 255
transform_tolerance: 2.5
robot_radius: 0.18
inflation_radius: 0.50
Here is the Output of the tf_monitor:
*Frames (I just picked odom):
Frame: /odom published by /slam_gmapping Average Delay: 4.54992 Max Delay: 4.55078
*All Broadcasters:
Node: /robot_pose_ekf 10.0166 Hz, Average Delay: 4.58184 Max Delay: 4.60978
Node: /robot_state_publisher 9.60911 Hz, Average Delay: 4.28917 Max Delay: 4.55138
Node: /slam_gmapping 20.0195 Hz, Average Delay: 4.54992 Max Delay: 4.55078
*Average rate for
/tf: average rate: 40.404 min: 0.000s max: 0.050s std dev: 0.01835s window: 38
/scan: average rate: 29.969 min: 0.028s max: 0.037s std dev: 0.00189s window: 118
Any hint is appreciated.
BR Daniel
Originally posted by dneuhold on ROS Answers with karma: 205 on 2014-01-22
Post score: 0
Original comments
Comment by David Lu on 2014-01-23:
How often is the /scan topic being published?
Comment by dneuhold on 2014-01-23:
Thanks for your answer David. The /scan topic is updated with an average frequency of 30Hz.
I just wonder why the LaserScanCallback (in costmap_2d_ros.cpp) is called at the beginning and then anymore!? It seems like the message from /scan is not received anymore and hence the LaserScanCallback never called again to update the costmap!
Thanks for every hint, I am really struggling with that.
Comment by David Lu on 2014-01-23:
How do you know it is called only once?
Comment by dneuhold on 2014-01-23:
I was editing your code to debug( using ROS_ERROR messages). The callback for the laserscan is created and called multiple times at the beginning!
Would a screenshot help?
Comment by David Lu on 2014-01-23:
Is your TF tree up to date? That could slow down the message filter.
Comment by dneuhold on 2014-01-23:
How do I verify if the TF tree is up to date? If I use the tf_monitor tool I get the output as above ...
I updated my question to make it more traceable for you. Just tell me if you need additional informations!
Thank you for your help!!
Comment by dneuhold on 2014-01-27:
ohh I just realized that my robot_base_frame and my global_frame are connected and up to date in the tf_tree but there is no sensor_frame connected in the tf tree!? Could that be a possible mistake? How do I add this tf?
|
Hi,
I have installed ROS groovy version. I want to do changes in gmapping.
Gmapping is using libararies from openslam_gmapping, So i have cloned slam_gmapping and openslam_gmapping separately and built them.
But when i run launch file to run gmapping , i am getting below error
ERROR: cannot launch node of type [gmapping/slam_gmapping]: can't locate node [slam_gmapping] in package [gmapping]
launch file :
<launch> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" respawn="false" output="screen">
<param name="odom_frame" value="odom"/>
<param name="map_update_interval" value="0.1"/>
<param name="maxUrange" value="69"/>
<param name="maxRange" value="71"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.2"/>
<param name="angularUpdate" value="0.3"/>
<param name="temporalUpdate" value="0.1"/>
<param name="resampleThreshold" value="5"/>
<param name="particles" value="10"/>
<param name="xmin" value="-5.0"/>
<param name="ymin" value="-5.0"/>
<param name="xmax" value="5.0"/>
<param name="ymax" value="5.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="laserscan"/>
</node>
</launch>
How to do code changes to openslam_gmapping
thanks.
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-01-22
Post score: 0
Original comments
Comment by BennyRe on 2014-01-22:
Do you mean with "but it was from ros stack not the package which i cloned,did changes and built." that a copy of gmapping you installed with apt-get is being executed and not the copy you cloned from source?
Comment by bvbdort on 2014-01-23:
@BennyRe yes
Comment by dornhege on 2014-01-23:
If you get the error above I'm pretty sure you have NOT built it. Also IIRC the gmapping package does download gmapping itself during the build process.
Comment by bvbdort on 2014-01-23:
@dornhege i have cloned and build the slam_gmapping cloned from https://github.com/ros-perception/slam_gmapping.git
Comment by BennyRe on 2014-01-23:
Did you correctly overlay these two packages? Here's the tutorial: http://wiki.ros.org/catkin/Tutorials/workspace_overlaying
Comment by bvbdort on 2014-01-23:
@BennyRe i followed as tutorial i was able to buid and roscd is working fine but when i run from "roslaunch gmapping slam_gmapping_pr2.launch" i am getting error as mentioned in question.
Comment by BennyRe on 2014-01-23:
Does your binary exist? check /devel/lib/gmapping
Comment by bvbdort on 2014-01-23:
@BennyRe yes binary exists in /home/overlay_ws/slam_gmapping/devel/lib/gmapping
Comment by BennyRe on 2014-01-23:
Did you source the overlay_ws in the terminal yor using to roslaunch?
Comment by bvbdort on 2014-01-23:
@BennyRe yes i add line "source overlay_ws/slam_gmapping/devel/setup.bash" to .bashrc
Comment by bvbdort on 2014-01-23:
@BennyRe i did source devel/setup.bash in terminal, after that i was able to launch gmapping but i am not able to launch my packages.
Comment by dornhege on 2014-01-24:
Are they included in the same workspace?
Comment by bvbdort on 2014-01-24:
@dornhege No they both are in different work spaces
|
Hi,
I am trying to use the global planner global_planner.
It finds a path either in dijsktra or A* and changing the different parameters as this image shows
But then the robot stays still and (most of the times) I get this warning:
[ WARN] [1390404456.350870633, 3038.563000000]: Invalid Trajectory 0.000000, 0.000000, -0.300000, cost: -1.000000
until a fatal error appears, after 6 seconds:
[ERROR] [1390404456.403586383, 3038.611000000]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
Is there some parameter or remap missing in the global_planner wiki?
Is there any example of the global_planner with a launch and yaml files?
Thanks in advance!
Update
I found out that the global_plan publishes the poses from goal to origin whereas navfn publishes them from origin to goal.
I would say this is the problem that makes the robot stay still, I copy a couple of results:
oringin (x≅0) and goal (x≅1) of a path in navfn:
pose:
position:
x: -0.1
y: -0.05
...
pose:
position:
x: 0.998614728451
y: 0.0215734690428
oringin (x≅0) and goal (x≅1) of a path in global_planner:
pose:
position:
x: 1.0
y: 0.0
...
pose:
position:
x: -0.25
y: -0.05
Originally posted by martimorta on ROS Answers with karma: 843 on 2014-01-22
Post score: 1
|
[Go to Edit2 for the current error]
Hello, I am trying to launch nao_driver with the command:
NAO_IP=10.51.81.15 roslaunch nao_driver nao_driver.launch
or
NAO_IP=10.51.81.15 FORCE_PYTHON=true roslaunch nao_driver nao_driver.launch
but i get the following errors.
MyName@Wael:~$ NAO_IP=10.51.81.15 roslaunch nao_driver nao_driver.launch
... logging to /home/MyName/.ros/log/79d95dc2-8379-11e3-8cbe-90b11c6e6bd9/roslaunch-Wael-19571.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server Wael:38416/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
nao_behaviors (nao_driver/nao_behaviors.py)
nao_controller (nao_driver/nao_controller.py)
nao_leds (nao_driver/nao_leds.py)
nao_sensors (nao_driver/nao_sensors_cpp)
nao_speech (nao_driver/nao_speech.py)
nao_tactile (nao_driver/nao_tactile.py)
nao_walker (nao_driver/nao_walker.py)
auto-starting new master
process[master]: started with pid [19585]
ROS_MASTER_URI=localhost:11311
setting /run_id to 79d95dc2-8379-11e3-8cbe-90b11c6e6bd9
process[rosout-1]: started with pid [19598]
started core service [/rosout]
ERROR: cannot launch node of type [nao_driver/nao_sensors_cpp]: cant locate node [nao_sensors_cpp] in package [nao_driver]
process[nao_walker-3]: started with pid [19610]
process[nao_controller-4]: started with pid [19611]
process[nao_behaviors-5]: started with pid [19612]
process[nao_leds-6]: started with pid [19615]
process[nao_speech-7]: started with pid [19618]
process[nao_tactile-8]: started with pid [19623]
failed to load symbols, rosdep will not function properly
/opt/ros/hydro/lib/rosout/rosout: symbol lookup error: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderC1Ev
[WARN] [WallTime: 1390404352.268687] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[rosout-1] process has died [pid 19598, exit code 127, cmd /opt/ros/hydro/lib/rosout/rosout __name:=rosout __log:=/home/MyName/.ros/log/79d95dc2-8379-11e3-8cbe-90b11c6e6bd9/rosout-1.log].
log file: /home/MyName/.ros/log/79d95dc2-8379-11e3-8cbe-90b11c6e6bd9/rosout-1*.log
respawning...
[rosout-1] restarting process
process[rosout-1]: started with pid [19751]
/opt/ros/hydro/lib/rosout/rosout: symbol lookup error: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderC1Ev
[WARN] [WallTime: 1390404352.577597] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[rosout-1] process has died [pid 19751, exit code 127, cmd /opt/ros/hydro/lib/rosout/rosout __name:=rosout __log:=/home/MyName/.ros/log/79d95dc2-8379-11e3-8cbe-90b11c6e6bd9/rosout-1.log].
log file: /home/MyName/.ros/log/79d95dc2-8379-11e3-8cbe-90b11c6e6bd9/rosout-1*.log
respawning...
[rosout-1] restarting process
Any help would be greatly appreciated.
Edit:
Thank you AHornung, that seems to help a little. The errors has changed, but are still similar to what they were.
setting /run_id to f2362376-837f-11e3-b5cf-90b11c6e6bd9
process[rosout-1]: started with pid [20614]
started core service [/rosout]/
process[nao_sensors-2]: started with pid [20626]
process[nao_walker-3]: started with pid [20627]
process[nao_controller-4]: started with pid [20628]
process[nao_behaviors-5]: started with pid [20629]
process[nao_leds-6]: started with pid [20634]
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_sensors.py", line 44, in <module>
from tf import transformations
File "/opt/ros/hydro/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>
from _tf import *
ImportError: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderD1Ev
process[nao_speech-7]: started with pid [20639]
process[nao_tactile-8]: started with pid [20646]
================================================================================REQUIRED process [nao_sensors-2] has died!
process has died [pid 20626, exit code 1, cmd /opt/ros/hydro/lib/nao_driver/nao_sensors.py --pip=10.51.81.15 --pport=9559 __name:=nao_sensors __log:=/home/antoinerioux/.ros/log/f2362376-837f-11e3-b5cf-90b11c6e6bd9/nao_sensors-2.log].
log file: /home/antoinerioux/.ros/log/f2362376-837f-11e3-b5cf-90b11c6e6bd9/nao_sensors-2*.log
Initiating shutdown!
================================================================================
[nao_tactile-8] killing on exit
[nao_speech-7] killing on exit
[nao_leds-6] killing on exit
[nao_behaviors-5] killing on exit
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_tactile.py", line 35, in <module>
import rospy
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/__init__.py", line 49, in <module>
from .client import spin, myargv, init_node, \
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 67, in <module>
[nao_controller-4] killing on exit
from roscpp.srv import GetLoggers, GetLoggersResponse, SetLoggerLevel, SetLoggerLevelResponse
File "/opt/ros/hydro/lib/python2.7/dist-packages/roscpp/srv/__init__.py", line 2, in <module>
from ._GetLoggers import *
[nao_walker-3] killing on exit
File "/opt/ros/hydro/lib/python2.7/dist-packages/roscpp/srv/_GetLoggers.py", line 92, in <module>
import roscpp.msg
File "/opt/ros/hydro/lib/python2.7/dist-packages/roscpp/msg/__init__.py", line 1, in <module>
from ._Logger import *
File "/opt/ros/hydro/lib/python2.7/dist-packages/roscpp/msg/_Logger.py", line 1, in <module>
"""autogenerated by genpy from roscpp/Logger.msg. Do not edit."""
KeyboardInterrupt
[nao_sensors-2] killing on exit
failed to load symbols, rosdep will not function properly
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_leds.py", line 173, in <module>
node = NaoLeds()
File "/opt/ros/hydro/lib/nao_driver/nao_leds.py", line 58, in __init__
rospy.init_node( self.NODE_NAME )
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 317, in init_node
raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
rospy.exceptions.ROSInitException: init_node interrupted before it could complete
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_behaviors.py", line 139, in <module>
node = NaoBehaviors()
File "/opt/ros/hydro/lib/nao_driver/nao_behaviors.py", line 59, in __init__
rospy.init_node( self.NODE_NAME )
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 317, in init_node
raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
rospy.exceptions.ROSInitException: init_node interrupted before it could complete
/opt/ros/hydro/lib/rosout/rosout: symbol lookup error: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderC1Ev
[WARN] [WallTime: 1390407131.509740] Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[nao_speech-7] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Edit2:
I resolved the problem above with the suggestion on another question at:
answers.ros.org/question/120541/problem-of-running-rosrun-turtlesim-turtlesim_node/
But now I have yet another error!
antoinerioux@Wael:~$ roslaunch nao_driver nao_driver.launch force_python:=true nao_ip:=10.51.81.15
... logging to /home/antoinerioux/.ros/log/e05386e2-8449-11e3-8e29-90b11c6e6bd9/roslaunch-Wael-16790.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server Wael:59162/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
nao_behaviors (nao_driver/nao_behaviors.py)
nao_controller (nao_driver/nao_controller.py)
nao_leds (nao_driver/nao_leds.py)
nao_sensors (nao_driver/nao_sensors.py)
nao_speech (nao_driver/nao_speech.py)
nao_tactile (nao_driver/nao_tactile.py)
nao_walker (nao_driver/nao_walker.py)
auto-starting new master
process[master]: started with pid [16804]
ROS_MASTER_URI=//localhost:11311
setting /run_id to e05386e2-8449-11e3-8e29-90b11c6e6bd9
process[rosout-1]: started with pid [16817]
started core service [/rosout]/
process[nao_sensors-2]: started with pid [16829]
process[nao_walker-3]: started with pid [16830]
process[nao_controller-4]: started with pid [16831]
process[nao_behaviors-5]: started with pid [16832]
process[nao_leds-6]: started with pid [16837]
process[nao_speech-7]: started with pid [16840]
process[nao_tactile-8]: started with pid [16841]
failed to load symbols, rosdep will not function properly
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_sensors.py", line 44, in <module>
from tf import transformations
File "/opt/ros/hydro/lib/python2.7/dist-packages/tf/__init__.py", line 29, in <module>
from listener import TransformListener, TransformerROS
File "/opt/ros/hydro/lib/python2.7/dist-packages/tf/listener.py", line 34, in <module>
from tf import transformations
File "/opt/ros/hydro/lib/python2.7/dist-packages/tf/transformations.py", line 174, in <module>
import numpy
File "/usr/share/pyshared/numpy/__init__.py", line 137, in <module>
import add_newdocs
File "/usr/share/pyshared/numpy/add_newdocs.py", line 9, in <module>
from numpy.lib import add_newdoc
File "/usr/share/pyshared/numpy/lib/__init__.py", line 4, in <module>
from type_check import *
File "/usr/share/pyshared/numpy/lib/type_check.py", line 8, in <module>
import numpy.core.numeric as _nx
File "/usr/share/pyshared/numpy/core/__init__.py", line 5, in <module>
import multiarray
ImportError: No module named multiarray
failed to load symbols, rosdep will not function properly
================================================================================REQUIRED process [nao_sensors-2] has died!
process has died [pid 16829, exit code 1, cmd /opt/ros/hydro/lib/nao_driver/nao_sensors.py --pip=10.51.81.15 --pport=9559 __name:=nao_sensors __log:=/home/antoinerioux/.ros/log/e05386e2-8449-11e3-8e29-90b11c6e6bd9/nao_sensors-2.log].
log file: /home/antoinerioux/.ros/log/e05386e2-8449-11e3-8e29-90b11c6e6bd9/nao_sensors-2*.log
Initiating shutdown!
================================================================================
[nao_tactile-8] killing on exit
[nao_speech-7] killing on exit
[nao_leds-6] killing on exit
[nao_behaviors-5] killing on exit
[nao_controller-4] killing on exit
[nao_walker-3] killing on exit
[nao_sensors-2] killing on exit
Traceback (most recent call last):
File "/opt/ros/hydro/lib/nao_driver/nao_tactile.py", line 192, in <module>
ROSNaoTactileModule = NaoTactile("ROSNaoTactileModule")
File "/opt/ros/hydro/lib/nao_driver/nao_tactile.py", line 80, in __init__
self.init_almodule()
File "/opt/ros/hydro/lib/nao_driver/nao_tactile.py", line 121, in init_almodule
self.broker = ALBroker("%sBroker" % self.moduleName, self.ip, self.port, self.pip, self.pport)
File "/home/antoinerioux/pynaoqi-python-2.7-naoqi-1.14-linux64/inaoqi.py", line 164, in __init__
this = _inaoqi.new_broker(*args)
KeyboardInterrupt
Exception TypeError: "in method 'module_getName', argument 1 of type 'AL::module *'" in <bound method NaoTactile.__del__ of <__main__.NaoTactile; >> ignored
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Reinstalled Ubuntu and ROS. Everything worked on the first try after that when using the syntax proposed in the answer.
Originally posted by TopSecret on ROS Answers with karma: 37 on 2014-01-22
Post score: 0
|
I have installed Ubuntu 13.04(ARMHF) and Hydro on a Pandaboard. I have been unsuccessful with the openni stack - rostopic list shows one /tf topic and I can't seem to access any of the data within.
The freenect drivers seem better - I am getting a bunch of topics and I can use imageview on the remote to get both rgb and depth fields.
Where I get stuck is in using rviz. I don't know what to pick to view to get a simulated scan like on the turtlebot. I seem to recall something about transforms but I am fuzzy on the details.
Originally posted by DrBot on ROS Answers with karma: 147 on 2014-01-22
Post score: 1
|
Are there any plans to catkinize the KnowRob packages and release them for Hydro?
Originally posted by ZeynSaigol on ROS Answers with karma: 3 on 2014-01-22
Post score: 0
|
Does anyone use the "Coverage" option when compiling? I would like to get a profile of my executable, so I compile with 'catkin_make -DCMAKE_BUILD_TYPE=Coverage' and have confirmed that the code runs noticeably slower (although this may also be due to more optimization being disabled?). I do not know where to recover the code profile information from.
Running Groovy on Ubuntu 12.04.
Originally posted by dsolomon on ROS Answers with karma: 253 on 2014-01-22
Post score: 0
Original comments
Comment by dsolomon on 2014-02-03:
FYI - I ended up using valgrind to profile my code. To profile a single node, it may be easiest to run "valgrind --tool=callgrind ./<name_of_node_executable>" in the directory of your executable rather than using http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB
|
I am trying to create a GUI for my robot using the rqt package and I want to be able to change the display when a button is clicked.
I've got it working with one ui file but can't seem to change the ui files over. I can make the ui disappear completely but I can't get the second one to appear.
Does anyone have any experience using rqt or any suggestions that might help?
Thanks!
Originally posted by heyfred on ROS Answers with karma: 122 on 2014-01-22
Post score: 1
|
I have successfully built the WinROS sdk and samples using VS2010.
I have created a simple program that writes messages to a bag file.
My ultimate goal is to write tf/tfMessage type messages to the /tf topic in a bag, then to play that bag on Ubuntu for other existing nodes listening on that topic, but I don't see the tf/tfMessage type defined anywhere (thought it would be in "geometry_msgs").
I can write geometry_msgs/TransformStamped type messages which seem to have the same data, but are not compatible with the /tf topic.
Any suggestions?
Originally posted by gershon on ROS Answers with karma: 73 on 2014-01-22
Post score: 0
Original comments
Comment by gershon on 2014-01-23:
Can someone confirm that tf is not ported to winros? I just want to know that I'm not missing something. Seems like a very important library so I thought it was, but maybe not.
Comment by gershon on 2014-01-23:
Also, upon further inspection it appears that the tf/tfMessage is just an array of geometry_msgs/TransfromStamped type messages.
Can someone confirm that for me? I'm thinking it might not be that hard to mock-up one of these in that namespace and copy the MD5 from the real one and make it work?
|
We found out, that to make our network communication work, ROS_IP has to be set to the ip of the machine. Otherwise the network communication won't work.
How can we set this value from within C++ code?
Originally posted by ISibboI on ROS Answers with karma: 15 on 2014-01-22
Post score: 0
|
hi, this is the error message i got when i rosmake skeletal_tracker
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::initialize()'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:112: undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
/opt/ros/groovy/include/ros/publisher.h:102: undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:102: undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
/opt/ros/groovy/include/ros/publisher.h:102: undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
CMakeFiles/tracker.dir/src/main.cpp.o: In function `ros::Publisher ros::NodeHandle::advertise<mapping_msgs::PolygonalMap_<std::allocator<void> > >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, bool)':
/opt/ros/groovy/include/ros/node_handle.h:241: undefined reference to `ros::NodeHandle::advertise(ros::AdvertiseOptions&)'
CMakeFiles/tracker.dir/src/main.cpp.o: In function `ros::Publisher ros::NodeHandle::advertise<body_msgs::Skeletons_<std::allocator<void> > >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, bool)':
/opt/ros/groovy/include/ros/node_handle.h:241: undefined reference to `ros::NodeHandle::advertise(ros::AdvertiseOptions&)'
CMakeFiles/tracker.dir/src/main.cpp.o: In function `main':
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:372: undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:373: undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:379: undefined reference to `ros::Publisher::~Publisher()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:380: undefined reference to `ros::Publisher::~Publisher()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:438: undefined reference to `ros::NodeHandle::~NodeHandle()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:397: undefined reference to `ros::package::getPath(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:438: undefined reference to `ros::NodeHandle::~NodeHandle()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:438: undefined reference to `ros::NodeHandle::~NodeHandle()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:380: undefined reference to `ros::Publisher::~Publisher()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:379: undefined reference to `ros::Publisher::~Publisher()'
CMakeFiles/tracker.dir/src/main.cpp.o: In function `__static_initialization_and_destruction_0':
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:64: undefined reference to `ros::Publisher::~Publisher()'
/home/chao/catkin_ws/kinect_demos/mit-ros-pkg/kinect_utils/skeletal_tracker/src/main.cpp:64: undefined reference to `ros::Publisher::~Publisher()'
anyone knows what is the error?
got OpenNI from https://github.com/OpenNI/OpenNI. Installed with steps in README.
this is my CMakeLists.txt. Referred to http://answers.ros.org/question/56403/how-to-link-openni-library-through-the-cmakeliststxt-file/
cmake_minimum_required (VERSION 2.4.6)
include ($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
include ($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
set (ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init ()
rosbuild_add_boost_directories ()
rosbuild_check_for_sse ()
set (EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
include_directories (${CMAKE_CURRENT_BINARY_DIR})
pkg_check_modules (LIBUSB REQUIRED libusb-1.0)
include_directories (${LIBUSB_INCLUDE_DIRS})
link_directories (${LIBUSB_LIBRARY_DIRS})
include_directories(/usr/include/ni)
find_package(GLUT)
find_package(OpenGL)
pkg_check_modules (LIBUSB REQUIRED libusb-1.0)
include_directories (${LIBUSB_INCLUDE_DIRS})
link_directories (${LIBUSB_LIBRARY_DIRS})
FIND_PATH(OPEN_NI_INCLUDE "XnOpenNI.h" "OpenNIConfig.h" HINTS "$ENV{OPEN_NI_INCLUDE}" "/usr/include/ni" "/usr/include/openni" "/opt/ros/groovy/include/openni_camera")
FIND_LIBRARY(OPEN_NI_LIBRARY NAMES OpenNI libOpenNI HINTS $ENV{OPEN_NI_LIB} "/usr/lib")
LINK_DIRECTORIES($ENV{OPEN_NI_LIB})
INCLUDE_DIRECTORIES(${OPEN_NI_INCLUDE})
LINK_LIBRARIES(${OPEN_NI_LIBRARY})
rosbuild_add_executable (tracker src/main.cpp src/SceneDrawer.cpp)
target_link_libraries (tracker ${GLUT_LIBRARY} ${OPENGL_LIBRARY} ${SSE_FLAGS} ${OPEN_NI_LIBRARIES})
and this is my manifest.xml
<package>
<description brief="A ROS driver wrapper for user tracking">
</description>
<author>Garratt Gallagher</author>
<license>BSD</license>
<url>http://ros.org/wiki/skeletal_tracker</url>
<review status="experimental" notes="beta"/>
<!-- <depend package="ps_engine"/>-->
<depend package="body_msgs"/>
<platform os="ubuntu" version="12.04"/>
<platform os="ubuntu" version="10.10"/>
</package>
Originally posted by chao on ROS Answers with karma: 153 on 2014-01-22
Post score: 0
Original comments
Comment by Cyril Jourdan on 2015-05-28:
Did you manage to get the MIT KinectDemos working on ROS Indigo ?
|
Hi,
I am going through the http://wiki.ros.org/navigation/Troubleshooting; which is related to proper navigation stack set up?
What do we mean by poor odometry?
How to resolve the "poor odometry issue"?
What are the files (and where) that should be look into if navigation stack give rise to abnormal behavior?
Thanks a lot.
Originally posted by RB on ROS Answers with karma: 229 on 2014-01-22
Post score: 0
Original comments
Comment by bvbdort on 2014-01-22:
Poor Odometry means large error in translation and rotation of robot. this helps more http://groups.csail.mit.edu/drl/courses/cs54-2001s/odometry.html
Comment by RB on 2014-01-23:
@bvbdort Thank you for sharing the link.
|
Hello everyone!
I'm trying to install bride following those instructions, but when I try to run the command 'make' inside bride folder I get this error:
mkdir -p build
if [ ! -f eclipse-modeling-juno-SR2-linux-gtk.tar.gz.md5sum ]; then echo "Error: Couldn't find md5sum file eclipse-modeling-juno-SR2-linux-gtk.tar.gz.md5sum" && false; fi
/opt/ros/hydro/share/ros/core/rosbuild/bin/download_checkmd5.py http://ftp-stud.fht-esslingen.de/pub/Mirrors/eclipse/technology/epp/downloads/release/juno/SR2/eclipse-modeling-juno-SR2-linux-gtk.tar.gz build/eclipse-modeling-juno-SR2-linux-gtk.tar.gz `awk {'print $1'} eclipse-modeling-juno-SR2-linux-gtk.tar.gz.md5sum`
[rosbuild] Downloading http://ftp-stud.fht-esslingen.de/pub/Mirrors/eclipse/technology/epp/downloads/release/juno/SR2/eclipse-modeling-juno-SR2-linux-gtk.tar.gz to build/eclipse-modeling-juno-SR2-linux-gtk.tar.gz...Done
[rosbuild] Checking md5sum on build/eclipse-modeling-juno-SR2-linux-gtk.tar.gz
[rosbuild] ERROR: md5sum mismatch (027fb35a730ff1f5673a14795a9375f3 != 4d66aa3aeb1c23769fa69f080ccda211) on build/eclipse-modeling-juno-SR2-linux-gtk.tar.gz; aborting
make: *** [build/eclipse/unpacked] Error 1
I triyed both with release 0.2 and branch groovy. I'm working with Ubuntu 12.04 32-bit and with ros hydro. Can someone help me?
Thank you!
Originally posted by Tirjen on ROS Answers with karma: 808 on 2014-01-22
Post score: 1
|
Hi, I updated hydro this morning then I run "rosrun lms1xx LMS1xx_node .." I get error.
error:
/home/xx/catkin_ws/devel/lib/lms1xx/LMS1xx_node: symbol lookup error: /home/xx/catkin_ws/devel/lib/lms1xx/LMS1xx_node: undefined symbol: _ZN3ros7console5printEPNS0_10FilterBaseEPN7log4cxx6LoggerENS0_6levels5LevelEPKciS9_S9_z
This node run before update. is this a bug? what can I do?
thanks.
Originally posted by katsumoto on ROS Answers with karma: 33 on 2014-01-22
Post score: 3
Original comments
Comment by katsumoto on 2014-01-22:
how can I return before update?
|
Hello everyone.
I recorded a bag file using messages generated by Stage simulator; thus, when bag file is played, both odometric and scanner messages are sent again.
I wrote a function that should receive a laser message and find the associated odometric message, using waitForTransform, on professor's suggestion:
void messageListener::laserCallback(const sensor_msgs::LaserScan msg){
//std::string frame_id = msg->header.frame_id;
ros::Time t = msg.header.stamp;
tf::StampedTransform laserPose;
std::string error;
if (listener->waitForTransform ("/odom", "/base_scan", t, ros::Duration(0.5), ros::Duration(0.01), &error)){
listener->lookupTransform("/odom", "/base_scan", t, laserPose);
double yaw,pitch,roll;
tf::Matrix3x3 mat = laserPose.getBasis();
mat.getRPY(roll, pitch, yaw);
pos_node pn;
pn.x = laserPose.getOrigin().x();
pn.y = laserPose.getOrigin().y();
pn.angle = yaw;
const vector<float>& ranges = msg.ranges;
scan_node temp_sn;
temp_sn.cartesian = polar2cart(ranges, msg.angle_min, msg.angle_increment, msg.range_min, msg.range_max);
vector<scan_node> tempScanVec;
tempScanVec.push_back(temp_sn);
extractCorners(&tempScanVec, 0.1, 0.1, 0.3);
line2angle(&tempScanVec);
pn.corn_vec = tempScanVec[0].corners_list;
nodeInfo.push_back(pn);
}
else
printf("Nothing to do\n");
}
The problem is that the IF block where the trasnform should be found is never executed and I always get the nothing to do printing; this makes me understand that somehow transform is never found.
I suppose that problem may regard parameters of the function itself.
This is the way I perform subscription:
ros::NodeHandle n;
ros::Subscriber sub_n = n.subscribe("/base_scan", 1000, &messageListener::laserCallback, this);
Does anyone know where I'm mistaking?
Thanks
Originally posted by ubisum on ROS Answers with karma: 23 on 2014-01-22
Post score: 0
|
I want to know, how we lost karma?
I was searched but nothing available.
Originally posted by programmer on ROS Answers with karma: 61 on 2014-01-23
Post score: 1
|
Dear All:
I have a fake laser based on the Xtion Pro. I was running Groovy and it worked perfectly.
I updated to Hydro and I can not see the topic of 2D fake laser.
The code in my launch file is:
<include file="$(find openni_launch)/launch/openni.launch"/>
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
<param name="scan_height" value="290"/> <!-- height in pixels -->
<param name="scan_time" value="0.125"/>
<param name="range_min" value="0.80"/>
<param name="range_max" value="3.0"/>
<param name="min_height" value=".10"/>
<param name="max_height" value="2.0"/>
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="scan" to="/scan_xtion"/>
</node>
The topic /scan_xtion shall have the 2D Xtion data, but I can not visualize anything with rostopic echo /scan_xtion.
Do you have any clue.
In advance thank you
Originally posted by acp on ROS Answers with karma: 556 on 2014-01-23
Post score: 0
Original comments
Comment by Athoesen on 2014-01-23:
Can you include the error output?
Comment by acp on 2014-01-23:
Well, there are no errors, it compile quite well, however I cant read the /scan_xtion topic
|
Hello,
after upgrading hydro I'm having the following problem:
the tf-node shows misbehavoiur even with the default launch-files i.e. I'm running the gazebo-launch files for turtlebot-navigation
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/path/to_my_map.yaml
Brings up the following Warning
[ WARN] [1390486537.516455089, 723.580000000]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:
A rostopic list shows
/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/joint_states
/kobuki_safety_controller/disable
/kobuki_safety_controller/enable
/kobuki_safety_controller/reset
/map
/map_metadata
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/events/bumper
/mobile_base/events/cliff
/mobile_base/events/wheel_drop
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/imu_data
/mobile_base_nodelet_manager/bond
/move_base/current_goal
/move_base/goal
/move_base_simple/goal
/navigation_velocity_smoother/parameter_descriptions
/navigation_velocity_smoother/parameter_updates
/navigation_velocity_smoother/raw_cmd_vel
/odom
/particlecloud
/rosout
/rosout_agg
/scan
/tf
/tf_static
In rvis the map is shown. Maybe stupid question the map is published under the topic "/map" ... and tf seems to look after "map". Did somebody experience the same problems during the last days after the upgrade?
Edit: Shouldn't be there a base_footprint topic?
Originally posted by carsten on ROS Answers with karma: 16 on 2014-01-23
Post score: 0
Original comments
Comment by dornhege on 2014-01-23:
This seems to be that amcl is not running. What outputs do you get. tf doesn't show up as individual topics.
|
I am using gmapping to create maps with lasers. I managed to have successful maps but since obstacles in some indoor spaces (like malls etc..) are transparent (such as glass walls and doors etc...), my project is to enhance the mapping by adding a node using sonars and the laser-created-map (and tf data of course to localise the robot in the map) to generate a more general map with the transparent obstacles in it.
(the introduction is to let you know why this question and to have some advices regarding what I want to do..)
So, my question is:
Are the /map frame axes (X and Y) parallel to the sides of the "rectangular map"?
If not, I guess the information about the /map frame orientation is in "map.info.origin.orientation". No?
I read in some previous question :(/question/10268/where-am-i-in-the-map/) that "in practice there's no rotation". Is "map.info.origin.orientation" then useless?
Originally posted by AbuIbra on ROS Answers with karma: 118 on 2014-01-23
Post score: 0
|
Hey everyone,
I'm running Ubuntu 12.04, ros hydro, openni and now I'm trying desperately to connect my kinect to rviz.
My aim is to realize a SLAM algorithm on my Eddie robot, therfore i use the guide of Dr. Rainer Hessmer: 2d SLAM with ROS and Kinect. I would give you the link, but i have to less karma..;-)
The first steps are easy, installing the ros and openni doesn't make any problems. But after the install process, neither rviz nor openni is able to locate the kinect: rviz says: No tf data. Actual error: Fixed Frame [openni_camera] does not exist.,openni says: no device connected (after using roslaunch openni_launch openni.launch to start the framework.).
Ubuntu itself connects with the kinect: lsusb displays the connections, so i think the drivers which come with openni are actually working.
What am I doing wrong? Any suggestions?
Thanks for your help!!!
Robin
Originally posted by Rolias on ROS Answers with karma: 11 on 2014-01-23
Post score: 0
|
ROS Comm now depends on a non-catkin package, console_bridge. This means catkin_make no longer works. Unfortunately, I can't convince catkin to use my cross compile toolchain when using catkin_make_isolated, so I just end up with host-binaries.
I'm cross compiling ROS Comm Hydro for an i.MX53 Cortex A8 ARM board. I had configured yujin_tools (thanks Daniel) to cross-compile the ROS Comm sources before the console_bridge dependency existed. Now, "yujin_make" (which calls catkin_make) no longer works.
How can I convince yujin and/or catkin to build ROS Comm with my xc toolchain?
~/ros_yws/digi $ yujin_make
####
#### Running command: "cmake /home/robonaut/ros_yws/digi/src -DCMAKE_TOOLCHAIN_FILE=/home/robonaut/ros_yws/digi/toolchain.cmake -C/home/robonaut/ros_yws/digi/config.cmake" in "/home/robonaut/ros_yws/digi/build"
####
loading initial cache file /home/robonaut/ros_yws/digi/config.cmake
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/local/DigiEL-5.9/x-tools/arm-cortex_a8-linux-gnueabi/bin/arm-cortex_a8-linux-gnueabi-gcc
-- Check for working C compiler: /usr/local/DigiEL-5.9/x-tools/arm-cortex_a8-linux-gnueabi/bin/arm-cortex_a8-linux-gnueabi-gcc -- works
...snip...
CMake Error at catkin/cmake/catkin_workspace.cmake:88 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation.
So yujin_make uses the toolchain correctly, but catkin doesn't like console_bridge.
~/ros_yws/digi $ yujin_make_isolated
...snip...
==> Processing catkin package: 'catkin'
==> Creating build directory: 'build_isolated/catkin'
==> cmake /home/robonaut/ros_yws/native/src/catkin -DCATKIN_DEVEL_PREFIX=/home/robonaut/ros_yws/native/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/home/robonaut/ros_yws/native/install_isolated in '/home/robonaut/ros_yws/native/build_isolated/catkin'
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
...snip...
~/ros_yws/digi $ file devel_isolated/console_bridge/lib/libconsole_bridge.so
devel_isolated/console_bridge/lib/libconsole_bridge.so: ELF 32-bit LSB shared object, Intel 80386, version 1 (SYSV), dynamically linked, BuildID[sha1]=0x6d0102a6e7bbb8584315b962cdb8c023aea2137f, not stripped
But yujin_make_isolated fails to use the toolchain, even though catkin is happy.
Originally posted by dustingooding on ROS Answers with karma: 139 on 2014-01-23
Post score: 0
Original comments
Comment by dustingooding on 2014-01-23:
If I convert console_bridge into a catkin package, things work swimmingly. But I assume it's not a catkin package on purpose... hm.
https://github.com/dustingooding/console_bridge-release/tree/feature/catkin
|
Good afternoon partner I'm trying to follow the example Hello World in Rosserial/tutorials but I'being given the same with the two Arduino:
[ERROR] [WallTime: 1390504719.732367] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
I have looked for fixing it but I don't find something that could help me.
Anyone could help me please?
Originally posted by 4LV4R0 on ROS Answers with karma: 70 on 2014-01-23
Post score: 0
Original comments
Comment by tonybaltovski on 2014-01-23:
Have you updated rosserial recently?
Comment by 4LV4R0 on 2014-01-23:
We work with some many differents raspberry. This one has been set up a few days ago , less than a week. Following as always the tutorial. Problems with new versions maybe? Thanks for your interest
Comment by 4LV4R0 on 2014-01-26:
Thanks you for your interest. i´m telling you tomorrow. We´re trying it in the student´s raspberry. If not, we´ll start from the beginning again.
EDIT: Remaking ros_lib was a solution for us in this case. Thanks you so much
|
When trying to install ros-hydro-ros-comm I get:
The following packages have unmet dependencies:
ros-hydro-ros-comm : Depends: ros-hydro-roslisp but it is not going to be installed
I am using the Arm instruction on the Wiki with sources at:
deb http://packages.ros.org/ahendrix-mirror/ubuntu raring main
So how do I resolve this? I noticed that rostopic did not exist and that I was missing this packages.
Originally posted by TommyP on ROS Answers with karma: 1339 on 2014-01-23
Post score: 0
|
I have created my own msg files and would now like to use them in python. One line trips me up over and over.
from my_package.msg import *
I get an error like this:
ImportError: No module named
my_package
I do believe I have written the '.msg' files correctly, and I have executed 'catkin_make' successfully on the workspace I'm using for ros development. I also believe I've edited the CMakeLists.txt file correctly.
cmake_minimum_required(VERSION 2.8.3)
project(my_package)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
std_msgs
message_generation
map_store
)
add_message_files(
FILES
MapListEntryList.msg
MapListElement.msg
# Message2.msg
)
generate_messages(
DEPENDENCIES
#my_package
# MapListEntryList
# geometry_msgs# std_msgs
)
catkin_package(
# INCLUDE_DIRS include
LIBRARIES my_package map_store
CATKIN_DEPENDS message_runtime geometry_msgs roscpp rospy std_msgs
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
install(PROGRAMS
scripts/turtlebot_listen.py
scripts/turtlebot_map.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
The two .msg files are trivial:
# MapListEntryList.msg
# num of available maps/ num of maps in list
int8 len
# list of available map_id objects
my_package/MapListElement[] list
and
# MapListElement.msg
string name
string id
I can use rosmsg to look at both messages. If anyone can point out what I'm doing wrong, I'd be grateful.
Originally posted by david.c.liebman on ROS Answers with karma: 125 on 2014-01-23
Post score: 0
|
Dear all,
So, I finally dared to give Hydro a spin and installed it on a fresh Ubuntu 12.04 64bit machine. (The machine's only purpose in this life is to run ROS, so all I did was to install Ubuntu 12.04 and its latest updates right before installing ROS Hydro).
The thing is that when I plug a Microsoft Kinect and execute roslaunch openni_launch openni.launch everything is OK. But, when I plug a PrimeSense RD1.08 or PrimeSense RD1.09 it does not detect them::
[ INFO] [1390375625.910692278]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/buildd/ros-hydro-openni-camera-1.9.2-0precise-20140117-2223/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!
More over, when I plug an ASUS Xtion Pro, the thing just blows up:
martin@martin-U24E:~$ roslaunch openni_launch openni.launch
...
process[camera/depth_registered_rectify_depth-14]: started with pid [7090]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [7104]
[ INFO] [1390375812.746335307]: Number devices connected: 1
process[camera/disparity_depth-16]: started with pid [7119]
process[camera/disparity_registered_sw-17]: started with pid [7133]
[FATAL] [1390375812.838870747]: Service call failed!
[FATAL] [1390375812.839177731]: Service call failed!
[FATAL] [1390375812.839430812]: Service call failed!
[FATAL] [1390375812.839533404]: Service call failed!
[FATAL] [1390375812.840017362]: Service call failed!
[FATAL] [1390375812.840183592]: Service call failed!
[FATAL] [1390375812.840222229]: Service call failed!
[FATAL] [1390375812.846948463]: Service call failed!
[FATAL] [1390375812.847145521]: Service call failed!
[FATAL] [1390375812.849545313]: Service call failed!
[FATAL] [1390375812.850908795]: Service call failed!
[camera/camera_nodelet_manager-2] process has died [pid 6894, exit code -11, cmd /opt/ros/hydro/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-camera_nodelet_manager-2.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-camera_nodelet_manager-2*.log
process[camera/disparity_registered_hw-18]: started with pid [7148]
process[camera_base_link-19]: started with pid [7162]
process[camera_base_link1-20]: started with pid [7195]
process[camera_base_link2-21]: started with pid [7206]
[camera/rectify_mono-5] process has died [pid 6952, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_mono image_rect:=rgb/image_rect_mono __name:=rectify_mono __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_mono-5.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_mono-5*.log
[camera/rectify_color-6] process has died [pid 6970, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rectify_color __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_color-6.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_color-6*.log
[camera/rectify_ir-7] process has died [pid 6984, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=rectify_ir __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_ir-7.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-rectify_ir-7*.log
[camera/register_depth_rgb-12] process has died [pid 7060, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-register_depth_rgb-12.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-register_depth_rgb-12*.log
process[camera_base_link3-22]: started with pid [7217]
[camera/depth_metric-10] process has died [pid 7030, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_metric-10.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_metric-10*.log
[camera/depth_points-11] process has died [pid 7044, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_points-11.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_points-11*.log
[camera/points_xyzrgb_sw_registered-13] process has died [pid 7074, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-points_xyzrgb_sw_registered-13.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-points_xyzrgb_sw_registered-13*.log
[camera/depth_registered_rectify_depth-14] process has died [pid 7090, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_registered_rectify_depth-14.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_registered_rectify_depth-14*.log
[camera/points_xyzrgb_hw_registered-15] process has died [pid 7104, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-points_xyzrgb_hw_registered-15.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-points_xyzrgb_hw_registered-15*.log
[camera/depth_rectify_depth-8] process has died [pid 6998, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_rectify_depth-8.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_rectify_depth-8*.log
[camera/depth_metric_rect-9] process has died [pid 7012, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera-depth_metric_rect-9.log].
log file: /home/martin/.ros/log/06ead13e-8337-11e3-a3f7-c860003ebb31/camera- depth_metric_rect-9*.log
^C[camera_base_link3-22] killing on exit
[camera_base_link2-21] killing on exit
[camera_base_link1-20] killing on exit
[camera_base_link-19] killing on exit
[camera/disparity_registered_hw-18] killing on exit
[camera/disparity_registered_sw-17] killing on exit
[camera/disparity_depth-16] killing on exit
[camera/debayer-4] killing on exit[camera/driver-3] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Paradoxically, the only sensor that is working is the only sensor that I am not interested on using xD
So, to sum up:
Microsoft Kinect: OK
PrimeSense RD1.08: KO (Device not found 'coz USB interface not supported)
PrimeSense RD1.09: KO (Device not found 'coz USB interface not supported)
ASUS Xtion Pro: KO (Dies miserably)
I would like to add that the previous mix of Precise + Groovy was working properly. Any solution?
Thank you very much in advance!
[UPDATE]
After some researching it seems that the problem is the package ros-hydro-openni-camera, which currently is on version 1.9.2
The proposed solution is to download and install version 1.8.8
So, after doing it, the situation with roslaunch openni_launch openni.launch is as follows:
Microsoft Kinect: OK
PrimeSense RD1.08: KO (Same error as before)
PrimeSense RD1.09: KO (Same error as before)
ASUS Xtion Pro: OK (now it works, before it died miserably)
Good progress, but I would like to see the PrimeSense devices working...
[UPDATE 2]
I gave a try to the packages for OpenNI2:
sudo apt-get install ros-hydro-openni2-camera ros-hydro-openni2-launch
And get the following results:
Microsoft Kinect: KO (No matching device found)
PrimeSense RD1.08: OK
PrimeSense RD1.08: OK
ASUS Xtion Pro: KO (Device starts up, but Xtion Pro has no color camera, so it complains about not finding a calibration for /camera/depth/image_rect_raw and never publishes any point cloud)
Will we see the day when the universe lines up and all the devices JUST WORK? hehehe
Originally posted by Martin Peris on ROS Answers with karma: 5625 on 2014-01-23
Post score: 3
Original comments
Comment by Athoesen on 2014-01-24:
It could be because openni2_camera is explicitly made for this purpose.
http://wiki.ros.org/openni_camera
http://wiki.ros.org/openni2_camera
|
I'm going through the three rosjava tutorials at http://wiki.ros.org/rosjava.
I successfully reached the end of Creating Rosjava Packages, and I am now attempting to fill in apparent gaps between that tutorial and the third, Unofficial Messages.
Specifically, I am hoping to find a Java version of Writing a Simple Publisher and Subscriber (C++) and Writing a Simple Service and Client (C++), along with information about running the resultant Java-based nodes, as in the associated "Examining" tutorials that follow those above.
Could someone point me in the right direction or verify that such information is not yet available?
Originally posted by bradknox on ROS Answers with karma: 101 on 2014-01-23
Post score: 3
Original comments
Comment by Daniel Stonier on 2014-01-24:
What was the blocker here at this last step?
Comment by bradknox on 2014-01-31:
FYI, the above comment was only relevant to an intermediate version of this question. See my answer below for a link to the directions I was seeking.
|
I am trying to find a speech processor to convert from audio to text and was wondering if pocketsphynx package which is available here works with ros hydro because the tutorial asks us to use rosmake which was used for ros fuerte.
Originally posted by uzair on ROS Answers with karma: 87 on 2014-01-23
Post score: 0
Original comments
Comment by fergs on 2014-01-24:
What tutorial? Could you post a link? The main page on the wiki is updated http://wiki.ros.org/pocketsphinx
Comment by uzair on 2014-01-24:
http://www.pirobot.org/blog/0022/ I was talking about this tutorial.
|
Hi,
I am wondering how it is possible that prunePlan takes occasionally over 40 seconds?
I can't find anything in there that causes this long computation.
It's hard to debug because it doesn't occur that often but we managed at least to localize it to this function:
void prunePlan(const tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan){
ROS_ASSERT(global_plan.size() >= plan.size());
std::vector<geometry_msgs::PoseStamped>::iterator it = plan.begin();
std::vector<geometry_msgs::PoseStamped>::iterator global_it = global_plan.begin();
double global_pose_x = global_pose.getOrigin().x();
double global_pose_y = global_pose.getOrigin().y();
while(it != plan.end()){
const geometry_msgs::PoseStamped& w = *it;
// Fixed error bound of 2 meters for now. Can reduce to a portion of the map size or based on the resolution
double x_diff = global_pose_x - w.pose.position.x;
double y_diff = global_pose_y - w.pose.position.y;
double distance_sq = x_diff * x_diff + y_diff * y_diff;
if(distance_sq < 1){
ROS_DEBUG("Nearest waypoint to <%f, %f> is <%f, %f>\n", global_pose.getOrigin().x(), global_pose.getOrigin().y(), w.pose.position.x, w.pose.position.y);
break;
}
it = plan.erase(it);
global_it = global_plan.erase(global_it);
}
}
Has anyone an idea what I could do here?
Edit:
We also found out that the length of the global plan coming in, has sometimes some "outliers".
For example the planner outputs 800, 750, 600, 15000, 400,... (We compute the path more than once during approaching a goal)
And at this peak the delay is happening.
Originally posted by madmax on ROS Answers with karma: 496 on 2014-01-23
Post score: 1
|
Hey,
Kind of newbie in using boost, and this is driving me crazy. I wanted to pass on the topicname to the callback function of subscriber, so I followed the various questions already asked and wrote the following:
My callback function:
void write_enocean(const palgate_madynes_msg::EnOceanFrame& msg,std::string topic)
Subscriber:
sub[i] = nh.subscribe(Topiclist[i].name,1000,boost::bind(&write_enocean,_1,Topicname[i].name));
If I do this, I get the following error:
error: no matching function for call to ‘ros::NodeHandle::subscribe(std::string&, int, boost::_bi::bind_t<void, void (*)(const palgate_madynes_msg::EnOceanFrame_<std::allocator<void> >&, std::basic_string<char>), boost::_bi::list2<boost::arg<1>, boost::_bi::value<std::basic_string<char> > > >*)’
followed by the various candidates, and then:
node_handle.h:785:14: note: candidate expects 1 argument, 3 provided
On the other hand, if write the subscriber as such:
sub[i] = nh.subscribe<palgate_madynes_msg::EnOceanFrame>(Topiclist[i].name,1000,boost::bind(&write_enocean,_1,test));
I get the error:
/usr/include/boost/bind/bind.hpp:313:9: error: invalid initialization of reference of type ‘const palgate_madynes_msg::EnOceanFrame_<std::allocator<void> >&’ from expression of type ‘const boost::shared_ptr<const palgate_madynes_msg::EnOceanFrame_<std::allocator<void> > >’
What am I doing wrong with boost? My CMakeLists.text already includes the rosbuild_add_boost_directories() but gives me an error if write rosbuild_link_boost(topic_listener bind) saying it could not locate bind.
Originally posted by Mandar on ROS Answers with karma: 73 on 2014-01-23
Post score: 3
Original comments
Comment by dornhege on 2014-01-24:
It seems to have problems to pick the right overload. Does it help to move the bind into a boost::function.
Comment by Mandar on 2014-01-24:
I'm not sure I understand what you mean. Do I use it something like boost::function(bind, ...) or? I've not really used boost before, hence the confusion.
Comment by dornhege on 2014-01-24:
You can put the return of a bind in a boost::function and give that a specific function type. When playing around with bind and callbacks that helps to isolate the problem.
Comment by luc on 2015-10-05:
Might be missing a _1 as the third arg.
|
Hello, I'm doing a hand gesture recognition project and I am having some troubles with the migration of the PCL data types to ROS Hydro. I started with Hydro + PCL this week so, not all the concepts are really clear for me. I'm using Ubuntu 12.04.
My problem is to transform the data that come from my passthrough filter (sensor_msgs/PointCloud2) to a pcl::PointCloud pcl::PointXYZRGB, so I can write the data using the savePCDFileASCII function.
My code is:
#include <ros/ros.h>
#include <pcl_conversions/pcl_conversions.h> //hydro
#include <sensor_msgs/PointCloud2.h> //hydro
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
ros::Publisher pub;
void
cloud_cb (const pcl::PCLPointCloud2ConstPtr& input)
{
pcl::PointCloud<pcl::PointXYZRGB> cloud_filtered;
pcl::fromROSMsg(*input, cloud_filtered);
//cloud_filtered.header = pcl_conversions::toPCL(input.header);
//pcl_conversions::toPCL(input, cloud_filtered);
pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud_filtered);
pub.publish(input);
}
int
main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "pcl_node");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("/passthrough", 1, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
// Spin
ros::spin ();
//End Program
return (0);
}
As you guys can see in my code, I tried some transformations after reading the hydro/Migration page, but I couldn't figure it out what i need to do to make my code work.
The error while doing catkin_make is a no matching function because the type error:
/home/breil/catkin_ws/src/pcl_tutorial/src/example.cpp: In function ‘void cloud_cb(const PCLPointCloud2ConstPtr&)’:
/home/breil/catkin_ws/src/pcl_tutorial/src/example.cpp:21:41: error: no matching function for call to ‘fromROSMsg(const pcl::PCLPointCloud2&, pcl::PointCloud<pcl::PointXYZRGB>&)’
/home/breil/catkin_ws/src/pcl_tutorial/src/example.cpp:21:41: note: candidate is:
/opt/ros/hydro/include/pcl_conversions/pcl_conversions.h:486:8: note: template<class T> void pcl::fromROSMsg(const PointCloud2&, pcl::PointCloud<PointT>&)
Thank you very much for your attention.
Originally posted by lfelipesv on ROS Answers with karma: 58 on 2014-01-23
Post score: 2
Original comments
Comment by Wolf on 2014-01-24:
I think you do not need this to... and fromRosMSG() anymore in hydro. A least for publishing you just put the cloud into the publish method of a sensro_msgs::PointCloud2 publisher and unlike in prev versions it just works. But I dont know the opposite way..
Comment by lfelipesv on 2014-01-24:
Yes Wolf, the publisher is working fine with the type. The problem is to save the PCD File, because I can't use sensor_msgs/PointCloud2 type. The pcl::io::savePCDFileASCII function. So I need to do some transformation before.
int pcl::io::savePCDFileASCII(const string&, const pcl::PointCloud&)
|
Recently (maybe since some update...), whenever I advertise a topic of topic std_msgs/Empty I receive WARNING:
Advertising on topic [/topic_name]
with an empty message definition. Some
tools (e.g. rosbag) may not work
correctly.
Can I safely ignore it? Was does it mean? I often use std_msgs/Empty as kind of signal for nodes to perform long running calculations to update their state.
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-01-24
Post score: 3
Original comments
Comment by Dave Coleman on 2014-01-24:
I have also just run into this problem, a recent update seems to have changed functionality.
Comment by Dave Coleman on 2014-01-24:
I just opened an issue https://github.com/ros/ros_comm/issues/344
|
Just like the topic I posed, when I try to use roslaunch command to run in the terminal, I met this problem (as followed):
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/groovy/stacks/xacro/xacro.py '/home/viki/ros_workspace/smartcar_description/urdf/smartcar.urdf.xacro'] returned with code [1].
Param xml is <param command="$(arg urdf_file)" name="robot_description"/>
I have no idea how to solve this problem, I sincerely you could give the instructions about how to solve this problem.
Thanks so much for your time.
when I run the code rosrun xacro xacro.py /home/viki/ros_workspace/smartcar_description/urdf/smartcar.urdf.xacro to check the xacro, there is the information showed as followed:
Expat parsing error. Check that:
- Your XML is correctly formed
- You have the xacro xmlns declaration: xmlns:xacro="http://www.ros.org/wiki/xacro"
Traceback (most recent call last):
File "/opt/ros/groovy/stacks/xacro/xacro.py", line 35, in <module>
xacro.main()
File "/opt/ros/groovy/stacks/xacro/src/xacro.py", line 542, in main
doc = parse(f)
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1920, in parse
return expatbuilder.parse(file)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 928, in parse
result = builder.parseFile(file)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 207, in parseFile
parser.Parse(buffer, 0)
xml.parsers.expat.ExpatError: junk after document element: line 197, column 0
Can you give me some information about how to solve the problem?
Thanks so much!
Originally posted by saina110 on ROS Answers with karma: 107 on 2014-01-24
Post score: 10
|
Hi All,
I want to move an object, for example a box in 3D space, using ROS and visualize its movements in RVIZ. for this reason I wrote this node,
#include <ros/ros.h>
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Pose.h"
// publisher handles
ros::Publisher goal_pub;
void publish_goal()
{
geometry_msgs::PoseStamped msg;
msg.header.frame_id = "base_link";
msg.pose.position.x += 2;
msg.pose.position.y = 20;
msg.pose.position.z = 50;
msg.pose.orientation.w = 0;
msg.pose.orientation.x = -2.0;
msg.pose.orientation.y = 0;
msg.pose.orientation.z = 0;
goal_pub.publish(msg);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "move_sphere");
ros::NodeHandle nh;
ros::Rate loop_rate(100);
goal_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 1);
while (ros::ok())
{
publish_goal();
ros::spinOnce();
loop_rate.sleep();
}
}
but the object don't move. anyone can tell me what is the mistake in code.
Originally posted by robot_arm on ROS Answers with karma: 1 on 2014-01-24
Post score: 0
|
Hey guys,
So, I am working on the project where different robots need to communicate with each other and I am using ROS over multiple machines. My question is if I run more than one instance of Rviz, say on different robots then all of the instances of Rviz will be publishing messages on the same topic. Also, different nodes will be subscribed to receive messages from the topics where their corresponding Rviz is publishing. But all this will create a mess because all the instances of Rviz will publish on the same topic and all corresponding nodes are subscribed to the same topic.
What is the best way to separate the topics on which different instances of Rviz are publishing so that corresponding nodes can be subscribed to corresponding topics?
I hope I have made myself clear. Please ask in case of any confusion.
Thanks in advance.
Naman
Originally posted by Naman on ROS Answers with karma: 1464 on 2014-01-24
Post score: 0
|
I'm passing around dynamical properties (masses, inertias, etc) and there's no standard ROS message for a rigid body inertia with a coordinate frame and timestamp. Something like the following would be good (and simple):
Inertia.msg
# Mass [kg]
Float64 m
# First mass moment [kg-m]
geometry_msgs/Vector3 h
# Inertia Tensor [kg-m^2]
# | ixx ixy ixz |
# I = | ixy iyy iyz |
# | ixz iyz izz |
Float64 ixx
Float64 ixy
Float64 ixz
Float64 iyy
Float64 iyz
Float64 izz
InertiaStamped.msg
Header header
Inertia inertia
Anyone already using something like this? Maybe we could standardize it?
Update: Changed representation to use first mass moment instead of center of mass.
Originally posted by jbohren on ROS Answers with karma: 5809 on 2014-01-24
Post score: 2
|
Hi,
I am using ROS Groovy. I have been trying to make slam_gmapping future-date the map->odom transform. In my search I went to the repo listed on the wiki page and found this:
https://github.com/ros-perception/slam_gmapping/blob/groovy-devel/gmapping/src/slam_gmapping.cpp
I searched the file and found these lines:
void SlamGMapping::publishTransform()
{
map_to_odom_mutex_.lock();
ros::Time tf_expiration = ros::Time::now() + ros::Duration(tf_delay_);
tfB_->sendTransform( tf::StampedTransform (map_to_odom_, tf_expiration, map_frame_, odom_frame_));
map_to_odom_mutex_.unlock();
}
This is exactly what I'm looking for: to be able to use "tf_delay" as a parameter in a launch file. However, when I look at my copy of gmapping on my machine, specifically, /opt/ros/groovy/stacks/slam_gmapping/gmapping/src/slam_gmapping.cpp
I am assuming this file is the most updated source code for whatever gmapping executable is launched by the "turtlebot_navigation gmapping_demo.launch" file?
...in this cpp file, there is no "tf_delay" parameter. Instead, the delay is a fixed .05 sec.
I note that the wiki page for gmapping doesn't have this parameter listed either.
I can see on this page (https://github.com/ros-perception/slam_gmapping/pull/1) that there have been talks about this parameter.
My understanding is limited on the repositories and how my ROS software is updated. The GitHub page only has the "groovy_devel" branch but not "groovy" available. Does that mean these changes are not available in the general release?
I am pretty sure whatever I have on my machine now is not incorporating this parameter, as when I add a tf_delay of .3 to my launch file and run rosrun tf tf_monitor odom map, the tf broadcast from slam_gmapping has an average delay of .0005
If anyone can clear this up for me, or explain how to get this parameter integrated without trying to modify and compile my own version of gmapping, I'd appreciate it.
Thanks!
Originally posted by BlitherPants on ROS Answers with karma: 504 on 2014-01-24
Post score: 0
Original comments
Comment by bvbdort on 2014-01-28:
In git, it is hardcoded, somebody has to modify it. actual parameter was "transform_publish_period" http://wiki.ros.org/gmapping#Parameters
Comment by BlitherPants on 2014-01-28:
From looking at the repository, I'm pretty sure "transform_publish_period" is designed for something else and is used separately from the "tf_delay" in the development branch. That would make sense, as I don't want to modify the period, but simply add a delay. Thanks though!
|
it appears that there is an unknown symbol in the libroscpp.so file, and now catkin can find anything in /opt/ros/hydro/lib/ even though everything is there. No changes were made to the system that I can find, how did this happen and how do I fix it?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-01-24
Post score: 1
|
When I run some tools I get an error like this:
... Unable to handle 'index' format version '2', please update rosdistro ...
For example rosdep update gives this:
ERROR: Rosdep experienced an error: Unable to handle 'index' format version '2', please update rosdistro
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep
rosdep version: 0.10.24
Traceback (most recent call last):
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 121, in rosdep_main
exit_code = _rosdep_main(args)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 264, in _rosdep_main
return _no_args_handler(command, parser, options, args)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 272, in _no_args_handler
return command_handlers[command](options)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 437, in command_update
error_handler=update_error_handler)
File "/usr/lib/pymodules/python2.7/rosdep2/sources_list.py", line 433, in update_sources_list
for d, dist in get_index().distributions.items():
File "/usr/lib/pymodules/python2.7/rosdep2/rosdistrohelper.py", line 58, in get_index
_RDCache.index = rosdistro.get_index(_RDCache.index_url)
File "/usr/lib/pymodules/python2.7/rosdistro/__init__.py", line 109, in get_index
return Index(data, base_url)
File "/usr/lib/pymodules/python2.7/rosdistro/index.py", line 50, in __init__
assert int(data['version']) == 1, "Unable to handle '%s' format version '%d', please update rosdistro" % (Index._type, int(data['version']))
AssertionError: Unable to handle 'index' format version '2', please update rosdistro
Also bloom-release ... gives this:
Traceback (most recent call last):
File "/usr/bin/bloom-release", line 9, in <module>
load_entry_point('bloom==0.4.4', 'console_scripts', 'bloom-release')()
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 797, in main
args.new_track, not args.non_interactive, args.pretend)
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 590, in perform_release
release_repo = get_release_repo(repository, distro)
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 207, in get_release_repo
url = get_repo_uri(repository, distro)
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 179, in get_repo_uri
release_file = get_release_file(distro)
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 157, in get_release_file
_rosdistro_release_files[distro] = rosdistro.get_release_file(get_index(), distro)
File "/usr/lib/pymodules/python2.7/bloom/commands/release.py", line 150, in get_index
_rosdistro_index = rosdistro.get_index(rosdistro.get_index_url())
File "/usr/lib/pymodules/python2.7/rosdistro/__init__.py", line 109, in get_index
return Index(data, base_url)
File "/usr/lib/pymodules/python2.7/rosdistro/index.py", line 50, in __init__
assert int(data['version']) == 1, "Unable to handle '%s' format version '%d', please update rosdistro" % (Index._type, int(data['version']))
AssertionError: Unable to handle 'index' format version '2', please update rosdistro
This version of bloom is '0.4.4', but the newest available version is '0.4.7'. Please update.
roslocate info <pkg> --distro hydro also produces warnings:
# rosdistro.get_cached_release() has been deprecated in favor of the new function rosdistro.get_cached_distribution() - please check that you have the latest versions of the Python tools (e.g. on Ubuntu/Debian use: sudo apt-get update && sudo apt-get install --only-upgrade python-bloom python-rosdep python-rosinstall python-rosinstall-generator)
# rosdistro.get_release_cache() has been deprecated in favor of the new function rosdistro.get_distribution_cache() - please check that you have the latest versions of the Python tools (e.g. on Ubuntu/Debian use: sudo apt-get update && sudo apt-get install --only-upgrade python-bloom python-rosdep python-rosinstall python-rosinstall-generator)
# rosdistro.get_source_file() has been deprecated in favor of the new function rosdistro.get_distribution_file() - please check that you have the latest versions of the Python tools (e.g. on Ubuntu/Debian use: sudo apt-get update && sudo apt-get install --only-upgrade python-bloom python-rosdep python-rosinstall python-rosinstall-generator)
How can I resolve these errors and warnings?
Originally posted by William on ROS Answers with karma: 17335 on 2014-01-24
Post score: 4
|
I'm publishing Float64 type msg via rosserial python node to ros and I want to subscribe those messages. But the python code that subscribing Float64 msgs gives error and now I Float64 cannot convert to float.. Is there any way to do this? I tried with strings and convert it to float. But it failed.
import roslib; roslib.load_manifest('UWU_Bot')
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import Float64
def callback(volt):
Distance = 16.2537*volt**4 - 129.893 * volt**3 + 382.268 * volt**2 - 512.611 * volt + 306.439
def nav():
rospy.init_node('UWU_Bot')
pub = rospy.Publisher('cmd_vel', Twist)
rospy.Subscriber("/IR_volts", Float64 , callback)
rospy.spin()
if __name__ == '__main__':
try:
nav()
except rospy.ROSInterruptException: pass
This is the python code.
And I used rosserial IR_ranger example to send the Float64 data.
Originally posted by Hasitha on ROS Answers with karma: 19 on 2014-01-24
Post score: 0
Original comments
Comment by Po-Jen Lai on 2014-01-24:
This is hard to debug without your code. Can you post your code?
Comment by Hasitha on 2014-01-24:
I edited the post and added the python code
Comment by dornhege on 2014-01-25:
What is the exact error message?
|
Hello all!
I am would like create my own urdf model. It will be robot with differential drive like in the Pi robot.
But I have a questions:
What will be center of robot? point rotate or geometry center of robot in URDF model? regarding what point set all sensors?
How I can set this model in costmap_common_params file in move_base package? footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]] or robot_radius: 0.21?
image description http://www.pirobot.org/blog/0024/base_level_0.jpg
Originally posted by seredin on ROS Answers with karma: 45 on 2014-01-25
Post score: 0
|
Dear all,
I would like to use eigen::matrix3f as additional argument in callback functions.
I define the matrix
Eigen::Matrix3f R_bc;
R_bc << 0, -1, 0,
1, 0, 0,
0, 0, 1;
and the subsriber
ros::Subscriber sub = nh.subscribe<nav_msgs::Odometry>( "c_pose", 10, boost::bind(poseCallback, _1, &R_bc) );
and the callback function
void poseCallback(const nav_msgs::Odometry::ConstPtr& msg, const Eigen::Matrix3f* R_bc)
Is it correct? And how can I refer to the elements of R_bc in the callback function? Like print them with ROS_INFO?
What is if define a matrix array like R_bc[10], then how can I pass it to the callback function?
Originally posted by ZiyangLI on ROS Answers with karma: 93 on 2014-01-25
Post score: 0
Original comments
Comment by ZiyangLI on 2014-01-28:
I gave up feeding R_bc to boost in the end. I define it as a global variable. It is not as good but it works.
|
I am new In ROS. I am working on a quadrotor, And I want to start image processing by ROS, in order to mapping,detecting faces, detecting objects and letters. I am looking for some tips and instruction to start it as a beginner.
Originally posted by ghazaleh on ROS Answers with karma: 15 on 2014-01-25
Post score: 1
Original comments
Comment by GeneralSpoonFul on 2014-01-26:
What I want to know is how to send the image from the camera (some sort of publisher...) because I guess you don't do your mapping on-board the quad...
Comment by fatima on 2015-12-11:
hi i have a problem like you and now do you know how could we start? if you know please help me
|
i am trying to subscribe to the ros users mailing list, i did confirm the subscription, and i got a confirmation/welcome mail, but I don't get any messages. Do you know, what I can do, to get it work? I already checked my mail-space, spam-directory and so on.
Originally posted by ingo_k on ROS Answers with karma: 13 on 2014-01-26
Post score: 1
Original comments
Comment by dornhege on 2014-01-26:
Have you considered that there maybe just weren't any messages since you subscribed?
|
I am using Linux 12.04 and ROS Hydro
I am trying to install package rgbdslam but got some errors. Can any one tell what am I doing wrong? after executing rosmake rgbdslam_freiburg I get this:
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['rgbdslam_freiburg']
[ rosmake ] Logging to directory /home/wilk/.ros/rosmake/rosmake_output-20140127-004513
[ rosmake ] Expanded args ['rgbdslam_freiburg'] to:
['rgbdslam']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> cpp_common [ make ]
[rosmake-1] Starting >>> rospack [ make ]
[rosmake-2] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-0] Starting >>> rostime [ make ]
[rosmake-1] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-1] Starting >>> roslib [ make ]
[rosmake-3] Starting >>> xmlrpcpp [ make ]
[rosmake-2] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-3] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-1] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-2] Starting >>> genlisp [ make ]
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-3] Starting >>> gencpp [ make ]
[rosmake-1] Starting >>> rosunit [ make ]
[rosmake-2] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-2] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-3] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-1] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-1] Starting >>> rosconsole [ make ]
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-3] Starting >>> message_generation [ make ]
[rosmake-1] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-2] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-1] Starting >>> rosgraph [ make ]
[rosmake-2] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-3] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> rosclean [ make ]
[rosmake-3] Starting >>> console_bridge [ make ]
[rosmake-1] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-1] Starting >>> rosparam [ make ]
[rosmake-2] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-2] Starting >>> message_runtime [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-3] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-3] Starting >>> angles [ make ]
[rosmake-2] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-2] Starting >>> std_msgs [ make ]
[rosmake-1] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-1] Starting >>> class_loader [ make ]
[rosmake-2] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-2] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Starting >>> actionlib_msgs [ make ]
[rosmake-3] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-1] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-3] Starting >>> geometry_msgs [ make ]
[rosmake-1] Starting >>> pluginlib [ make ]
[rosmake-2] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-1] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-0] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-1] Starting >>> smclib [ make ]
[rosmake-0] Starting >>> bond [ make ]
[rosmake-3] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-2] Starting >>> roscpp [ make ]
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-3] Starting >>> tf2_msgs [ make ]
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-1] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-2] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-3] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs
No Makefile in package tf2_msgs
[rosmake-1] Starting >>> bondcpp [ make ]
[rosmake-0] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-2] Starting >>> rosout [ make ]
[rosmake-3] Starting >>> tf2 [ make ]
[rosmake-0] Starting >>> pcl_msgs [ make ]
[rosmake-1] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-1] Starting >>> nodelet [ make ]
[rosmake-3] Finished <<< tf2 ROS_NOBUILD in package tf2
No Makefile in package tf2
[rosmake-3] Starting >>> tf2_py [ make ]
[rosmake-1] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-2] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-0] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs
No Makefile in package pcl_msgs
[rosmake-2] Starting >>> roslaunch [ make ]
[rosmake-1] Starting >>> opencv2 [ make ]
[rosmake-3] Finished <<< tf2_py ROS_NOBUILD in package tf2_py
No Makefile in package tf2_py
[rosmake-0] Starting >>> pcl_conversions [ make ]
[rosmake-3] Starting >>> nav_msgs [ make ]
[rosmake-2] Finished <<< roslaunch ROS_NOBUILD in package roslaunch68 Complete ]
No Makefile in package roslaunch
[rosmake-2] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< pcl_conversions ROS_NOBUILD in package pcl_conversions
No Makefile in package pcl_conversions
[rosmake-0] Starting >>> std_srvs [ make ]
[rosmake-1] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-0] Finished <<< std_srvs ROS_NOBUILD in package std_srvs
No Makefile in package std_srvs
[rosmake-2] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-3] Finished <<< nav_msgs ROS_NOBUILD in package nav_msgs
No Makefile in package nav_msgs
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-1] Starting >>> actionlib [ make ]
[rosmake-2] Starting >>> topic_tools [ make ]
[rosmake-3] Starting >>> cv_bridge [ make ]
[rosmake-3] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-3] Starting >>> octomap_msgs [ make ]
[rosmake-1] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-1] Starting >>> octomap [ make ]
[rosmake-2] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-0] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-2] Starting >>> rosbag [ make ]
[rosmake-0] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros
No Makefile in package tf2_ros
[rosmake-0] Starting >>> visualization_msgs [ make ]
[rosmake-2] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-3] Finished <<< octomap_msgs ROS_NOBUILD in package octomap_msgs
No Makefile in package octomap_msgs
[rosmake-1] Finished <<< octomap ROS_NOBUILD in package octomap
No Makefile in package octomap
[rosmake-2] Starting >>> rosmsg [ make ]
[rosmake-1] Starting >>> rostopic [ make ]
[rosmake-0] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-1] Finished <<< rostopic ROS_NOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-2] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-2] Starting >>> rosservice [ make ]
[rosmake-1] Starting >>> rosnode [ make ]
[rosmake-2] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-2] Starting >>> dynamic_reconfigure [ make ]
[rosmake-1] Finished <<< rosnode ROS_NOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-1] Starting >>> roswtf [ make ]
[rosmake-2] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-2] Starting >>> nodelet_topic_tools [ make ]
[rosmake-1] Finished <<< roswtf ROS_NOBUILD in package roswtf
No Makefile in package roswtf
[rosmake-1] Starting >>> tf [ make ]
[rosmake-2] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
No Makefile in package nodelet_topic_tools
[rosmake-1] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-1] Starting >>> pcl_ros [ make ]
[rosmake-1] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
No Makefile in package pcl_ros
[rosmake-1] Starting >>> octomap_ros [ make ]
[rosmake-1] Finished <<< octomap_ros ROS_NOBUILD in package octomap_ros
No Makefile in package octomap_ros
[rosmake-1] Starting >>> octomap_server [ make ]
[rosmake-1] Finished <<< octomap_server ROS_NOBUILD in package octomap_servere ]
No Makefile in package octomap_server
[rosmake-1] Starting >>> rgbdslam [ make ]
[ rosmake ] Last 40 linesbdslam: 17.0 sec ] [ 1 Active 67/68 Complete ]
{-------------------------------------------------------------------------------
make[3]: *** Oczekiwanie na niezakończone zadania....
make[3]: *** [CMakeFiles/rgbdslam.dir/src/openni_listener.cpp.o] Błąd 1
make[3]: *** [CMakeFiles/rgbdslam.dir/src/main.cpp.o] Błąd 1
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp: In constructor ‘Node::Node(const cv::Mat&, const cv::Mat&, const cv::Mat&, const CameraInfoConstPtr&, std_msgs::Header, cv::Ptr<cv::FeatureDetector>, cv::Ptr<cv::DescriptorExtractor>)’:
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:76:20: error: no match for ‘operator=’ in ‘((Node*)this)->Node::pc_col.boost::shared_ptr<T>::operator-> [with T = pcl::PointCloud<pcl::PointXYZRGB>]()->pcl::PointCloud<pcl::PointXYZRGB>::header = depth_header’
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:76:20: note: candidate is:
/usr/include/pcl-1.7/pcl/PCLHeader.h:16:10: note: pcl::PCLHeader& pcl::PCLHeader::operator=(const pcl::PCLHeader&)
/usr/include/pcl-1.7/pcl/PCLHeader.h:16:10: note: no known conversion for argument 1 from ‘std_msgs::Header’ to ‘const pcl::PCLHeader&’
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp: In constructor ‘Node::Node(cv::Mat, cv::Ptr<cv::FeatureDetector>, cv::Ptr<cv::DescriptorExtractor>, pcl::PointCloud<pcl::PointXYZRGB>::Ptr, cv::Mat)’:
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: error: no matching function for call to ‘tf::StampedTransform::StampedTransform(const tf::Transform&, uint64_t&, std::basic_string<char>, std::string&)’
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: note: candidates are:
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: tf::StampedTransform::StampedTransform()
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: candidate expects 0 arguments, 4 provided
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: tf::StampedTransform::StampedTransform(const tf::Transform&, const ros::Time&, const string&, const string&)
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: no known conversion for argument 2 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: tf::StampedTransform::StampedTransform(const tf::StampedTransform&)
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: candidate expects 1 argument, 4 provided
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: error: no matching function for call to ‘tf::StampedTransform::StampedTransform(const tf::Transform&, uint64_t&, std::basic_string<char>, std::basic_string<char>)’
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: note: candidates are:
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: tf::StampedTransform::StampedTransform()
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: candidate expects 0 arguments, 4 provided
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: tf::StampedTransform::StampedTransform(const tf::Transform&, const ros::Time&, const string&, const string&)
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: no known conversion for argument 2 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: tf::StampedTransform::StampedTransform(const tf::StampedTransform&)
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: candidate expects 1 argument, 4 provided
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: error: no matching function for call to ‘tf::StampedTransform::StampedTransform(const tf::Transform&, uint64_t&, const char [17], std::string&)’
/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/src/node.cpp:169:26: note: candidates are:
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: tf::StampedTransform::StampedTransform()
/opt/ros/hydro/include/tf/transform_datatypes.h:91:3: note: candidate expects 0 arguments, 4 provided
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: tf::StampedTransform::StampedTransform(const tf::Transform&, const ros::Time&, const string&, const string&)
/opt/ros/hydro/include/tf/transform_datatypes.h:87:3: note: no known conversion for argument 2 from ‘uint64_t {aka long unsigned int}’ to ‘const ros::Time&’
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: tf::StampedTransform::StampedTransform(const tf::StampedTransform&)
/opt/ros/hydro/include/tf/transform_datatypes.h:81:7: note: candidate expects 1 argument, 4 provided
make[3]: *** [CMakeFiles/rgbdslam.dir/src/node.cpp.o] Błąd 1
make[3]: Opuszczenie katalogu `/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/build'
make[2]: *** [CMakeFiles/rgbdslam.dir/all] Błąd 2
make[2]: Opuszczenie katalogu `/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/build'
make[1]: *** [all] Błąd 2
make[1]: Opuszczenie katalogu `/home/wilk/hydro_workspace/sandbox/rgbdslam_freiburg/rgbdslam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package rgbdslam written to:
[ rosmake ] /home/wilk/.ros/rosmake/rosmake_output-20140127-004513/rgbdslam/build_output.log
[rosmake-1] Finished <<< rgbdslam [FAIL] [ 17.08 seconds ]
[ rosmake ] Halting due to failure in package rgbdslam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 68 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/wilk/.ros/rosmake/rosmake_output-20140127-004513
Originally posted by Wilk on ROS Answers with karma: 67 on 2014-01-26
Post score: 1
Original comments
Comment by Michiel on 2014-01-29:
I have the same problem. Any update on this?
|
Hi, I have been trying to install Graspit simulator for some research work and got my Ros Hydro distro installed yesterday on ubuntu Precise. Could you please tell me if there is any way to install the simulator for ros hydro? I saw a post
http://answers.ros.org/question/10455/grasping-force-closure-node/
that gives me some idea about getting graspit in the diamondback ROS distro and found out ros packages for graspit have no mention of hydro. Am I missing something ?Any suggestions please?
Originally posted by Luminosity on ROS Answers with karma: 11 on 2014-01-26
Post score: 1
|
Hi guys,
I am doing a known mapping by using amcl, and I wish to improve my map by making it into 3d and view it inside rviz.
Here's my map image. (in .pgm)
Is there any software in ubuntu that can draw it in 3D?
Image file need to be compatible with yaml file in order to run map_server to be used by amcl.
I am using fuerte.
Thank you so much.
Post update
This is a 3D map I draw by using google SketchUp on window. I have exported it into Collada file.
How do I visualize it in rviz with respect to the /map frame?
Originally posted by FuerteNewbie on ROS Answers with karma: 123 on 2014-01-26
Post score: 1
|
Hello, I'm trying to make GUI to operate ros.
Right now, I'm practicing with simple example about listener
--->in ros tutorials, 11.Writing a Simple Publisher and Subscriber(C++)
But I cannot find method to utilize ros message on qt.
How can I display what Listener get in ros to Qt creator?
Please also let me know if there is any good examples.
I will really appreciate your help.
Bohyeon.
Originally posted by Bo Hyeon on ROS Answers with karma: 3 on 2014-01-26
Post score: 0
|
Hi,
Where should I place the following in Ubuntu 12.04?
export ROS_PACKAGE_PATH=~/catkin_ws:$ROS_PACKAGE_PATH
I want to launch this everytime so that I can just use
roscd beginner_tutorials
everytime.
Thanks.
Originally posted by lppier on ROS Answers with karma: 41 on 2014-01-26
Post score: 0
|
Hi
I am trying to write tf messages into a bagfile but I am getting this error message.
File "converter.py", line 131, in write_bagfile
bag.write('tf',tf_msgs, tf_msgs.transforms[0].header.stamp )
File "/opt/ros/groovy/lib/python2.7/dist-packages/rosbag/bag.py", line 375, in write
msg.serialize(self._buffer)
File "/opt/ros/groovy/lib/python2.7/dist-packages/tf/msg/_tfMessage.py", line 134, in serialize
buff.write(_struct_4d.pack(_x.x, _x.y, _x.z, _x.w))
Here my current code
def read_nav_csv(fname, origin):
''' Reads the nav.csv , converts into a local coordinate frame and returns tf msgs '''
tf_msg = tfMessage()
with open(fname, 'r') as f:
for i, line in enumerate(f):
words = line.split(',')
time = words[0]
[secs, nsecs] = map(int, time.split('.'))
x = float(words[1])
y = float(words[2])
z = float(words[3])
R = float(words[4])
P = float(words[5])
Y = float(words[6])
# convert to local coordinate frame, located at the origin
x = x - origin[0]
y = y - origin[1]
z = z - origin[2]
# create TF msg
geo_msg = TransformStamped()
geo_msg.header.stamp = Time(secs,nsecs)
geo_msg.header.frame_id = "/map"
geo_msg.child_frame_id = "/body"
geo_msg.transform.translation.x = x
geo_msg.transform.translation.y = y
geo_msg.transform.translation.z = z
geo_msg.transform.rotation = tf.transformations.quaternion_from_euler(R,P,Y) # ax, ay, az
tf_msg.transforms.append(geo_msg)
return tf_msg
Then I write the msg into the bagfile like this
# tf_msgs <--- tf_msg from above function call
bag = rosbag.Bag(data_set_name, 'w')
# write the tf msgs into the bagfile
bag.write('tf',tf_msgs, tf_msgs.transforms[0].header.stamp )
I am not sure what to make of this error, I have printed the geometry msgs to make sure all the attributes have been set like x,y,z and rotation.
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2014-01-26
Post score: 0
|
Since today I am receiving the following error when trying to compile my packages. No changes were made to my packages and they compiled just fine last week. I did update Ubuntu and ROS over the weekend.
/opt/ros/hydro/include/ros/serialization.h:40:27: fatal error: ros/datatypes.h: No such file or directory
compilation terminated.
I am using Ubuntu 13.04 and ROS Hydro.
Any help is appreciated!
Originally posted by rolf on ROS Answers with karma: 3 on 2014-01-26
Post score: 0
|
Hello, I have been trying to use hector navigation stack on my wheeled robot. I run the hector_mapping node and hector_exploration_node before running the hector_exploration_controller. I try to do this in two ways which are holding the laser sensor on me and trying to deliberately follow the path generated and mount the sensor on my robot and let it to follow the path on its own. However, I have encountered several problems:
The robot started drifting away and caused the map to have error.
When I was holding the sensor, the goal reached information is not shown even if I tried to follow the path as close as possible.
When the robot is moving on its on to follow the path, the robot tends to just rotating along z-axis (perpendicular to the ground) almost all of the time. May I know what did I do wrongly?
Below is the picture of me using the exploration controller showing the map in rviz. The red arrow indicates the position and orientation of the robot. As you can see, the robot pose is drifted away from its initial position and this happen when the robot perform rotating movement only.
EDIT: The lidar I used is URG-04LX-UG01, the turning speed 0.28 rad/s while moving speed is 0.19 m/s. Below is the launch file for my hector mapping:
<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="use_tf_scan_transformation" value="true" />
>param name="use_tf_pose_start_estimate" value="false" />
<param name="scan_topic" value="scan" />
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />
<!-- Map size / start point -->
<param name="map_resolution" value="0.075"/>
<param name="map_size" value="512"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="3.5" />
<!-- 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="0.02"/>
<param name="map_update_angle_thresh" value="0.02" />
<param name="scan_subscriber_queue_size" value="25" />
<param name="map_multi_res_levels" value ="2"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />
</launch>
Originally posted by zero1985 on ROS Answers with karma: 100 on 2014-01-27
Post score: 1
Original comments
Comment by lukelu on 2020-09-11:
We were wondering how did you make hector_exploration_node running since we got below error message:
"Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance."
Hope to hear your expertise, thanks.
|
After last update i ran into a few compile errors. Before the weekend everything was working fine, but after the update i can't compile anymore.
What can i do?
This is the output:
Linking CXX executable ../bin/ardrone_driver
CMakeFiles/ardrone_driver.dir/src/ardrone_driver.cpp.o: In function `ARDroneDriver::readCovParams(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, boost::array<double, 9ul>&)':
/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:313: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:296: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:290: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:307: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:302: undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
CMakeFiles/ardrone_driver.dir/src/ardrone_driver.cpp.o:/home/jeroen/ROS/packages/ardrone_autonomy/src/ardrone_driver.cpp:324: more undefined references to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)' follow
collect2: ld returned 1 exit status
Originally posted by jringel77 on ROS Answers with karma: 43 on 2014-01-27
Post score: 1
|
Is it possible to take different parts from a rosbag (multiple rosbags) and put them all together at the end to one final rosbag?
So for example:
take from 1.bag: 30s - 55s
take from 2.bag: 75s - 90s
take from 3.bag: 40s - 60s
merge these 3 parts to final.bag
all of these bags have the same topic
Originally posted by jringel77 on ROS Answers with karma: 43 on 2014-01-27
Post score: 3
|
Hi all,
I have ros-fuerte, ros-fuerte-openni-camera, ros-fuerte-openni-launch installed. I can launch openni from terminal and using rostopic echo /topic_name, I can get all data. The data is also visible on rviz.
Now, I need to use this data inside a program (for example in a cpp file) and I am unable to find out how. Here is what I did:
I created a package using roscreate-pkg, and tried putting some cpp files inside src and all compiled and run successfully after amending my CMakeLists.txt. I successfully subscribed to some turtlesim topics inside the cpp file.
Now I tried to subscribe to an openni topic (cpp file attached).
My first question is: Why openni-camera is located at ros/stack/openni rather than ros/include/... just like other packages (opencv and pcl)? Does it make any difference where actually openni is installed?
Because openni is installed at ros/stacks/ I have to manually give path to include its .h files (see #include in cpp file). Is it right approach?
The cpp file just does not compile with the error (fatal error: XnCppWrapper.h: No such file or directory). I tried to search my computer and couldnt find XnCppWrapper.h. Where is that file located and why my program cant find it?
Do I need to set a path for ros to use openni while compiling a cpp file inside a package
I am pretty confused and have spent a lot of time on it without any success. Any help to clarify will be appreciated a lot.
#include "ros/ros.h"
#include "std_msgs/String.h"
#include </opt/ros/fuerte/stacks/openni_camera/include/openni_camera/openni_depth_image.h>
void OpenniCallback(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
ROS_INFO("I heard")//: [%f]", msg->linear, msg->angular);
//ROS_INFO("I heard");
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "openni_subscriber");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/camera/depth/points", 1000, OpenniCallback);
ros::spin();
return 0;
}
Originally posted by Latif Anjum on ROS Answers with karma: 79 on 2014-01-27
Post score: 0
Original comments
Comment by Latif Anjum on 2014-01-27:
#include "ros/ros.h"
#include "std_msgs/String.h"
#include </opt/ros/fuerte/stacks/openni_camera/include/openni_camera/openni_depth_image.h>
void OpenniCallback(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
ROS_INFO("I heard")//: [%f]", msg->linear, msg->angular);
//ROS_INFO("I heard");
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "openni_subscriber");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/camera/depth/points", 1000, OpenniCallback);
ros::spin();
return 0;
}
|
UPDATE: See rosticket #423
I am using rostest under rosbuild to create unittests with Python.
I understand how to create unittests and rostests, for instance, to create a TestsCase and call it from rostest.rosrun:
import unittest
class MyFirstTestCase(unittest.TestCase):
def setUp(self):
# SetUp code
def tearDown(self):
# TearDown code
def test_something(self):
# some test code
def test_more_stuff(self):
# more test code
if __name__ == '__main__':
import rostest
rostest.rosrun('my_package', 'test_my_first_test_case', MyFirstTestCase)
However, I you want to create more TestCases it is good idea to add them to a TestSuite. For instance something like this:
import unittest
class MyFirstTestCase(unittest.TestCase):
# ...
class AnotherTestCase(unittest.TestCase):
def setUp(self):
# SetUp code
def tearDown(self):
# TearDown code
def test_another_thing(self):
# some test code
def test_yet_another_thing(self):
# more test code
if __name__ == '__main__':
def suite():
suite = unittest.TestSuite()
suite.addTest(MyFirstTestCase('test_something'))
suite.addTest(AnotherTestCase('test_another_thing'))
return suite
my_suite = suite()
import rostest
rostest.rosrun('my_package', 'test_my_first_test_suite', my_suite)
Note that the call to rostest.rosrun uses a unittest.TestSuite as argument rather than a unittest.TestCase.
But it seems that rostest.rosrun is not compatible with unittest.TestSuite, since after runing this code you would get a TypeError like the following:
rostest.rosrun('my_package','test_my_first_test_case', my_suite)
File
"/opt/ros/groovy/lib/python2.7/dist-packages/rostest/init.py",
line 136, in rosrun
suite = unittest.TestLoader().loadTestsFromTestCase(test)
File
"/usr/lib/python2.7/unittest/loader.py",
line 50, in loadTestsFromTestCase
if issubclass(testCaseClass, suite.TestSuite): TypeError:
issubclass() arg 1 must be a class
After reading the documentation and looking for some examples I did not found any way to call a TestSuite from rostest.
Is it any way to properly create a TestSuite under rostest?
Some partial solution would be calling the different TestCases in different calls to rostest.rosrun like that:
rostest.rosrun('my_package', 'test_my_first_test_case', MyFirstTestCase)
rostest.rosrun('my_package', 'test_another_test_case', AnotherTestCase)
But, somehow, rostest only outputs the results for the second call to rostest.rosrun unless --text is passed (see this question). This is not desirable since --text is more verbose and increases testing time.
Moreover, I believe using a TestSuite would be much more flexible than manully adding calls to rostest.rosrun.
EDIT: I edited the title to make the question clearer.
Originally posted by Victor Gonzalez-Pacheco on ROS Answers with karma: 396 on 2014-01-27
Post score: 1
|
I've built OpenCV 2.4.7 with CUDA support and tried to link it to my package. When I run my node, I get this error error.
OpenCV Error: No GPU support (The library is compiled without CUDA support) in mallocPitch, file /tmp/buildd/ros-groovy-opencv2-2.4.6-1precise-20131020-2316/modules/core/src/gpumat.cpp, line 879 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/buildd/ros-groovy-opencv2-2.4.6-1precise-20131020-2316/modules/core/src/gpumat.cpp:879: error: (-216) The library is compiled without CUDA support in function mallocPitch
When I compile, I get the following errors:
runtime library [libopencv_videostab.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_video.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_superres.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_stitching.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_photo.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_objdetect.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_nonfree.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_ml.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_legacy.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_imgproc.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_highgui.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_gpu.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_flann.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_features2d.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_core.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_contrib.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
runtime library [libopencv_calib3d.so.2.4] in /usr/local/lib may be hidden by files in:
/opt/ros/groovy/lib
My CMakeLists.txt file is as follows:
cmake_minimum_required(VERSION 2.8.3)
project(objectdetect)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED
COMPONENTS
roscpp
message_generation
cv_bridge
sensor_msgs
std_msgs
)
#Find opencv packages
find_package(OpenCV 2.4.7 REQUIRED)
#Find the CUDA packages
find_package(CUDA REQUIRED)
#Fix for error messages()
set(config )
catkin_package(
CATKIN_DEPENDS roscpp
cv_bridge
)
include_directories(${OpenCV_INCLUDE_DIRS})
cuda_add_library(objectdetect.a objectdetect.cu rslvr.cu OPTIONS -G)
cuda_add_cufft_to_target(objectdetect.a)
add_executable(objectdetect_node objectdetect_node.cpp)
target_link_libraries(objectdetect_node
objectdetect.a
${catkin_LIBRARIES}
${OpenCV_LIBS}
)
Can anybody explain why this is linking to the ROS OpenCV package and not my /usr/local version? Also, how do I fix it?
Originally posted by DiJuMx on ROS Answers with karma: 1 on 2014-01-27
Post score: 0
|
How can i detect and add qrcodes on my map with ros hector slam?
Originally posted by programmer on ROS Answers with karma: 61 on 2014-01-27
Post score: 0
|
I was wondering if anybody knew of a tool that could be used to visualize launch files. Some launch files are very complex and hierarchical. They can almost be thought of as code, they take parameters and can be very dynamic. This complexity is hard to manage, even for launch files with which you are familiar. A graphical visualization would be great, but even something as simple as the urdf verification tools would be nice(see here )
Originally posted by sedwards on ROS Answers with karma: 1601 on 2014-01-27
Post score: 2
|
Currently I work a lot with ROS and I think, this middleware, provides a good way to produce loosely coupled modules and a very easy way to use frames transformations. But I have a serious issue and I would like to have your opinion.
I would like to tell my "story" first:
"As a ROS user, I would like to process each ROS messages in offline mode so that I can run quantitative test of computer vision algorithms. As the running time of an algorithm can be longer than the time between successive images, it would be great that the publisher waits until the algorithm finishes."
With this story is in mind, I would like to know if there is an easy way to process each message in ROS. For example, in online mode, if you have a camera that provides you images at 30Hz (~30ms) and an algorithm which takes 200ms to process, it is not a problem. In this case, you just want to process the latest data.
In contrast, in offline mode (playing data with rosbag play), I would like to evaluate the quality of the algorithm and I need to process each image.
It would be nice to have the same framework/node graph between online and offline mode.
In order to do that I would like to know if someone is aware of a way to implement that? Otherwise, developers from Willow Garage can tell me if it is possible to do that in the core or give me their ideas?
Thanks in advance
Originally posted by Nicolas Vignard on ROS Answers with karma: 11 on 2014-01-27
Post score: 0
Original comments
Comment by Nicolas Vignard on 2014-02-27:
First of all thank you for your answers. Thomas D proposed to use rosbag play with the -r option but I would like to be sure to process each messages. demmeln has a good idea, it could be great if I have just one algorithm connected directly to the rosbag API. In order to clarify my need, I asked a second question:
http://answers.ros.org/question/134276/how-to-implement-offline-data-synchronization-on-several-nodes/
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I would like to use rviz as a viewer for an external path planning application. In the application, controlled by python, I have robots and obstacles. Robots are downloaded via urdf files by python commands. In my current understanding of rviz, to visualize a robot, I need to click on the "Add" button to add a robot. Is it possible to add a robot only by python commands via a ros service for instance ?
rosservice call rviz add_robot ${robot_name}_description
Same question for collada or vrml meshes.
Originally posted by florent-lamiraux on ROS Answers with karma: 71 on 2014-01-27
Post score: 3
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After updating ros-groovy-* packages from official precise repository found out that rosdep is broken.
Terminal:
$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://github.com/ros/rosdistro/raw/master/rosdep/osx-homebrew.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/gentoo.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/base.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/python.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/ruby.yaml
Hit https://github.com/ros/rosdistro/raw/master/releases/fuerte.yaml
Query rosdistro index https://raw.github.com/ros/rosdistro/master/index.yaml
ERROR: Rosdep experienced an error: Unable to handle 'index' format version '2', please update rosdistro
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep
rosdep version: 0.10.21
Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 118, in rosdep_main
exit_code = _rosdep_main(args)
File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 261, in _rosdep_main
return _no_args_handler(command, parser, options, args)
File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 269, in _no_args_handler
return command_handlers[command](options)
File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 434, in command_update
error_handler=update_error_handler)
File "/usr/local/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 422, in update_sources_list
for d, dist in get_index().distributions.iteritems():
File "/usr/local/lib/python2.7/dist-packages/rosdep2/rosdistrohelper.py", line 58, in get_index
_RDCache.index = rosdistro.get_index(_RDCache.index_url)
File "/usr/local/lib/python2.7/dist-packages/rosdistro/__init__.py", line 106, in get_index
return Index(data, base_url)
File "/usr/local/lib/python2.7/dist-packages/rosdistro/index.py", line 51, in __init__
assert int(data['version']) == 1, "Unable to handle '%s' format version '%d',
please update rosdistro" % (Index._type, int(data['version']))
AssertionError: Unable to handle 'index' format version '2', please update
rosdistro
The thing which actually bugs me, that $ dpkg -s python rosdep reports:
Package: python-rosdep
Source: rosdep
Version: 0.10.25-1
BUT $ rosdep --version , >>> pkg_resources.get_distribution("rosdep").version and $ pip search rosdep returns 0.10.21 as installed version.
Any ideas, how to fix this thing?
I've already tried re-sourcing setup.bash on another terminal and reinining deps. Do not think that reinstalling whole damn thing is the nicest solution pinning the problem down to it's roots.
EDIT
Another weird thing:
$ which rosdep returns /usr/local/bin/rosdep, but trucated $ dpkg -L python-rosdep is /usr/bin/rosdep. Probably that's the screwing with Python's library locations... :) Python 2.7 btw.
EDIT:
infact, deleting PiP installed packages, as suggested by tfoote - sudo pip freeze | xargs pip uninstall -y does not return any error, it reports succesfully done:
Uninstalling PyYAML:
Successfully uninstalled PyYAML
Uninstalling bloom:
Successfully uninstalled bloom
Uninstalling catkin-pkg:
Successfully uninstalled catkin-pkg
Uninstalling rosdep:
Successfully uninstalled rosdep
Uninstalling rosdistro:
Successfully uninstalled rosdistro
Uninstalling rosinstall:
Successfully uninstalled rosinstall
Uninstalling rospkg:
Successfully uninstalled rospkg
....and lots of other appearently ROS unrelated packages.
Related issues:
@answers.ros.org - sollution to update ros-groovy-*
bug report rosdep@git - closed with note to previoous link.
Originally posted by Kamiccolo on ROS Answers with karma: 91 on 2014-01-27
Post score: 0
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I am trying to follow this rosJava installation tutorial: here
When running catkin_make I get the following error:
FAILURE: Build failed with an exception.
* What went wrong:
A problem occurred configuring root project 'android_core'.
> Could not resolve all dependencies for configuration ':classpath'.
> Could not find any version that matches org.ros.rosjava_bootstrap:gradle_plugins:[0.2,0.3).
Required by:
:android_core:unspecified
I am using the ADT with eclipse on version 19 of the SDK.
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-01-27
Post score: 0
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I had rviz running fine under Hydro a few days ago but something has gone wrong to cause the following error. What is this and how do I fix it?
user@computer$ rosrun rviz rviz
QGtkStyle was unable to detect the current GTK+ theme.
[ INFO] [1390871921.858315604]: rviz version 1.10.10
[ INFO] [1390871921.858466802]: compiled against OGRE version 1.7.4 (Cthugha)
/opt/ros/hydro/lib/rviz/rviz: symbol lookup error: /opt/ros/hydro/lib/libroscpp.so: undefined symbol: _ZN3ros6HeaderC1Ev
Originally posted by daalt on ROS Answers with karma: 159 on 2014-01-27
Post score: 0
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Newbie here. I have installed ROS Hydro and I have run through all the ROS basic tutorials but I have no practical experience yet. I have an ELMO motor controller and motor set up on a workbench with a CAN bus interface. I'm ready to try to write some code to send commands over the CAN bus to turn the motor on and off, but I don't really know where to start.
Are there any CAN bus libraries included with ROS or something that I can download as a plugin? Any other advise for a newbie? Thanks in advance!
Originally posted by Kurt Leucht on ROS Answers with karma: 486 on 2014-01-27
Post score: 1
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The "sec" and "nsec" values in the message header are always zero when recording using "rosbag::write". I provide a valid Time for the second parameter, but that only seems to affect the message body timestamp and playback timing, but not the header. Is that expected?
I am converting some odometry and depth image information that was collected in Windows to a rosbag containing tf, depth_image, and camera_info messages (using rosbag API in C++)for consumption by the slam_gmapping node.
The rosbag I create looks correct and it plays back OK (correct timing) but the map is not generated. I looked at the code, and the slam_gmapping node is using a tf::MessageFilter. When I turn on DEBUG messages, I see messages like this "MessageFilter [target=/odom]: Added message in frame camera_depth_frame at time 0.000". The message queue fills up with messages with time 0.0000. When I inspect my bag with rqt_bag the header.sec and header.nsec are always zero, so I thought maybe that is the issue.
I have called "rosparam set use_sim_time true", but that does not help. Why is the header stamp always zero, and is that what is causing the tf::MessageFilter to never synch?
Originally posted by gershon on ROS Answers with karma: 73 on 2014-01-27
Post score: 0
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I'm about to execute navigation_experimental. But, I don't know which launch file I should execute.
A launch folder in eband_local_planner includes gazebo_launch folder, rviz_launch folder and stage_launch folder. The pr2_ompl_planner_base_gazebo.launch in gazebo_launch folder calls 2dnav_stack_fake_loc_planner_prm.launch. The 2dnav_stack_fake_loc_planner_prm.launch calls fake_location.launch and map_server.launch. But, the launch files in groovy seem not to exist.
If you have already executed the package, I'd like you to teach how to execute it.
Could anyone help me?
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-01-27
Post score: 0
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Hello,
I'm thinking about some super simple solution for controlling PR2. It should be understandable for newbies - students and allow them to make simple demos. Something like cob_script_server. Is there something specific for PR2, or maybe is there existing configuration for mentioned script server?
Originally posted by ZdenekM on ROS Answers with karma: 704 on 2014-01-27
Post score: 0
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I have the following CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(datatypes)
find_package(catkin REQUIRED)
catkin_package(
->INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}
# LIBRARIES rtdb_config
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION})
FILE(GLOB DATATYPE_RAW ${PROJECT_SOURCE_DIR}/datatypes/*)
add_custom_target(${PROJECT_NAME}
ALL
COMMAND generate_some_header_files_to ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
SOURCES ${DATATYPE_RAW}
)
Where the custom command generates header files to be used by other packages in the dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}. (Not sure this dir should be used!!)
The problem seems to be that since this directory was still not created it fails to be exported by catkin_package:
catkin_package() include dir '/home/.../devel/include' is neither an absolute directory nor exists relative to '/home/.../src/rtdb/src/datatypes'
Now the question:
Where should generated header files be generated to? How can I then export them with catkin?
Thanks in advance.
Luis
Originally posted by loliveira on ROS Answers with karma: 45 on 2014-01-28
Post score: 2
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I am trying to compile the code given at this page
I am using ROS Groovy on Ubuntu 12.04
When I run catkin_make, I get the following error:
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package opencv.
Set opencv_DIR to the directory containing a CMake configuration file for
opencv. The file will have one of the following names:
opencvConfig.cmake
opencv-config.cmake
Call Stack (most recent call first):
learning_image_transport/CMakeLists.txt:7 (find_package)
CMake Error at learning_image_transport/CMakeLists.txt:82 (target_link_libraries):
Cannot specify link libraries for target "learning_image_transport_node"
which is not built by this project.
learning_image_transport is my package name.
Cmake file:
cmake_minimum_required(VERSION 2.8.3)
project(learning_image_transport)
find_package(catkin REQUIRED COMPONENTS cv_bridge image_geometry image_transport opencv)
find_package(OpenCV)
include_directories(include
${catkin_INCLUDE_DIRS} /opt/ros/groovy/share/OpenCV)
Package.xml:
<buildtool_depend>catkin</buildtool_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>opencv2</build_depend>
<build_depend>image_geometry</build_depend>
<build_depend>opencv</build_depend>
<build_depend>OpenCV</build_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>opencv2</run_depend>
I have tried to follow the methods describe in various questions, with same problem, such as this and some more. However, the problem still exists in my case.
Originally posted by Safeer on ROS Answers with karma: 66 on 2014-01-28
Post score: 2
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