instruction
stringlengths 40
28.9k
|
|---|
Hello,
I work with PR2 which runs on ubuntu 12.4 and ros Groovy. I am trying to get Hokuyo base laser data from a machine under ubuntu which is not the base station.
I ran a robot start on an admin account (logged with ssh) and then tried to get the laser data using "rostopic echo /base_scan" on my machine. The node waits indefinitly, giving no data.
When I run "rostopic echo /base_scan" from the ssh connected to the robot: I correctly receive the data.
I think it may be a setup problem with ROS yet we can see the image_view of the camera from my machine using "$rosrun image_view image_view image=:/wide_stereo/left/image_color"
I checked all the environments variables:
ROS_IP=my_IP and ROS_MASTER_URI= robot_IP.
On the dashboard, there is no warning messages about lasers.
When I run "roswtf" I get:
ERROR: connection refused to [10.68.0.1:59682/]
ERROR: Unknown host [pr1043s] for node [/two_hd_monitor]
ERROR: Unknown host [pr1043s] for node [/two_cpu_monitor]
ERROR: Unknown host [pr1043s] for node [/joy]
ERROR: Unknown host [pr1043s] for node [/base_hokuyo_node]
ERROR: Unknown host [pr1043s] for node [/tilt_hokuyo_node]
ERROR: Unknown host [pr1043s] for node [/ocean_server]
ERROR: connection refused to [10.68.0.1:57249/]
ERROR: Unknown host [pr1043s] for node [/ntp_c2]
Where I recognize hokuyo laser but I don't know how to solve the problem.
Anyone ever encoutered this problem? What can I do to get more infos about my problem?
Originally posted by scarlett on ROS Answers with karma: 170 on 2014-02-17
Post score: 1
|
Hello dear ROS-community!
I am currently struggeling with the setup of "CMakeLists.txt" and "package.xml" of two selfmade catkin packages. To my eyes it does not seem to be a very complicated situation, but somehow I am not able to make it work...
Here is the situation:
Package A builds a c++ library, Package B uses and links against this library.
From my understanding, the CMakeLists.txt of Package A should therefore look something like this:
CMakeLists.txt Package A:
cmake_minimum_required(VERSION 2.8.3)
project(Package_A)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES libmylibrary.so
CATKIN_DEPENDS roscpp rospy
# DEPENDS system_lib
)
Package.xml Package A:
<name>Package_A</name>
<version>0.0.0</version>
<description>The A package</description>
<maintainer email="[email protected]">foobar</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
So now here comes package B, which needs the library of Package A:
CMakeLists.txt Package B:
cmake_minimum_required(VERSION 2.8.3)
project(Package_B)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
Package_A
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES libmylibrary.so
CATKIN_DEPENDS Package_A
# DEPENDS system_lib
)
Package.xml Package B:
<name>Package_B</name>
<version>0.0.0</version>
<description>The B package</description>
<maintainer email="[email protected]">foobar</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>Package_A</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>Package_A</run_depend>
In this configuration, it is not possible to run "catkin_make", it will stop with the following error:
Project 'Package_B' tried to find library 'libmylibrary.so'. The library is neither a target nor built/installed properly. Did you compile project 'Package_A'?
Why doesn't catkin see the dependency and build the library first, so that the other package can find it?
My only workaround at the moment is to remove the dependencies, build the library stand-alone, put the dependency back in and then build the rest. What am I doing wrong?
Thanks for your answers
Originally posted by psei on ROS Answers with karma: 318 on 2014-02-18
Post score: 2
Original comments
Comment by gvdhoorn on 2014-02-18:
Is this copy-paste from your actual CMakeLists.txt? Cause there is no add_library() statement in Package_A's CMakeLists.txt, so no library would be ever build?
Comment by psei on 2014-02-18:
Yes, it is copy-paste from my CMakeLists, but I think "add_library()" is not necessary. See my solution below, I needed to change the name of the library, so CMake can identify it as a target.
Comment by Dirk Thomas on 2014-02-18:
add_library is definitely necessary. That is the CMake command to create a library target.
Comment by psei on 2014-02-18:
Yeah I see that now, i misunderstood the first comment of gvdhoorn.... Of course add_library() is needed. What I posted is not the complete makefile, just the parts where the catkin dependencies are configured. Building at all was not my problem, but making those packages build together didn't work.
|
when i do bellow tutorial to create hector_slam map with trajectory ,bellow error caused but i can see online map on rviz without any problem and with trajectory, but when i try to save map with hector_geotiff ,map saved without trajectory,
what's problem?
[ERROR] [1392637719.233332009]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /map does not exist! Frames (1):
[ERROR] [1392637719.467775930]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /map does not exist! Frames (3): Frame /laser exists with parent /base_link.
Frame /base_link exists with parent NO_PARENT.
slam.launch
<launch>
<param name="/use_sim_time" value="false"/>ros
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>
<include file="$(find uprobotics)/launch/hector_mapping.launch"/>
<include file="$(find uprobotics)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
</include>
</launch>
hector_mapping.launch
<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />
<!-- Map size / start point -->
<param name="map_resolution" value="0.025"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="7.5" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />
</node>
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100" />
</launch>
geotiff_mapper.launch
in this file was modified only thing is the path where you save the geotiff generated in this case / home / viki / Desktop / maps
<launch>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map" />
<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
</node>
<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
<remap from="map" to="/dynamic_map" />
<param name="map_file_path" type="string" value="/home/viki/Desktop/maps" />
<param name="map_file_base_name" type="string" value="uprobotics" />
<param name="geotiff_save_period" type="double" value="0" />
<param name="draw_background_checkerboard" type="bool" value="true" />
<param name="draw_free_space_grid" type="bool" value="true" />
</node>
</launch>
and is run as follows
$ roscore
$ sudo chmod a+rw /dev/ttyACM0
$ rosrun hokuyo_node hokuyo_node
$ uprobotics slam.launch
this is output of rosservice call trajectory:
header:
seq: 0
stamp:
secs: 1392735924
nsecs: 220875750
frame_id: /map
pose:
position:
x: 0.0281494148076
y: -0.153469845653
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.124254979005
w: 0.992250321337
and this is out put of rostopic echo trajectory:
header:
seq: 0
stamp:
secs: 1392735923
nsecs: 969870750
frame_id: /map
pose:
position:
x: 0.0127319339663
y: -0.167738348246
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.123253038025
w: 0.992375276102
Originally posted by programmer on ROS Answers with karma: 61 on 2014-02-18
Post score: 1
|
Are there plans or have there been attempts to package ROS as homebrew formulas in a similar way to the debs on Ubuntu?
Edit: For future reference: With pointers from William a proof of concept has been created, but there are a few issues that need to be addressed: https://github.com/ros-infrastructure/bloom/issues/254#issuecomment-37401069
Originally posted by demmeln on ROS Answers with karma: 4306 on 2014-02-18
Post score: 4
|
Dear all,
I am testing the new ROS support from Matlab.
I have the provided examples working without problems. Actually, the examples show how the subscribers work with messages published by the same matlab node (It also worked for me), but when I try to subscribe the matlab node to a topic from a c++ node, the Matlab code never calls the handle function though I see in rqt_graph the connection established.
You can reproduce this issue by using the basic_example in the previously posted link and changing the topic_name and topic_type in the subscriber definition to subscribe to an "external" node.
Please, does anyone found problems with this new and promising tool?
Thanks in advance.
Àngel.
Originally posted by Àngel - IRI on ROS Answers with karma: 74 on 2014-02-18
Post score: 2
|
Hi,
I have a question. I´m use ROS Hydro in Ubuntu 12.04. When I try opening some files with Kate, or gedit, for example: /opt/ros/hydro/lib/rviz/rviz or /opt/ros/hydro/lib/hector_mapping/hector_mapping . The code opened is encoded.
The type of this files is "executable (application / x-executable)"
Why can´t I open this files?
Ps: I want open this files to read, no for executed.
Thanks
Originally posted by alex.filgueira on ROS Answers with karma: 62 on 2014-02-18
Post score: -1
|
Is anybody else experciencing the ROS wiki to be unreachable as well? I haven't been able to reach it in the last 4 and a half hours...
Originally posted by koenlek on ROS Answers with karma: 432 on 2014-02-18
Post score: 2
|
Anyone knows how to run a behaviour created in choreographe using ROS?
Originally posted by dnth on ROS Answers with karma: 106 on 2014-02-18
Post score: 0
|
Hi everyone. I have an issue running the server and client python scripts from the tutorials. Could you please help me resolve the issue?
I am using the Hydro distribution and I have followed the steps 1 to 16 for the beginner tutorials. Now, when I execute the command line rosrun beginner_tutorials add_two_ints_server.py I get the following error messages:
Traceback (most recent call last):
File "/home/$MY_NAME/catkin_ws/src/beginner_tutorial/scripts/add_two_ints_server.py", line 3, in <module>
from beginner_tutorials.srv import *
ImportError: No module named beginner_tutorials.srv
Also, when I execute the command line rosrun beginner_tutorials add_two_ints_client.py I get the following error messages:
Traceback (most recent call last):
File "/home/$MY_NAME/catkin_ws/src/beginner_tutorial/scripts/add_two_ints_client.py", line 2, in <module>
import roslib; roslib.load_manifest('beginner_tutorials')
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 159, in get_manifest
return self._load_manifest(name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 198, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: beginner_tutorials
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/$MY_NAME/catkin_ws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
Here is the output for the command "export | grep ROS":
declare -x ROSLISP_PACKAGE_DIRECTORIES="/home/MY_NAME/catkin_ws/devel/share/common-lisp"
declare -x ROS_DISTRO="hydro"
declare -x ROS_ETC_DIR="/opt/ros/hydro/etc/ros"
declare -x ROS_MASTER_URI="localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/MY_NAME/catkin_ws/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks"
declare -x ROS_ROOT="/opt/ros/hydro/share/ros"
declare -x ROS_TEST_RESULTS_DIR="/home/MY_NAME/catkin_ws/build/test_results"
Here is my CMakeLists.txt file's content in the 'src' folder in the directory of catkin_ws:
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake
cmake_minimum_required(VERSION 2.8.3)
set(CATKIN_TOPLEVEL TRUE)
# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
RESULT_VARIABLE _res
OUTPUT_VARIABLE _out
ERROR_VARIABLE _err
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
# searching fot catkin resulted in an error
string(REPLACE ";" " " _cmd_str "${_cmd}")
message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()
# include catkin from workspace or via find_package()
if(_res EQUAL 0)
set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
# include all.cmake without add_subdirectory to let it operate in same scope
include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
add_subdirectory("${_out}")
else()
# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
# or CMAKE_PREFIX_PATH from the environment
if(NOT DEFINED CMAKE_PREFIX_PATH)
if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
endif()
endif()
# list of catkin workspaces
set(catkin_search_path "")
foreach(path ${CMAKE_PREFIX_PATH})
if(EXISTS "${path}/.catkin")
list(FIND catkin_search_path ${path} _index)
if(_index EQUAL -1)
list(APPEND catkin_search_path ${path})
endif()
endif()
endforeach()
# search for catkin in all workspaces
set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
find_package(catkin QUIET
NO_POLICY_SCOPE
PATHS ${catkin_search_path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
if(NOT catkin_FOUND)
message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
endif()
endif()
catkin_workspace()
Thank you
Originally posted by Warrior on ROS Answers with karma: 61 on 2014-02-18
Post score: 0
Original comments
Comment by Kaplan on 2014-02-18:
Hi Warrior. Where did you save the beginner_tutorial package?
|
Hello,
I'd like to have some clarification to be sure to understand the Configuring Basestation tutorial. In my understanding :
1.4.3. Contact Your Sysadmin :
This step is necessary for the Sysadmin to allow the BaseStation to connect on the Building Network. It also allows (the DNS entries) any user on the Building network to access the BaseStation and the PR2 through the BaseStation from their name (initially basestation, c1 and c2). And the DHCP access for c1 is used to connect PR2 with WAN port on the Building Network.
In our situation, we are connected on the Building Network through a router that "masks" BaseStation and PR2 IPs on the rest of the network. Thus, we didn't require the corresponding DNS entries, as we don't want the robot to be accessible from any computer of the lab, but only the BaseStation or a computer in the Primary internal network (i.e. a person physically next to the robot).
1.5. Configure the Basestation Network
What does yourdomain.com correspond to ? Is it the lab subnet in university ? Could you provide an example ?
1.5.3. Interfaces File
As we are masked behind the router, is <BASE_IP> the IP given from the router ? Shouldn't "gateway" be the IP of the router ?
1.5.4. Resolv.conf File
This file is flagged :
"# Dynamic resolv.conf(5) file for glibc resolver(3) generated by resolvconf(8)"
"# DO NOT EDIT THIS FILE BY HAND -- YOUR CHANGES WILL BE OVERWRITTEN"
It seems to appear since Ubuntu 12.04. As far as I understand, using a static IP could change that behaviour (and keep a modified resolv.conf), is that true ?
We had a look at robot-brand script, I understand that, from the correct setup of the BaseStation, it configure the PR2 network with the correct informations. Am I right ?
1.6. Verify Working Robot
Is this step doable from any computer on the Primary Internal Network of the robot (from WAP or SP) ? Any computer from the Building network if the BaseStation and PR2 weren't behind a router ?
Thanks for reading,
Erwan
Originally posted by Erwan R. on ROS Answers with karma: 697 on 2014-02-18
Post score: 0
|
I am looking to make some changes in the clearpath_base package for the Husky controller in ROS Hydro. However, I do not see the source files in the ROS directories. How do I get access to the source code? More specifically I am trying to add failsafe states in the controller so when it loses communications it does not continue executing the previous state. Please advise.
Thanks!
Originally posted by Ammar on ROS Answers with karma: 289 on 2014-02-18
Post score: 0
Original comments
Comment by Ryan on 2014-03-07:
We're not always on these forums, but could you go into a little more detail on what you're looking for? What you're describing should be in the controls already. That is, unless you're talking about losing comms with a regular wireless gamepad, which a timeout won't solve.
|
I have two Kinects and want to merge the point clouds from each one into a single scene in Rviz. However, from what I have seen RViz can only handle one camera at a time. How might I add more than one camera and how once I have the extrinsic calibrations, could I manually enter the transform between them?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-02-18
Post score: 0
|
Hi,
I want to track robot's current position when it is moved by teleop( which we can view in rviz window as well)
ROS automatic behavior also need to perform similar kind of stuff during goal position achievement.
So, now which packages or exactly which part of ROS does similar kind of stuff? (THIS HAS BEEN SORTED OUT WHICH IS amcl)
Where the processing related to comparison of current goal (x,y,z) and sub goal is done?
Where the goal and subgoal location is stored in move_base package?
Question:3 SO WHENEVER I CLICK SET GOAL in RVIZ, where does the GOAL LOCATION is SAVED EXACTLY?
Thank you for any kind of help.
Originally posted by RB on ROS Answers with karma: 229 on 2014-02-18
Post score: 1
|
Hello, I'm trying to write a ROS subscriber to subscribe to some of the data from the kinect sensor on a turtlebot. I started by copying the subscriber part of the tutorial here:
h t t p : / / w i k i . r o s . o r g / R O S / T u t o r i a l s / W r i t i n g P u b l i s h e r S u b s c r i b e r % 2 8 c % 2 B % 2 B % 2 9,
and then copying and modifying the various parts of the program to fit the topics that I'm trying to subscribe to. For example, one of the topics I'm trying to subscribe to is /odom, and my code for this part is as follows:
//(outside the main class)
void blabberingEavesdropper(const std_msgs::String::ConstPtr& msg) //modification of the chatterCallback function
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
//(inside the main class)
ros::Subscriber odomSub = n.subscribe("/odom", 1000, blabberingEavesdropper);
When I catkin_make, the node compiles without errors, but then when I start up the turtlebot (turn it on as well as run minimal.launch and 3dsensor.launch), I get the following error (at least for the /odom part):
[ERROR] [1392750332.677269274]: Client [/subscriber] wants topic /odom to have datatype/md5sum [std_msgs/String/992ce8a1687cec8c8bd883ec73ca41d1], but our version has [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7]. Dropping connection.
Since I get a similar error message for each topic, and they all say that the subscriber wants the topic to have the same data type (std_msgs/String/some_random_number), I think my problem is with the chatterCallBack functions (renamed blabberingEvasedropper). I can't figure out exactly what to put in the arguments that will not cause this error, and that won't cause errors when I try to catkin_make my program. My goal is just to have the blabberingEvasedropper function print out the message it received on the screen. Anyone know how to do this?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-02-18
Post score: 0
|
Hey there,
I try to use an Actionserver in a 'advanced' way. Advanced means, that
I want to be able to send several goals to an Actionserver by multiple clients,
Keep track of all the goals (partly solved)
Be able to cancel a single specific goal
Take a look at the goal on the server site during the execution (solved)
Therefore I first tried the SimpleActionServer, which doesn't seem to fulfill these requirements.
So I switched to the more advanced implementation using an "ActionServer" instead of the "SimpleActionServer". It seems, that there aren't any tutorials our there, but I found one implementation.
My answers up to now:
Although I like the style and the usage of this native ActionServer a lot more it seems that even this implementation is not able to manage multiple goals and I'm starting to believe, that it may not be possible to have multiple goals. (It's mentioned here that you can have multiple goals, but I'm still wondering how.)
So in the implementation mentioned above, they assign the goal to a single "goalhandle". So of course, if I would use an std::vector for that - I could accept store multiple goals. But I'm not sure, if this is the good way to deal with it. (E.g. How do I get the next goal chosen by the actionserver)
This is possible by subscribing to <actionserver_name>/status, but I would like it a lot more, if there would be a way to do this directly with the ActionClient, because I can never be sure, that e.g. the latest or newest goal appearing in the status array is really my goal.
As far as I've figure it out from the API, there's no way of cancelling a specific goal, nor a way to delete the last goal sent by that client. Is that right? Because the detailed description says it should be possible.
This can be done with the native ActionServer, but not the with the SimpleActionServer (except one value when accepting the goal(line 34), which seems pretty strange)
Please tell me, if I missed something. I know that the detailed description mentions some of the things, but I would like to have either an API reference or some running code.
Thanks a lot.
Originally posted by MatthiasMayr on ROS Answers with karma: 48 on 2014-02-18
Post score: 2
|
Hi, I am trying to make a subscriber program that listens to an installed package called roscopter. I know the topic and package name. In the CMakeLists i have included the package "roscopter"
find_package(catkin REQUIRED COMPONENTS roscpp roscopter)
However, when i run catkin_make it could not find the package. If tried manually changing the CMAKE_PREFIX_PATH however the error continues.
Here is the cpp that i have:
#include <ros/ros.h>
#include <roscopter/Attitude.h>
#include <iomanip> // for std::setprecision and std::fixed
// A callback function. Executed each time a new pose
// message arrives.
void attMessageReceived(const roscopter::Attitude& msg) {
ROS_INFO_STREAM(std::setprecision(2) << std::fixed
<< "roll" << msg.roll;
}
int main(int argc, char **argv) {
// Initialize the ROS system and become a node.
ros::init(argc, argv, "subscribe_to_atttiude");
ros::NodeHandle nh;
// Create a subscriber object.
ros::Subscriber sub = nh.subscribe("Attitude", 1000,
&attMessageReceived);
// Let ROS take over.
ros::spin();
}
And the CMakeLists.txt is as follows:
# What version of CMake is needed?
cmake_minimum_required(VERSION 2.8.3)
# The name of this package.
project(agitr)
# Find the catkin build system, and any other packages on which we depend.
find_package(catkin REQUIRED COMPONENTS roscpp roscopter)
# Declare our catkin package.
catkin_package()
# Specify locations of header files.
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${~/home/CATWorkspaces})
# Declare the executable, along with its source files.
add_executable(subatt subatt.cpp)
# Specify libraries against which to link.
target_link_libraries(subatt ${catkin_LIBRARIES})
Any help is highly appreciated. Thanks!
Originally posted by Suresh_8891 on ROS Answers with karma: 1 on 2014-02-18
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-02-18:
Which ROS distro are you using? I can't see roscopter as being a released catkin package anywhere.
Comment by Suresh_8891 on 2014-02-18:
I am using hydro on ubuntu 13.10. I was able to locate the required config files manually in the workspace. If it truly doesnt have catkin package, how should i go about doing this? Thanks for your response!
Comment by Dirk Thomas on 2014-02-18:
If roscopter is a rosbuild package you can not use it from a catkin package. The only option would be to also use rosbuild for your package. If there is a catkin-based version you could use that from your catkin package.
Comment by Suresh_8891 on 2014-02-18:
Noted. But i used catkin_make with roscopter. I followed the following steps: https://github.com/cberzan/roscopter
To be exact: "catkin_make --pkg roscopter". So theoretically it should be possible right?
Comment by Suresh_8891 on 2014-02-18:
Noted. Thanks for assistance!
|
Hi All,
Currently I am trying to insert hector quadrotor model in gazebo 1.9. When I use rosrun to spawn robot model:
rosrun gazebo_ros spawn_model -file /opt/ros/hydro/share/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf -urdf -x 0 -y 0 -z 1 -model quadrotore
It works fine and tell me:
[INFO] [WallTime: 1392758020.076054] [0.000000] Loading model xml from file
[INFO] [WallTime: 1392758020.077949] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1392758020.082473] [0.000000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1392758020.323186] [1471.849000] Spawn status: SpawnModel: Successfully spawned model
However, when I use roslaunch:
roslaunch hector_quadrotor gazebo.launch model:="/opt/ros/hydro/share/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf"
It gives me
ERROR: cannot launch node of type [gazebo/spawn_urdf_model]: gazebo
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/cds/catkin_ws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
Why it can find gazebo/spawn_urdf_model when using rosrun but can not find it when using roslaunch? I am using ROS Hydro.
Below also please find my gazebo.launch:
<?xml version="1.0"?>
<launch>
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
<param name="/use_sim_time" value="true" />
<!-- start up wg world -->
<include file="/home/cds/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch"/>
<arg name="model" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<node name="spawn_robot" pkg="gazebo" type="spawn_urdf_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" />
</launch>
Originally posted by Sendoh on ROS Answers with karma: 85 on 2014-02-18
Post score: 3
Original comments
Comment by ahendrix on 2014-02-18:
I suspect the hector packages need to be updated for Hydro, now that gazebo is a system dependency rather than a ROS package.
|
Hello all,
I'm currently trying to install ROS on my Raspberry Pi, I just followed the instruction on http://wiki.ros.org/groovy/Installation/Raspbian and got some errors, error 404 server not found, when I do some researching, I found out that the instruction is outdated.
for information, I've install Raspbian from NOOBs for my Raspberry Pi an running on Raspberry Pi Type B
anyone could help ?
Originally posted by WMHanif on ROS Answers with karma: 1 on 2014-02-18
Post score: 0
Original comments
Comment by ahendrix on 2014-02-18:
A quick glance suggests that the repository still exists, and should probably still work. Can you add the exact command and error you're seeing to your question?
Comment by WMHanif on 2014-02-18:
when I reload apt sources, I got this error:
Err http://ros.raspbian.org wheezy/main armhf Packages
404 Not Found
W: Failed to fetch http://ros.raspbian.org/repo/ros/dists/wheezy/main/binary-armhf/Packages 404 Not Found
any ideas ?
|
Hi all,
Trying to build the 'robot' variant under debian:squeeze, having some trouble with this libeigen3-dev.
libeigen3-dev is listed for jessie, sid, and wheezy, but not for squeeze. Which makes sense as the package is not officially supported for squeeze. There is a supported. libeigen2-dev.
I was able to install from a downloaded .deb package (eg wget from ftp.us.debian.org, with libeigen3-dev_3.1.0-1_i386.deb or _armel.deb or whatever), this seems to have installed fine but i haven't got as far as testing the build since there are still other missing/problematic dependencies. But maybe someone will have an answer before i go much further with the others.
many thanks
dave
Originally posted by dave.peacock on ROS Answers with karma: 3 on 2014-02-18
Post score: 0
Original comments
Comment by demmeln on 2014-02-18:
So what exactly is the question?
Comment by dave.peacock on 2014-02-18:
Ha, good question. I guess I was asking "Is installing libeigen3-dev manually the right thing to do on debian:squeeze", ahendrix's answer is sufficient for me, and hopefully this helps others running into the same or similar problems, but maybe squeeze is too old for a lot of hydro stuff
|
I'm new to ROS and I have Ubuntu 12.04 setup in a virtual box on my macbook pro retina display. I have 2 processors set aside along with 2GB RAM and 128MB video. I have 20GB disk with 1GB swap. And I have installed Guest Additions.
Anyways, I was just wondering if there were any other suggestions.
Thanks
Chet
Originally posted by chet on ROS Answers with karma: 11 on 2014-02-18
Post score: 0
|
Hi
I get a segmentation fault error and rviz closes whenever I run the openni_launch. The steps I take are
roslaunch openni_launch openni.launch
rosrun rviz rviz
Set the Fixed Frame (top left of rviz window) to /camera_depth_optical_frame.
Add a PointCloud2 display, and set the topic to /camera/depth/points
After these steps rviz crashes with a segfault error. Can anyone help? Below are some more info
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/690101082ba53f5c395d0b045247d82a
Originally posted by nasticy on ROS Answers with karma: 1 on 2014-02-18
Post score: 0
|
Hi,
I am trying to use openni_tracker. I have ros-fuerte-openni* installed. roslaunch openni_launch openni.launch is working properly and I can see the image in rviz. However, when I run rosrun openni_tracker openni_tracker, initially there was the following error.
Find user generator failed: This operation is invalid!
I googled for the solution to this problem and was instructed to install NITE-bin-dev-linux-64-v1.5.2.23. Now the error has change to the following.
Find user generator failed: Can't create any node of the requested type!
Any help?
Originally posted by Latif Anjum on ROS Answers with karma: 79 on 2014-02-18
Post score: 0
|
hello, i'm developping and android app to control a security robot runing with Ros, the question is do i need to install ROS on my Mobile device to make sure the interaction with the Robot.
Thank you
Originally posted by shiro on ROS Answers with karma: 1 on 2014-02-18
Post score: 0
|
Hi all,
I want to install RoboEarth on Ubuntu 12.04. So far, I followed this guide ros wiki with some minor modifications. I've done the following steps:
1.
rosinstall ~/ros /opt/ros/fuerte 'ros wiki source'
That gave me an error, so i just downloaded the roboearth.rosinstall file and used the path to that instead of the url.
2.
Added "source ~/ros/setup.bash" to the .bashrc
3.
sudo apt-get install ros-fuerte-ias-common ros-fuerte-perception-pcl ros-fuerte-opencv2 ros-fuerte-octomap-mapping ros-fuerte-client-rosjava-jni libsuitesparse-dev
...and what is important but not listed there
sudo apt-get install ros-fuerte-knowrob
rosmake roboearth
My problem is when I execute rosmake roboearth I get the following and cannot find a way to proceed any further:
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['roboearth']
[ rosmake ] Logging to directory /home/$user_name/.ros/rosmake/rosmake_output-20140219-162008
[ rosmake ] Expanded args ['roboearth'] to:
['re_msgs', 're_ontology', 're_comm', 're_2dmap_extractor', 're_vision', 're_object_detector_gui', 're_object_recorder', 'ar_bounding_box', 're_kinect_object_detector', 're_srvs', 're_comm_core']
cannot find required resource: client_rosjava_jni
ROS path [0]=/opt/ros/fuerte/share/ros
ROS path [1]=/home/$user_name/fuerte_workspace/stacks/knowrob_addons
ROS path [2]=/home/$user_name/fuerte_workspace/stacks/knowrob
ROS path [3]=/home/$user_name/fuerte_workspace/pkgs/tum-ros-pkg/knowledge
ROS path [4]=/home/$user_name/fuerte_workspace/stacks/ccny_vision
ROS path [5]=/home/$user_name/fuerte_workspace/stacks/roboearth
ROS path [6]=/home/$user_name/fuerte_workspace/vision_visp
ROS path [7]=/home/$user_name/fuerte_workspace/qr
ROS path [8]=/opt/ros/fuerte/stacks
ROS path [9]=/opt/ros/fuerte/share
ROS path [10]=/opt/ros/fuerte/share/ros
Thanks in advance for you help!
Originally posted by Andrii Matviienko on ROS Answers with karma: 56 on 2014-02-19
Post score: 0
|
How can I run Soar (cognitive architecture) as a ROS node?
Originally posted by HealingAura on ROS Answers with karma: 11 on 2014-02-19
Post score: 1
Original comments
Comment by alfa_80 on 2014-02-19:
May I know, is Soar already in the ROS repository? Could you please share with us the link, thanks in advance.
Comment by HealingAura on 2014-02-19:
Here is the link: http://sitemaker.umich.edu/soar/downloads
Soar supports Linux 9.3.2 (both 64-bit and 32-bit)
|
Hi All,
I am working on automating my experiment runs and hence need to kill all nodes periodically. I am using rosnode kill -a at the moment, but the rosout process keeps re-spawning all the time. I have indicated in my launch file that all the nodes have a respawn="false" argument. Does anybody know which this could be happening?
I issue the rosnode kill -a from a python script which I used to automate my runs as
os.system('rosnode kill --all')
Best,
Originally posted by makokal on ROS Answers with karma: 1295 on 2014-02-19
Post score: 1
|
Hey guys,
I'm trying to drive through multiple waypoints and would like to use a cartesian planner for this. It is working when i plan for each arm individually cause i can plan for each endeffector but i have no clue how to set it up using a move group including both arms. For the IK solver it is explained in the tutorials (e.g. docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html). But its not explained how to use a cartesian planner.
Thanks for your help!
Cheers,
Matthias
Originally posted by Equanox on ROS Answers with karma: 36 on 2014-02-19
Post score: 1
Original comments
Comment by 130s on 2014-04-03:
This qa discusses cartesian, not necessarily limiting to MoveIt! nor dual-arm though http://answers.ros.org/question/74776/cartesian-controller-for-ros/
|
Hi guys
I have two laser scanner and I want drive these with urg_node but I do not know how to change the topic name that urg_node published the laser scanner data.
I want to get data from two laser scanner in two different topic.
I didn't find any parameter that changes the topic name.
any suggestion about this?
Thanks.
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2014-02-19
Post score: 0
|
Good afternoon.
I have usb_camera installed on my groovy raspbian.
I have done : rosparam set usb_cam/pixel_format yuyv and after that I wrote : rosrun usb_cam usb_cam_node
I´m being given :
usb_cam video_device set to [/dev/video0]
usb_cam io_method set to [mmap]
usb_cam image_width set to [640]
usb_cam image_height set to [480]
usb_cam pixel_format set to [yuyv]
usb_cam auto_focus set to [0]
10 frames/sec at 1353855178.185472348
10 frames/sec at 1353855178.314173063
9 frames/sec at 1353855178.849589157
10 frames/sec at 1353855179.782349046
...
My rostopic list is the next :
/rosout
/rosout_agg
/usb_cam/camera_info
/usb_cam/image_raw
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressedDepth
/usb_cam/image_raw/compressedDepth/parameter_updates
/usb_cam/image_raw/compressedDepth/parameter_descriptions
/usb_cam/image_raw/theora
/usb_cam/image_raw/theora/parameter_descriptions
/usb_cam/image_raw/theora/parameter_updates
What´s the next I have to do to be able to see captured images?
Thanks you so much
Originally posted by 4LV4R0 on ROS Answers with karma: 70 on 2014-02-19
Post score: 0
|
As highlighted here:
https://github.com/ros/geometry_experimental/issues/20
http://wiki.ros.org/action/login/tf2/Migration
There are some issues with using tf2 as opposed to tf. As someone who is just now looking into using these features, what should I be looking at? Are tf2 and its tutorials something which should be avoided at the moment? Will the documentation/package for tf2 be fixed any time soon? I'm looking into writing a simple broadcaster/receiver for my Kinect transforms in Rviz and would really like some guidance and what tutorials to look at.
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-02-19
Post score: 2
|
Hello, I am currently running localization in a static map using hokuyo laser range finder. I am running both amcl and laser scan matcher nodes. I would like to view the laser scan data on rviz to check whether it fits with the static map. However, I found that once I tried to display the scan topic on rviz together with map, rviz will crash and end instantly. I found that this is caused by the transformation of the laser to map frame and this transformation is provided by the laser scan matcher node. May I know how do I solve this problem? Thank you.
Originally posted by zero1985 on ROS Answers with karma: 100 on 2014-02-19
Post score: 1
|
Hi,
I started using the humanoid_localization node for localizing my robot using stereo cameras.
I give the node a sensor_msgs/PointCloud2 as input, but I don't provide any sensor_msgs/LaserScan.
According to the humanoid_localization wiki page, this setup should be fine.
I am able to run the node and the particle filter is working, but for every particle filter update, the following error gets printed on the console hundreds of times:
ERROR: Raycasting in direction (0,0,0) is not possible!
The error message is generated when calling the castRay function in the file humanoid_localization/src/RaycastingModel.cpp.
What am I missing to have the node running without errors?
Do I need to create a "fake" LaserScan message from my stereo image data to get rid of the errors?
Do I need to change the parameter setting in my launch file?
Reading a paper from the authors of the humanoid_localization algorithms, I found out that they implemented a setup similar to mine using a depth camera. So the code has been used with cameras only, but I could not find out which adaptations were necessary. See:
Maier, D.; Hornung, A.; Bennewitz, M.,
"Real-time navigation in 3D
environments based on depth camera
data," Humanoid Robots (Humanoids),
2012 12th IEEE-RAS International
Conference on , vol., no., pp.692,697,
Nov. 29 2012-Dec. 1 2012
My setup:
ROS fuerte
Ubuntu 12.04
stereo cameras fixed on wheeled robot
Extract of my launch file:
<!-- Load map from octomap_server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server"
args="$(find nav)/maps/3D/track3_2014-02-18_image_proc_pc_tallmap.bt" output="screen" >
</node>
<!-- Localization -->
<node pkg="humanoid_localization" type="localization_node" name="humanoid_localization" output="screen" >
<remap from="point_cloud" to="/stereo_odometer/point_cloud" />
<param name="odom_frame_id" value="/odom" />
<param name="base_frame_id" value="/base_link" />
<param name="global_frame_id" value="/map" />
<param name="num_particles" value="2000" />
<param name="use_raycasting" value="true" />
<param name="use_imu" value="false" />
<param name="base_footprint_id" value="/base_link" />
</node>
EDIT: (for AHornung's answer)
I was using humanoid_navigation code downloaded from the APT repo ros-fuerte-humanoid-navigation.
Now, I downloaded the recent version of humanoid_navigation from GitHub, ran the humanoid_localization node and had the same issues as before.
The point cloud input for the humanoid_localization node has no NaNs.
I am not sure what other values could be invalid as input... could points in the origin (0,0,0) cause the error?
The width of my point cloud is 1 and the height is unequal to 1, so it seems to be ordered.
An extract of my console output:
core service [/rosout] found
process[saved_map/octomap_server-1]: started with pid [26692]
[ INFO] [1392965933.527639300]: Publishing latched (single publish will take longer, all topics are prepared)
[ INFO] [1392965933.601608621]: Octomap file /home/aes002/fuerte_workspace/sandbox/trunk/gator/nav/maps/3D/track1_2014-02-18_image_proc_pc.bt loaded (772778 nodes).
process[saved_map/humanoid_localization-2]: started with pid [26763]
[ INFO] [1392965933.779107102]: Requesting the map from /saved_map/humanoid_localization/octomap_binary...
[ INFO] [1392965933.848516881, 1392354124.777533329]: Sending binary map data on service request
process[saved_map/rviz-3]: started with pid [26867]
[ INFO] [1392965933.963886245]: Occupancy map initialized with 772778 nodes (61.10 x 39.00 x 2.70 m), 0.100000 m res.
[ WARN] [1392965933.977203542]: Frame ID of "initialpose" () is different from the global frame /map
[ INFO] [1392965933.977417430]: Pose reset around mean (0.000000 0.000000 0.320000)
[ WARN] [1392965933.983373819]: Failed to subtract base to odom transform, will not publish pose estimate: Frame id /odom does not exist! Frames (1):
[ INFO] [1392965933.983481518]: Initialization of 50 particles took 0.00628427s (=0.000125685s/particle)
[ INFO] [1392965933.991816628]: NaoLocalization initialized with 50 particles.
[ WARN] [1392965934.152648624, 1392354124.958635337]: Message from [/stereo_odometer] has a non-fully-qualified frame_id [camera]. Resolved locally to [/camera]. This is will likely not work in multi-robot systems. This message will only print once.
[ INFO] [1392965935.092718408, 1392354125.526207845]: PointCloudGroundFiltering done. Added 248 non-ground points and 14 ground points (from 18). Cloud size is 262
[ INFO] [1392965935.092938381, 1392354125.526207845]: OdomTransformTemporal took 0.00014625s
ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!
There are three warnings in the console output, the second one could be critical:
[ WARN] [1392965933.983373819]: Failed to subtract base to odom transform, will not publish pose estimate: Frame id /odom does not exist! Frames (1):
The error is created in humanoid_localization/src/HumanoidLocalization.cpp. The warning is printed once at the beginning of launching the node. I assume the warning is printed because baseToMapTFis not available while launching the node and therefore odomToMapTF cannot be calculated.
I checked the TF tree using tf view_frames and visualized the frames in RViz. It turned out to be fine. So the warning mentioned above does not seem to be critical...
Originally posted by RalphA on ROS Answers with karma: 36 on 2014-02-19
Post score: 0
Original comments
Comment by AHornung on 2014-02-20:
Yes, points directly in the origin will be problematic! There is a filtering for min range in the code, but maybe that's not working properly in your case.
Comment by AHornung on 2014-02-20:
The see the point clouds that will be used as measurements, you can subscribe to the topic humanoid_localization/filtered_cloud
|
is her any problem, a hack or a complete redesign of the wiki entry? Could you inform users about that and how long the the site is broken?
thanks
Originally posted by MartinHummel on ROS Answers with karma: 156 on 2014-02-19
Post score: 8
Original comments
Comment by lanyusea on 2014-02-19:
From China: error 503.
Comment by AHornung on 2014-02-19:
Same problem here (Germany)
Comment by konradb3 on 2014-02-19:
Same problem (Poland).
Comment by Okke on 2014-02-19:
Same problem here in the Netherlands, while status.ros.org is saying everything is fine. http://www.downforeveryoneorjustme.com/wiki.ros.org
Comment by Michael Stoll on 2014-02-19:
Same problem (Germany) (http://wiki.ros.org works, but any link => 503)
|
Hello dear friends,
I want to calibrate an colored object, so with CMVISION I achieved to calibrate and it gives me the coordinate in the Image, but for calibration I need the Real coordinate, I know that in some how I could use PCL (point cloud library) to get them but I dont know how,
I am new in PCL , so any body can give me a hint to start?, (I am searching in parallel too)
Thank you in advance
PS : I am using a Kinect.
Originally posted by Mobile_robot on ROS Answers with karma: 264 on 2014-02-19
Post score: 0
Original comments
Comment by ghanimmukhtar on 2014-08-12:
can you have a look at this question and if u have an answer may be provide me with it? http://answers.ros.org/question/189846/working-with-cmvisionblobs/
|
I'm trying to use
rosrun usb_cam usb_cam_node
to read my web camera, but it keeps returning error:
[ERROR] [1392890872.217213339]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.252854641]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.285282152]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.317282039]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.352863707]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.385424928]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.421215144]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.453295782]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.485294812]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.521231924]: Webcam: expected picture but didn't get it...
[ERROR] [1392890872.553230292]: Webcam: expected picture but didn't get it...
...
The camera works well when using
guvcview
Originally posted by lanyusea on ROS Answers with karma: 279 on 2014-02-19
Post score: 2
Original comments
Comment by 4LV4R0 on 2014-02-19:
I have the same errors. I guess it depends on pixel_format because if I do "rosparam set usb_cam/pixel_format yuyv" and then "rosrun usb_cam usb_cam_node" I get a constant amount of frames/sec with no errors but after that I can´t see the image well: Maybe a codification problem.
Comment by lanyusea on 2014-02-19:
@4LV4R0 yes. thanks for your advice, it is a format problem. Not quite sure about the frame rate problem, my image_view node works well on Ubuntu
|
I had to reinstall my Ubuntu 13.10 but am able to recover files from the previous hard disk. Thus I am trying to set-up my ROS Hydro install (ROS-Comm compiled from source) by copying files across due to a poor internet connection. So far it seems to be working with some exceptions.
I can create new workspaces, create packages, catkin_make packages, use roscore, run publishers and subscribers. But what is not working is the preprocessor that converts msg and svr files into C++ header files (and probably same problem with Python/Lisp files).
From Installing on Ubuntu from source, I performed the following steps:
sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo rosdep init
rosdep update
copied my ros_catkin_ws
copied entries from my old .bashrc to current one (including necessary environment variables):
source ~/ros_catkin_ws/install_isolated/setup.bash
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
Tests:
roscore (WORKED)
rostopic list (WORKED)
catkin_make (WORKED)
ran my publisher/subscriber nodes (WORKED)
I'm wondering how the preprocessing takes place, and hence what I need to fix up. Could anyone please elaborate on this or point me to a reference I can read up.
Thanks, Nap.
Originally posted by Nap on ROS Answers with karma: 302 on 2014-02-20
Post score: 0
|
Dear people.
I just passed from groovy to Hydro. And, I found out differences in the costmaps yaml files.
I have three issues, I hope you could help me :)
1.- When I run the navigation stack, and during the trajectory of the robot to its goal I get the following error;
Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1392904133.775245246 but the latest data is at time 1392904133.766193000, when looking up transform from frame [odom] to frame [map]
[ERROR] [1392904133.785699817]: Global Frame: odom Plan Frame size 66: map
And the robot simply doesnt move at all.
2.-When the robot starts turning around to localize itself, it turns out that the update of the obstacles is quite slow and cant simply localize, and then it finds a path over the unknown area, in other words, the path is outside the map. It didnt happen in Grovvy. Is there a way to make the costmap to update faster?
3.-The Rviz shows a black cell in the origin of the map, and sometimes it shows the entire costmap inside this cell.
Any help will be appreciate it.
Thank you
Originally posted by acp on ROS Answers with karma: 556 on 2014-02-20
Post score: 0
|
I would like to enable an input filter in my Doxyfile used when calling rosdoc_lite with the Doxygen backend. There are a few Doxygen customization options listed in the Doxygen builder section of the rosdoc_lite Wiki page, but there doesn't seem to be any way to append arbitrary options to the Doxyfile. Is there any way to get rosdoc_lite to use a custom Doxyfile template?
My immediate goal is to enable the Doxypy input filter for Python files. In the future, I also plan to change some of the formatting options.
Edit: We're building the documentation myself on an internal server, so it is not a hard requirement for our Doxyfile to work on the ROS build farm. One option is to to add a command-line option to rosdoc_lite that can point to a different Doxyfile (rather than the default templates/doxy.template). Alternatively, we can give up on using rosdoc_lite and just invoke Doxygen directly.
Originally posted by mkoval on ROS Answers with karma: 524 on 2014-02-20
Post score: 1
|
I've been working with some Kinects in Rviz and recently found the ability to use static_transform_publisher to create the necessary transforms between pointclouds so that it will allow me to display multiple point clouds at once. Since camera_pose_calibration doesn't work in Hydro, I'm going to try to align them manually as a first step. However, I was wondering if there was a way to rotate/translate point clouds in Rviz itself that I may have missed.
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-02-20
Post score: 1
Original comments
Comment by mrtpk on 2018-10-18:
Did you solve it?
|
Is it possible to run ROS, or some cut-down part of it, on ARM Cortex-M processors? There's some pretty nice chips out there, like the STM32F429ZIT6, a Cortex-M4F with up to 2MB Flash, 256k RAM and 100+ I/O lines. These sorts of uC's also include lots of ADC, DAC, timer/counter etc hardware that seems to be less common on the faster Cortex-A SoC's but that would be pretty handy on a lot of robots.
Originally posted by asperion on ROS Answers with karma: 23 on 2014-02-20
Post score: 2
|
I am having a compiler issue while running rosjava. I am attempting to compile a piece of java code using javac along with adding org.apache.commons.logging third party Java library to my classpath, but I am receiving the following messages:
"package org.ros.namespace does not exist"
"package org.ros.node does not exist"
"package org.ros.node.topic does not exist"
Would you know by any chance what could be causing this issue or if I am even compiling the java code correctly? The code is in the "robot" subdirectory within my "rosjava" directory in a third subdirectory called "src". I am currently running on the Hydro distribution of Java.
Originally posted by musik on ROS Answers with karma: 19 on 2014-02-20
Post score: 0
Original comments
Comment by Daniel Stonier on 2014-02-20:
What instructions are you following to build?
Comment by musik on 2014-02-20:
I'm using instructions from: http://pharos.ece.utexas.edu/wiki/index.php/How_to_use_ROSJava_to_Program_the_iRobot_Create_to_Move
|
is it Possible to set ROS_MASTER_URI directly in c++ code without use of environment variables????
I use a big program with needs a lot time of initialisation, and I builded roslibs wichthe program uses
but I like to change sometimes the masteruri,the hostname without to setting new env-vars and reload the whole programm.
It would be nice if I colud set them as argument in ros::init or so. Thus the programm could change dynamically the server without restart.
(want to change ROS_IP,ROS_HOSTNAME too)
Originally posted by major on ROS Answers with karma: 21 on 2014-02-20
Post score: 1
|
I'm trying to build a downloaded rosjava package for using april tags. I have installed the deb install of ros-hydro-rosjava. However, when I run catkin_create_rosjava_pkg, I get the following error:
FAILURE: Build failed with an exception.
* What went wrong:
A problem occurred configuring root project 'april'.
> Could not resolve all dependencies for configuration ':classpath'.
> Could not find any version that matches org.ros.rosjava_bootstrap:gradle_plugins:[0.1,0.2).
Required by:
:april:unspecified
What have I failed to set up? is catkin_create_rosjava_pkg even the right thing to be running here?
Thanks.
Originally posted by gtaylor on ROS Answers with karma: 16 on 2014-02-20
Post score: 0
Original comments
Comment by Daniel Stonier on 2014-03-15:
What are the april tags? Are you downloading all rosjava sources into a source workspace with your project, or using the debs?
Comment by gtaylor on 2014-03-15:
Thank you for the responses. Daniel, APRIL Tags can be found here: http://april.eecs.umich.edu/wiki/index.php/AprilTags
Time ran out on getting this to work. I never did figure out how to get the rosjava classpaths set up correctly, even with the deb install, but it's no longer so relevant.
Comment by Daniel Stonier on 2014-03-16:
Ok. Apologies for not getting back to you more quickly, it looks like a trivial issue related to setting up your workspace.
|
I am writing node to publish several sonar readings in a skirt being driven by an arduino. My node listens on the serial port and advertises an array of sensor_msgs/Range. I am depending on the ros-hydro-serial package to drive the serial port. I wanted to handle communications between the arduino and the node with parameter values. Therefore I am trying to look for and set all possibilities using ROS parameters. (Note: issuetracker does not seem to have anything on the serial package so I thought I would post here first. I have taken out support for stopbits_one_point_five and am not being held up. No urgency but would like to know if I am doing something wrong)
I was using the attributes of a serial connection in a switch and received a compiler error. "error: duplicate case value".
<snip of code>
switch (foo) {
. . .
case serial::stopbits_one_point_five :
this;
that;
break;
case serial::stopbits_two : //compiler issues the duplicate case value error for this line
the other;
break;
. . .
}
</snip>
I note in looking at the header it contains.
<snip of the ROS hydro serial.h header>
/*!
* Enumeration defines the possible stopbit types for the serial port.
*/
typedef enum {
stopbits_one = 1,
stopbits_one_point_five,
stopbits_two = 2
} stopbits_t;
</snip>
This has the affect of assigning the same value for the stopbits_one_point_five and the stopbits_two values.
My environment:
Ubuntu 12.04
gcc 4.6.3
Originally posted by kurt.christofferson on ROS Answers with karma: 23 on 2014-02-20
Post score: 1
|
Hi all,
I have searched but I can not find any clue to launch rviz with a fixed frame size. For example, I want to set the visualization region to be 1080*900 pixel? How to do that?
I am using Fuerte on Ubuntu*64.
Originally posted by ZiyangLI on ROS Answers with karma: 93 on 2014-02-20
Post score: 1
Original comments
Comment by trunc8 on 2021-07-02:
Though not an ideal solution, here's how I have dealt with this. After resizing the window and setting the view, save the RViz config. Load the RViz config during the next launch. You can manually tweak numbers inside the saved .rviz file too.
|
For a package which is only building a binary and not exporting libraries, should the headers still go in include/pkgname, or can/should they then go in src? The Packages page says:
include/package_name: C++ include headers (make sure to export in the CMakeLists.txt)
My um6 sensor driver has them split, while rosserial_server has them all together.
In both cases, there are templated classes in the headers, which means they contain a lot of actual function bodies. Should these headers be exported anyway, despite that they're not intended to be an API? Which approach is best?
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2014-02-20
Post score: 0
|
Hi All,
I am using rosmake a package in ROS hydro, but it gives me below errors:
[rosbuild] Building package labrob_hummingbird_controller
Failed to invoke /opt/ros/hydro/bin/rospack deps-manifests labrob_hummingbird_controller
[rospack] Error: package/stack 'labrob_hummingbird_controller' depends on non-existent package 'gazebo' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/hydro/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package
'labrob_hummingbird_controller'. Look above for errors from rospack
itself. Aborting. Please fix the broken dependency!
It seems that there is no gazebo dependency any more in ROS hydro. Does anyone know which dependency I should use to replace gazebo? The manifest.xml of the stack 'labrob_hummingbird_controller' can be found below:
<package>
<description brief="HummingBirdController">
HummingBirdController
</description>
<author>Lorenzo Rosa</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/HummingBirdController</url>
<depend package="gazebo"/>
<depend package="geometry_msgs"/>
<depend package="gazebo_plugins"/>
<depend package="ar_pose"/>
<!--depend package="ipc_bridge"/-->
<export>
<gazebo plugin_path="${prefix}/lib" />
</export>
</package>
Originally posted by Sendoh on ROS Answers with karma: 85 on 2014-02-20
Post score: 0
|
Hey,
Can Turtlebot simulator be used in Groovy now? It said that TurtleBot simulation is not supported in ROS Groovy!
http://wiki.ros.org/turtlebot_simulator
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2014-02-20
Post score: 0
|
Hi all,
I find out that I can save an image by choosing File->Save Image in rviz.
What if I want to save images automatically with a constant rate? Anybody knows how to do this?
Originally posted by ZiyangLI on ROS Answers with karma: 93 on 2014-02-20
Post score: 0
|
As far as I understand correctly catkin_make test uses code under devel directory, is there way to test code for install directory?
Originally posted by Kei Okada on ROS Answers with karma: 1186 on 2014-02-20
Post score: 1
Original comments
Comment by tfoote on 2014-04-01:
Can you clarify a little bit? There's no catkin_test command.
Comment by Kei Okada on 2014-04-01:
sorry, I asked about catkin_make test against installed program
|
Good day everyone,
I've been trying different settings to achieve this, with no success. My settings are as follow:
Ubuntu 13.04
ROS version Hydro Medusa
freenect_stack install as in (can't insert link) the install instructions of the wiki
Kinect for Windows 1517 fully functional (tested with Microsoft SDK)
I've tried in two different computers, same settings, the difference between them is:
XPS Dell - 2 USB port 3.0 + 1 USB/eSATA combo port.
Assembly computer with 6 USB port 3.0
So far, what I've read is that, as I'm using Ubuntu 13.04 I don't need to do the kernel update to fix USB 3.0 (can't insert link yet) . Nevertheless the result is exactly the same wheter I use the 3.0 ports or the combo one. After using the command roslaunch freenect_launch freenect.launch I get the following error:
[ INFO] [1393001100.077038281]: No devices connected.... waiting for devices to be connected[ INFO] [1393001103.079356057]: No devices connected.... waiting for devices to be connected
Using the command usbls I get the following:
Bus 001 Device 002: ID 8087:8008 Intel Corp.
Bus 002 Device 002: ID 8087:8000 Intel Corp.
Bus 003 Device 008: ID 045e:02c2 Microsoft Corp.
Bus 003 Device 002: ID 05af:1023 Jing-Mold Enterprise Co., Ltd
Bus 003 Device 003: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 003 Device 004: ID 22b8:710f Motorola PCS
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 011: ID 045e:02be Microsoft Corp.
Bus 003 Device 012: ID 045e:02bf Microsoft Corp.
My guess is that the Microsoft Corp devices are the Kinect Audio, Camera and Aux (The ID 045e corresponds to it).
Any help, suggestion, recommendation with this? It's really driving me crazy. Let me know if I can give you any more information. Thank you!
Regards
Originally posted by Victor Gomez on ROS Answers with karma: 50 on 2014-02-20
Post score: 0
Original comments
Comment by blackmamba591 on 2015-09-22:
Will openni_launch, support kinect xbox (model 1414) for ubuntu 14.04 lts, ros indigo?
|
Hi,
I make a package with two Turtlebots and share a static map on Gazebo. My problem is that I can positionning Turtlebots where I want on a static global map.
I use GMapping and MoveBase and I try to make an exploration of an unknown environment.
When I use AMCL, turtlebots move between the center of the map and the real robot's position.
Is it possible to initialise the position of each Turtlebot on static map, and how ?
Thanks
Originally posted by Zephyrin on ROS Answers with karma: 36 on 2014-02-20
Post score: 0
|
I am trying to use visp_auto_tracker this three cameras, the simplest way I see to this is to use three nodes. This does not work because for some reason visp_auto_tracker doesn't work if the node name is not "visp_auto_tracker". Here is my launch file:
<launch>
<!-- you can only use the debug display if name is "visp_auto_tracker" appearently nothing works if not visp_auto_tracker-->
<node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker" output="screen">
<param name="model_path" type="string" value="$(find visp_auto_tracker)/models" />
<param name="model_name" type="string" value="pattern" />
<param name="debug_display" type="bool" value="True" />
<remap from="/visp_auto_tracker/camera_info" to="/primesense2/rgb/camera_info"/>
<remap from="/visp_auto_tracker/image_raw" to="/primesense2/rgb/image_raw"/>
<!--<remap from="/visp_auto_tracker/camera_info_2" to="/primesense1/rgb/camera_info"/>
<remap from="/visp_auto_tracker/image_raw_2" to="/primesense1/rgb/image_raw"/>
<remap from="/visp_auto_tracker/camera_info_3" to="/primesense3/rgb/camera_info"/>
<remap from="/visp_auto_tracker/image_raw_3" to="/primesense3/rgb/image_raw"/>-->
</node>
<node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker_ps1" output="screen">
<param name="model_path" type="string" value="$(find visp_auto_tracker)/models" />
<param name="model_name" type="string" value="pattern" />
<param name="debug_display" type="bool" value="True" />
<remap from="/visp_auto_tracker/camera_info" to="/primesense1/rgb/camera_info"/>
<remap from="/visp_auto_tracker/image_raw" to="/primesense1/rgb/image_raw"/>
</node>
<node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker_ps3" output="screen">
<param name="model_path" type="string" value="$(find visp_auto_tracker)/models" />
<param name="model_name" type="string" value="pattern" />
<param name="debug_display" type="bool" value="True" />
<remap from="/visp_auto_tracker/camera_info" to="/primesense3/rgb/camera_info"/>
<remap from="/visp_auto_tracker/image_raw" to="/primesense3/rgb/image_raw"/>
</node>
</launch>
Does anyone know how I can fix this? I modified a different version of the tracker to work with three cameras, but it has stability issues.
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-02-21
Post score: 0
Original comments
Comment by dornhege on 2014-02-21:
I don't know the package, but it sounds like either a serious bug to be fixed or just wrong configuration/setup? Maybe test just one node with a different name or grep the sources for the name - it shouldn't be hardcoded anywhere besides init.
|
A short question:
I have a service defined like this: (navigate.srv)
string[] path
---
bool command_processed
I would like to call it by a terminal with a command like:
rosservice call /navigate ...
I have tried with:
... "path1, path2, path3"
... 'path1, path2, path3'
... "path1", "path2", "path3"
... 'path1', 'path2', 'path3'
... path1 path2 path3
... path1, path2, path3
...
But i don't find the correct text chain(argument) to the service works.
Could someone help me?
Originally posted by Jose Luis on ROS Answers with karma: 375 on 2014-02-21
Post score: 1
Original comments
Comment by dornhege on 2014-02-21:
It's a list, so something along '{path: []}. 'Can you try the "cheater" way and try tab completion?
Comment by Jose Luis on 2014-02-24:
Thank you very much. The "cheater" way was the solution. I had underestimated the power of tab ;)
Comment by m.bahno on 2020-10-09:
The tab completion is in this case surprisingly helpful! +1
|
I am starting to look at navigation options to use for my humanoid robot (nao) and I would like some inputs from the community on using ROS navigation VS OMPL. Both of them seem to be a good solution at the moment, but I can't find any comparison of advantages/disavantages that would help guide me to make the best choice. Suggestion on other navigation methods are also welcome.
Originally posted by TopSecret on ROS Answers with karma: 37 on 2014-02-21
Post score: 0
|
I am trying to use 3 prime sense sensor in both depth an image mode. Since one USB bus cannot handle the load I'm trying to use two computers. I have setup the network in a way that I think works, but my nodes on one computer can't receive message published on the other. I can see them in rostopic echo every thing is right but node never receives the message. Any ideas?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-02-21
Post score: 0
|
I have ROS Groovy installed. Is their any way to upgrade to Hydro using terminal commands?
Originally posted by expelliarmus on ROS Answers with karma: 28 on 2014-02-21
Post score: 0
|
This question is somewhat broad, but we're looking for ideas...
We are a small group of developers are testing on an autonomous robot. The robot is set up to be a ubuntu server that we ssh into and launch nodes/test code/etc. The robot runs on a network without internet access. We're looking for an efficient way to handle our code between our personal laptops and the robot.
Our thought was this - Once the code was built with catkin_make install, use a bash script to scp the created directories (install/lib, install/etc, install/share, etc...) onto the robot. This problem is the robot can't launch the created executables, but the personal laptop can (error: 'ros cannot execute binary file').
Does anyone have a more efficient way to handle code deployment? Does anyone know how to get the executables to run using this method?
Thanks
Originally posted by stebl on ROS Answers with karma: 45 on 2014-02-21
Post score: 1
|
I'm trying to use a cnny_vision at my fuerte.But I can't build a executable named ar_single.
I can't find any problem with my CMakeList, but someone could find any error with that?
cmake_minimum_required(VERSION 2.4.6) include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo) set(ROS_BUILD_TYPE Debug) rosbuild_init()
#set the default path for built executables to the "bin" directory set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
include_directories('/usr/local/include/')
link_directories('/usr/local/lib/')
set(ARPOSESINGLE ar_single)
set(ARPOSESINGLE_SRC src/ar_single.cpp)
set(ARPOSESINGLE_LIBS GLU GL glut ARgsub AR ARMulti ARvideo)
set(ARPOSEMULTI ar_multi)
set(ARPOSEMULTI_SRC src/ar_multi.cpp src/object.cpp) set(ARPOSEMULTI_LIBS GLU GL glut ARgsub AR ARMulti ARvideo)
rosbuild_add_executable(${ARPOSESINGLE} ${ARPOSESINGLE_SRC})
target_link_libraries(${ARPOSESINGLE} ${ARPOSESINGLE_LIBS})
rosbuild_add_executable(${ARPOSEMULTI} ${ARPOSEMULTI_SRC})
target_link_libraries(${ARPOSEMULTI} ${ARPOSEMULTI_LIBS})
Originally posted by JoaoPedro on ROS Answers with karma: 33 on 2014-02-21
Post score: 1
|
i'm developing an App to control a robot running with Ros , to etablish the connection with my robot i'm using and WifiP2Pmanager packages.
the problem is i can't figure out how to interact with th robot, do i need to add packages from ROsjava to my Eclipse IDE ?, or sould i continue to developing my app first, and after that create android packages On Ros to receive data from my mobile?
Originally posted by shiro on ROS Answers with karma: 1 on 2014-02-21
Post score: 0
|
In my project, I cannot get rviz to "center" the map based on the base_link's position. I have a node that publishes two transforms, one between base_link and a frame containing the corrected odometry position, and the other between this odometry frame and the map frame. However, I tried checking the tf tree using view_frames, and everything seems in order: the odometry frame is child to base_link and the map frame is child to the odometry's. The only odd thing I noticed is that if I try and echo the transform between base_link and the map, or viceversa, it fails once and then starts returning the transform.
anyway, the code I use to publish these two transforms is:
ros::Time current_time=ros::Time::now();
tf::Transform l_to_o=tf::Transform(tf::createQuaternionFromYaw(theta_best), tf::Vector3(x_best, y_best, 0.0));
l_to_o=l_to_o.inverse();
odom_broadcaster.sendTransform(tf::StampedTransform(l_to_o, current_time, "/base_link", "/slam_gpu/odom"));
tf::Transform o_to_l=tf::Transform(tf::createQuaternionFromYaw(theta_old), tf::Vector3(x_old, y_old, 0.0));
tf::Transform o_to_m=(o_to_l*l_to_o);
odom_broadcaster.sendTransform(tf::StampedTransform(o_to_m, current_time, "/slam_gpu/odom", "/slam_gpu/map"));
Originally posted by Orgrim on ROS Answers with karma: 11 on 2014-02-21
Post score: 0
Original comments
Comment by ahendrix on 2014-02-21:
It sounds like your tf tree is probably OK. Are you seeing any error messages from rviz?
Comment by demmeln on 2014-02-24:
anything suspicious in tf_monitor?
Comment by demmeln on 2014-02-24:
also, what exactly do you mean by "center" the map?
Comment by Orgrim on 2014-02-24:
I'm sorry, in the end the problem didn't have anything to do with the tf.. I just forgot to set the frame id of the map upon publishing it. So the tf was there, but the map wasn't connected to the frame.
|
Hi all,
I wan to use the point cloud in ros groovy for Ubuntu ARM, I think I will build manually from source code because it is still not supported,just only has source code. So Is there any one build successfully pcl, please give me some advices , what is the neccessay library which I must install first.
Thanks in advance.
Originally posted by domikilo on ROS Answers with karma: 89 on 2014-02-21
Post score: 0
|
currently i am only seeing cyllinders in rviz being visualized as nao. How to get a proper nao model into rviz?
Originally posted by dnth on ROS Answers with karma: 106 on 2014-02-21
Post score: 0
|
Hi all
I see the status of building ROS hydro for ARM in this website link text , and I have some confusion.
With HbinParmhf 692 717 , the openni_launch missing , but with HbinParmhf 704 and 728 it has, so what is difference between them? I use Ubuntu 12.04 in my ARM board, so HbinParmhf 704 and 728 is for Ubuntu 13.04 is this right?
Originally posted by domikilo on ROS Answers with karma: 89 on 2014-02-22
Post score: 0
|
Hi,
How to change default baud rate? From 115200 to 19200
Instead USB-COM converter I have Arduino. I've checked it from Windows and Roomba was controlled by me.
SW:
Ubuntu Precise 12.04
ROS Hydro
ros-hydro-desktop-full
ros-hydro-turtlebot ros-hydro-turtlebot-apps ros-hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi
HW:
Sony VAIO
iRobot Roomba 620
Arduino UNO
Regards,
Kirill Mitkovskii,
Thx!
Originally posted by Robotics010 on ROS Answers with karma: 13 on 2014-02-22
Post score: 0
|
I'm attempting to record short (~10s) video streams from a kinect. Ideally I'd like to output two video files after recording is finished: one file for RGB and the other file for depth (I can save a series of images rather than video file if that's not possible, but that tends to be space intensive, so I'd prefer not to do that). This is so I can process the data later. I have been searching for the past few days around the internet, and while I have found many resources and posts that are close to what I want to do, none of them are quite exactly what I'm looking for. I'm writing in Python, which is relevant since a lot of the posts I've found refer to C++ code, but I can never seem to find the equivalent function calls for Python.
Here's what I've got at the moment, but it is very hacky and doesn't really work. For recording the RGB data, I use image_view extract_images. I make this function call:
subprocess.Popen(["rosrun","image_view","extract_images","_sec_per_frame:=0.01","image:=camera/rgb/image_color"], cwd="temp/rgb/", stdout=DEVNULL)
To record the depth data, I wrote a class that subscribes to the "/camera/depth/image_rect" topic and then writes out the images to files:
class ImageConverter:
NUM_THREADS = 1
def __init__(self):
self.count = 0
self.todo = Queue.Queue()
self.stop = False
self.sub = None
self.threads = None
self.countLock = threading.Lock()
def __getCounter(self):
self.countLock.acquire()
c = self.count
self.count = self.count + 1
self.countLock.release()
ret = str(c)
while len(ret) < 4:
ret = "0" + ret
return ret
def __callback(self, data):
self.todo.put(data)
def __processImage(self,data):
bridge = CvBridge()
try:
source = bridge.imgmsg_to_cv(data, "32FC1")
except CvBridgeError, e:
print e
return
ret = cv.CreateImage((data.width, data.height), 8, 3)
mx = 0.0
for i in range(data.width):
for j in range(data.height):
d = source[j,i]
if d > mx:
mx = d
for i in range(source.width):
for j in range(source.height):
v = source[j,i]/mx*255
ret[j,i] = (v,v,v)
return ret
def startRecording(self,topic):
self.stop = False
def processor():
rate = rospy.Rate(100.0)
while (not self.stop) or (not self.todo.empty()):
if not self.todo.empty():
data = self.todo.get()
img = self.__processImage(data)
c = self.__getCounter()
cv.SaveImage("depth/frame" + c + ".jpg", img)
print("[ImageConverter]: image saved " + c + "/" + str(self.todo.qsize()))
rate.sleep()
self.threads = []
for i in range(ImageConverter.NUM_THREADS):
t = threading.Thread(target=processor, args = ())
t.daemon = True
t.start()
self.threads.append(t)
self.sub = rospy.Subscriber(topic, Image, self.__callback)
def stopRecording(self):
self.sub.unregister()
self.stop = True
for t in self.threads:
t.join()
As you can see in the __processImage method, I had to manually convert the image from 32FC1 to bgr8, since everytime I try to call the cv_bridge method imgmsg_to_cv with 'bgr8' (or 'mono8' for that matter) it throws an error saying it can't convert and saving directly as 32FC1 yields images that are thresholded to either max brightness or black. This is of course very slow, which is why I spin the processing off into a separate thread from the callback so I don't drop images.
After saving the series of images, I call mencoder to compile them into a video file, which usually reduces the total size down to about a fifth of what all the individual images take up:
subprocess.Popen("mencoder \"mf://*.jpg\" -mf type=jpg:fps=24 -o " + filename + " -speed 1 -ofps 24 -ovc lavc -lavcopts vcodec=mpeg2video:vbitrate=2500 -oac copy -of mpeg", cwd="temp/rgb/", shell=True, close_fds=True, stdout=DEVNULL, stderr=DEVNULL)
This seems like a pretty big hack. It seems like there should be a better way to do this, but after a few days of searching through forums and other ROS resources, I can't seem to find anything that can help. Additionally, the video files I get out of this are usually jumpy and sometimes frames are entirely missing. Is there any good way to record both RGB and Depth data as video files or a series of images using Python in ROS?
Originally posted by rse101 on ROS Answers with karma: 36 on 2014-02-22
Post score: 1
|
I am trying to publish to the speech topic on using the nao_driver package.
What did I miss out?
#! /usr/bin/env python
import rospy
from std_msgs.msg import String
from dynamic_reconfigure.server import Server as ReConfServer
from nao_driver.cfg import nao_speechConfig as NodeConfig
from nao_driver import NaoNode
from naoqi import (ALBroker, ALProxy, ALModule)
from std_srvs.srv import( Empty, EmptyResponse )
from nao_msgs.msg import( WordRecognized )
def talker():
pub = rospy.Publisher('speech', String)
rospy.init_node('talker')
while not rospy.is_shutdown():
str = "hello world %s" % rospy.get_time()
rospy.loginfo(str)
pub.Publish(String(str))
rospy.sleep(1.0)
if __name__=='__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
The output on the console:
No handlers could be found for logger "rosout"
Originally posted by dnth on ROS Answers with karma: 106 on 2014-02-22
Post score: 1
Original comments
Comment by AHornung on 2014-02-24:
This is looking good. Is the nao_speech node running and volume turned up? Check that your node properly connects to nao_speech with rqt_graph. Afaik you can ignore the "No handlers can be found..." error.
Comment by uzair on 2014-06-17:
I tried to do this but the robot takes a lot of time to respond. I created a loop for publishing hello world over the speech topic and the robot responds very late the the first few hello worlds. Can u please help me?
http://answers.ros.org/question/171331/real-nao-robot-responding-very-slow-to-the-topic-published-with-ros/
|
Hello all!
I have a problem with amcl. My URDF model has a joints. When I launch amcl, it don't work. My robot can't find location himself, it start random driving and can't see obstacles. At that moment i don't have error message.
This is my main launch file:
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find tod_description)/urdf/bot_arm.urdf.xacro'" />
<node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
<rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
<!-- <param name="arduino/odom_angular_scale_correction" value="1.25"/> -->
</node>
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<rosparam file="$(find bot_bringup)/config/bot_arbotix.yaml" command="load" />
<param name="sim" value="false"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
</launch>
When launch amcl and my urdf model don't have joints, all it work perfect.
What is wrong? How i can fix it?
Originally posted by seredin on ROS Answers with karma: 45 on 2014-02-22
Post score: 0
Original comments
Comment by pkohout on 2014-02-25:
where do you start amcl, and is your laser scanner working correct ?
|
i can't understand and not working
$ .<path>/parser <path>my_robot.urdf
# ./devel/lib/robot_description/parser /src/robot_description/urdf/my_robot.urdf (for example)
Originally posted by M Samir on ROS Answers with karma: 1 on 2014-02-22
Post score: 0
Original comments
Comment by gvdhoorn on 2014-02-23:
Could you include the actual error that you are seeing in your question? That would make answering it a bit easier.
|
Going to add a control in the flight plan mavros.
Is there a standard message / ROS API for managing waypoint?
Originally posted by vooon on ROS Answers with karma: 404 on 2014-02-23
Post score: 1
|
I am currently working on a simulation with Gazebo. In this Simulation I got a robot model in some environment (some sort of table). The robot is fixed to its environment and the environment is fixed to the world. I am describing the robot and the environment in the same URDF file, but I want to describe them separately.
Here is the problem: How can I have 2 URDF files (1 for the robot and 1 for the environment), but fix the robot to the environment relative to some frame (when spawning both models via spawn_model)?
Is this somehow possible? Or is it correct to describe the robot and its environment in the same URDF file?
Originally posted by miniME05 on ROS Answers with karma: 33 on 2014-02-23
Post score: 2
|
Hi,
I intend to convert quaternion into rpy using btMatrix3x3.getRPY(). However, i get the following error when i try to compile.
this is done with only #include <LinearMath/btMatrix3x3.h> included in my cpp file.
/home/chao/catkin_ws/src/simple_navigation_goals/src/robot_state3_with_class.cpp:23:36: fatal error: LinearMath/btMatrix3x3.h: No such file or directory
compilation terminated.
this error msg showed up when i added <depend package="LinearMath"/> into the manifest.xml
[rospack] Error: package/stack 'simple_navigation_goals' depends on non-existent package 'LinearMath' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
appreciate your help, thank you
Originally posted by chao on ROS Answers with karma: 153 on 2014-02-23
Post score: 1
|
Hello,
i have some problems with making the ros::timer work. Usually if i need a timer within a class i add these three lines to the header:
void timerCallback(const ros::TimerEvent& event);
ros::Timer m_timer;
ros::NodeHandle m_nh;
and in the cpp file i add this line for example to the constructor:
m_timer = m_nh.createTimer(ros::Duration(1), &MyClass::timerCallback, this);
Last but not least i add a callback function to the cpp:
void MyClass::timerCallback(const ros::TimerEvent& event)
{
// something that has to be done frequently
ROS_INFO("Beep");
}
Unfortunatly it does not work this way in an rqt plugin. For some reason the callback function is never thrown.
Please help me with that. I'm using ROS Hydro on Kubuntu 12.04.
Originally posted by Blizzard on ROS Answers with karma: 49 on 2014-02-23
Post score: 1
|
Hello,
I have set up a navigation stack on my PC and now I'm trying to run a slightly modified copy of android_teleop. Everything seems to work, but the android app does not receive any messages, although I can see them in rviz on the PC and I can see that the android node is connected to the correct topic using rqt_graph. The published topic (/virtual_joystick/cmd_vel) is working.
Originally posted by Jordan Markov on ROS Answers with karma: 1 on 2014-02-23
Post score: 0
Original comments
Comment by Daniel Stonier on 2014-02-26:
It's not the missing ROS_IP/ROS_HOSTNAME problem?
Comment by Jordan Markov on 2014-02-26:
It's not that, because the application connects to the master and successfully sends messages to the cmd_vel topic. Also it looks like it is subscribed to the other topics, but it doesn't receive the messages, just like if they are not published.
Is there a firewall on the android phone I need to disable?
Comment by Daniel Stonier on 2014-02-27:
Not that I know of, but I haven't done alot of testing on different devices to be sure. Do recheck the ROS_IP settings though, if I remember correctly, publishing can be ok, but subscribing will fail.
Comment by CalisM on 2014-12-28:
Sounds like a one-way route. Have you tested pinging from master to subscriber and vice versa? It mostly is a "route add -net 10.20.30.0 netmask 255.255.255.0 gateway 10.20.30.1" problem.
|
When I tried to load and existing OWL file in Semantic Map Editor, the console output the following messages and just stuck there :
Feb 14, 2014 2:03:01 PM controlP5.ControlBroadcaster printMethodError
SEVERE: An error occured while forwarding a Controller event, please check your code at controlEvent
java.lang.reflect.InvocationTargetException
at sun.reflect.GeneratedMethodAccessor6.invoke(Unknown Source)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:606)
at controlP5.ControlBroadcaster.invokeMethod(Unknown Source)
at controlP5.ControlBroadcaster.broadcast(Unknown Source)
at controlP5.Controller.broadcast(Unknown Source)
at controlP5.Button.setValue(Unknown Source)
at controlP5.Button.activate(Unknown Source)
at controlP5.Button.mouseReleased(Unknown Source)
at controlP5.Controller.setMousePressed(Unknown Source)
at controlP5.ControllerGroup.setMousePressed(Unknown Source)
at controlP5.ControlWindow.mouseReleasedEvent(Unknown Source)
at controlP5.ControlWindow.mouseEvent(Unknown Source)
at sun.reflect.GeneratedMethodAccessor4.invoke(Unknown Source)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:606)
at processing.core.PApplet$RegisteredMethods.handle(Unknown Source)
at processing.core.PApplet.handleMouseEvent(Unknown Source)
at processing.core.PApplet.dequeueMouseEvents(Unknown Source)
at processing.core.PApplet.handleDraw(Unknown Source)
at processing.core.PApplet.run(Unknown Source)
at java.lang.Thread.run(Thread.java:744)
Caused by: jpl.PrologException: PrologException: error(existence_error(procedure, /(rdf_has, 3)), context(:(system, /('<meta-call>', 1)), _27))
at jpl.Query.get1(Query.java:336)
at jpl.Query.hasMoreSolutions(Query.java:258)
at jpl.Query.oneSolution(Query.java:688)
at jpl.Query.hasSolution(Query.java:759)
at edu.tum.cs.ias.knowrob.prolog.PrologInterface.executeQuery(PrologInterface.java:99)
at edu.tum.cs.ias.knowrob.vis.applets.SemanticMapVisApplet.getItem(SemanticMapVisApplet.java:903)
at edu.tum.cs.ias.knowrob.vis.applets.SemanticMapVisApplet.addObject(SemanticMapVisApplet.java:364)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditorForms.controlEvent(SemanticMapEditorForms.java:521)
... 22 more
What might be the cause and how to solve it? Thanks~
====================================================
UPDATE:
New error messages:
% library(error) compiled into error 0.01 sec, 18,352 bytes
% library(lists) compiled into lists 0.01 sec, 44,824 bytes
% library(shlib) compiled into shlib 0.01 sec, 65,920 bytes
% library(option) compiled into swi_option 0.00 sec, 14,752 bytes
ERROR: /usr/lib/swi-prolog/library/process.pl:47:
'$open_shared_object'/3: /usr/lib/swi-prolog/lib/amd64/process.so: undefined symbol: Sfilefunctions
Warning: /usr/lib/swi-prolog/library/process.pl:47:
Goal (directive) failed: process:use_foreign_library(foreign(process))
ERROR: /usr/lib/swi-prolog/library/process.pl:341:
Exported procedure process:process_wait/3 is not defined
ERROR: /usr/lib/swi-prolog/library/process.pl:341:
Exported procedure process:process_kill/2 is not defined
% library(process) compiled into process 1.14 sec, 97,120 bytes
% /opt/ros/groovy/stacks/knowrob/rosprolog/prolog/init.pl compiled 1.14 sec, 109,432 bytes
jpl.PrologException: PrologException: error(existence_error(procedure, :(process, /(process_create, 2))), context(:(process, /(process_create, 3)), _0))
at jpl.Query.get1(Query.java:336)
at jpl.Query.hasMoreSolutions(Query.java:258)
at jpl.Query.oneSolution(Query.java:688)
at edu.tum.cs.ias.knowrob.prolog.PrologInterface.initJPLProlog(PrologInterface.java:43)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditor.<init>(SemanticMapEditor.java:37)
at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:57)
at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
at java.lang.reflect.Constructor.newInstance(Constructor.java:526)
at java.lang.Class.newInstance(Class.java:374)
at processing.core.PApplet.runSketch(Unknown Source)
at processing.core.PApplet.main(Unknown Source)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditor.main(SemanticMapEditor.java:78)
Exception in thread "main" java.lang.RuntimeException: jpl.PrologException: PrologException: error(existence_error(procedure, :(owl_parser, /(owl_parse, 4))), context(:(system, /(call, 1)), _2))
at processing.core.PApplet.runSketch(Unknown Source)
at processing.core.PApplet.main(Unknown Source)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditor.main(SemanticMapEditor.java:78)
Caused by: jpl.PrologException: PrologException: error(existence_error(procedure, :(owl_parser, /(owl_parse, 4))), context(:(system, /(call, 1)), _2))
at jpl.Query.get1(Query.java:336)
at jpl.Query.hasMoreSolutions(Query.java:258)
at jpl.Query.oneSolution(Query.java:688)
at jpl.Query.hasSolution(Query.java:759)
at edu.tum.cs.ias.knowrob.prolog.PrologInterface.executeQuery(PrologInterface.java:99)
at edu.tum.cs.ias.knowrob.prolog.PrologQueryUtils.parseOwlFile(PrologQueryUtils.java:55)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditorForms.loadInputFile(SemanticMapEditorForms.java:1298)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditorForms.selectAndLoadInputFile(SemanticMapEditorForms.java:1272)
at edu.tum.cs.ias.knowrob.map.SemanticMapEditor.<init>(SemanticMapEditor.java:59)
at sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
at sun.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:57)
at sun.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
at java.lang.reflect.Constructor.newInstance(Constructor.java:526)
at java.lang.Class.newInstance(Class.java:374)
... 3 more
My default-java links to java-1.7.0-openjdk-amd64, and java-1.7.0-openjdk-amd64 links to java-7-openjdk-amd64.
Originally posted by Albert K on ROS Answers with karma: 301 on 2014-02-23
Post score: 0
|
Hi
I am trying to run the aravis camnode but get an error message:
Frame error: ARV_BUFFER_STATUS_TIMEOUT
I ran the exact same node with same parameters yesterday, but now I can't get it working.
Here is the complete output I get when running camnode.
eirik@ubuntu:~$ rosrun camera_aravis camnode
"[ INFO] [1393242045.939900524]: Attached cameras:
"[ INFO] [1393242046.944975636]: # Interfaces: 2
"[ INFO] [1393242046.945041653]: # Devices: 1
"[ INFO] [1393242046.945078719]: Device0: Prosilica-02-2110A-06145
"[ INFO] [1393242046.946099931]: Opening: (any)
"[ INFO] [1393242047.043458478]: Opened: Prosilica-02-2110A-06145
"[ INFO] [1393242047.051520121]: Read parameter (string) AcquisitionMode: Continuous
"[ INFO] [1393242047.052089147]: Read parameter (string) ExposureAuto: Off
"[ INFO] [1393242047.052606205]: Read parameter (float) ExposureTimeAbs: 2000.000000
"[ INFO] [1393242047.053004840]: Read parameter (string) GainAuto: Off
"[ INFO] [1393242047.053854332]: Read parameter (string) TriggerMode: Off
"[ INFO] [1393242047.055533795]: Read parameter (string) TriggerSource: Line1
"[ INFO] [1393242047.080100210]: Camera does not support FocusPos.
"[ INFO] [1393242049.092995805]: Using Camera Configuration:
"[ INFO] [1393242049.093051071]: ---------------------------
"[ INFO] [1393242049.093407251]: Vendor name = Prosilica
"[ INFO] [1393242049.093876798]: Model name = GC650M (02-2110A)
"[ INFO] [1393242049.094351734]: Device id = 02-2110A-06145
"[ INFO] [1393242049.094386520]: Sensor width = 659
"[ INFO] [1393242049.094416641]: Sensor height = 493
"[ INFO] [1393242049.094447223]: ROI x,y,w,h = 0, 0, 659, 493
"[ INFO] [1393242049.094473899]: Pixel format = mono8
"[ INFO] [1393242049.094499654]: BytesPerPixel = 1
"[ INFO] [1393242049.094843820]: Acquisition Mode = Continuous
"[ INFO] [1393242049.095200192]: Trigger Mode = Off
"[ INFO] [1393242049.095552045]: Trigger Source = Line1
"[ INFO] [1393242049.095588934]: Can set FrameRate: True
"[ INFO] [1393242049.095950898]: AcquisitionFrameRate = 89.5897 hz
"[ INFO] [1393242049.095984962]: Can set Exposure: True
"[ INFO] [1393242049.096014800]: Can set ExposureAuto: True
"[ INFO] [1393242049.096044887]: Exposure = 2000 us in range [8,6e+07]
"[ INFO] [1393242049.096074699]: Can set Gain: True
"[ INFO] [1393242049.096103940]: Can set GainAuto: True
"[ INFO] [1393242049.096133436]: Gain = 1.000000 % in range [0.000000,22.000000]
"[ INFO] [1393242049.096163338]: Can set FocusPos: False
"[ INFO] [1393242049.096512460]: Network mtu = 8228
"[ INFO] [1393242049.096545200]: ---------------------------
"[ WARN] [1393242049.593426990]: Frame error: ARV_BUFFER_STATUS_TIMEOUT
"[ WARN] [1393242049.616419706]: Frame error: ARV_BUFFER_STATUS_TIMEOUT
"[ WARN] [1393242049.616471828]: Frame error: ARV_BUFFER_STATUS_TIMEOUT
I did get some crash reports on an upgrade. I do not know if that is somehow connected with this problem. The error message for these three reports from package "ros-hydro-roscpp-traits 0.3.17-0precise-20140130-1927-+0000"
Error message: trying to overwrite /opt/ros/hydro/include/ros/message_event which is also in package ros-hydro-roscpp 1.9.50-0precise-20131015-1959-+0000
Error message: trying to overwrite /opt/ros/hydro/include/ros/header.h which is also in package ros-hydro-roscpp 1.9.50-0precise-20131015-1959-+0000
Error message: trying to overwrite /opt/ros/hydro/include/rosbag/buffer.h which is also in package ros-hydro-roscpp 1.9.50-0precise-20131015-1959-+0000
Does anyone have an idea on how to solve this problem? Would be of big help. Thanks!
Originally posted by eirikaso on ROS Answers with karma: 108 on 2014-02-24
Post score: 0
|
I'm going through the exercise of setting up a new project that needs to be combined with other build-from-source pieces, and dealing with many of the same issues catkin was designed to solve: dependency, packaging, finding, etc.
So, my questions are:
Is it easy to use catkin with non-ros
projects?
Are there any ros-specific
pieces which will make this
difficult?
Is there a plan to move
catkin out into the wider
debian/ubuntu ecosystem / into official apt repositories?
I know
python-catkin, and python-bloom
already are
Originally posted by Asomerville on ROS Answers with karma: 2743 on 2014-02-24
Post score: 6
|
Could someone help me understand what is going on here?
I was following this quaternion tutorial and trying to apply it to a clearpath Husky A-200 : http://www.ogre3d.org/tikiwiki/Quaternion+and+Rotation+Primer
I understand quaternions to be
[x y z w]T = [sin(a/2)*nx,
sin(a/2)*ny, sin(a/2)*nx, cos(a/2)]T
, where a is the angle of rotation and [nx ny nz] describe the vector to rotate about. So, if I input
(a=180, [nx ny nz] = [0,0,1])
quaternion = [0, 0, 1, 0]
and the Husky should rotate 180 degrees. However, it consistently rotates 90 degrees. This is all relative to the 'odom' frame. After its first rotation I would expect an input of
(a=0, [nx ny nz] = [0,0,1])
quaternion = [0, 0, 0, 1]
to return the Husky to its starting orientation in the odom frame; however, this causes it to complete it's 180.
Can someone please explain what is happening? What quaternion do I need to do a 180 degree rotation?
We are using following commands to run the gazebo and navigation packages:
roslaunch husky_gazebo husky_empty_world.launch
roslaunch husky_navigation odom_navigation_demo.launch
Commands are published to the /move_base_simple/goal topic relative to the odom frame.
Originally posted by stebl on ROS Answers with karma: 45 on 2014-02-24
Post score: 0
|
I am new to ROS and i want to use Dynamic reconfiguration technique to set a parameter (rectangle_height).
Through internet i came across with the following method but its not working.
Problem: when i run rqt_reconfigure, in that my node (visual_analysis) is not visual so i can't change the parameter.
-In my Includes, i have included the following:
#include <dynamic_reconfigure/DoubleParameter.h>
#include <dynamic_reconfigure/Reconfigure.h>
#include <dynamic_reconfigure/Config.h>
-In my main() where my variable is declared, i have written the following:
int main( )
{
double rectangle_height;
///////////////////Dynamic Reconfig
dynamic_reconfigure::ReconfigureRequest srv_req;
dynamic_reconfigure::ReconfigureResponse srv_resp;
dynamic_reconfigure::DoubleParameter double_param;
dynamic_reconfigure::Config conf;
//Entering values using Dynamic Reconfig
double_param.name = "kurtana_pitch_joint";
double_param.value = rectangle_height;
conf.doubles.push_back(double_param);
srv_req.config = conf;
ros::service::call("/visual_analysis/set_parameters", srv_req, srv_resp);
return 0;
}
Originally posted by rosqueries on ROS Answers with karma: 1 on 2014-02-24
Post score: 0
|
I have setup libuvc_camera with a Logitech C902, here is the error I get:
CameraInfo/P resulted in an invalid position calculation (nans or infs)
does anyone know what I am doing wrong?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-02-24
Post score: 1
|
Hi guys, I am new on ROS. I have been doing the ROS tutorials and I got stuck on the tutorial : ROS/Tutorials/UnderstandingTopics. After I run the node turtle_teleop_key, I am supposed to be able to move the turtle using the arrow keys but nothing happen when I hit the arrow keys. I am using the Hydro distro and I noticed that I got a short message after running the node like:
Reading from keyboard
Use arrow keys to move the turtle.
But on the tutorial the message is like this :
[ INFO] 1254264546.878445000: Started node [/teleop_turtle], pid [5528], bound on [aqy], xmlrpc port [43918], tcpros port [55936], logging to [~/ros/ros/log/teleop_turtle_5528.log], using [real] time
Reading from keyboard
Use arrow keys to move the turtle.
Also, I selected the terminal window of turtle_teleop_key before pressing the arrow keys but nothing change
Please any input about this issue. Thanks a lot in advance
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-02-24
Post score: 0
|
Hi,
Is it possible to access layer by layer scans from velodyne HDL 32-E sensor.
If no, Is there any other way round about way to get this functionality ?
Originally posted by sai on ROS Answers with karma: 1935 on 2014-02-24
Post score: 2
|
Hello,
I have a youbot running Ubuntu 12.04 LTS and ROS Hydro. I installed the ros-hydro-youbot-driver and ros-hydro-youbot-driver-ros-interface packages. When I try to start the ros driver using roslaunch youbot_driver_ros_interface youbot_driver.launch I get the following error message which relates to [1]
core service [/rosout] found
/opt/ros/hydro/lib/youbot_driver_ros_interface/youbot_driver_ros_interface: error while loading shared libraries: process[youbot_driver-1]: started with pid [3765]
libtf.so: cannot open shared object file: No such file or directory
[youbot_driver-1] process has died [pid 3765, exit code 127, cmd /opt/ros/hydro/lib/youbot_driver_ros_interface/youbot_driver_ros_interface base/joint_states:=joint_states arm_1/joint_states:=joint_states __name:=youbot_driver __log:=/home/youbot/.ros/log/cb1447ea-9df2-11e3-9357-0022697f602c/youbot_driver-1.log].
log file: /home/youbot/.ros/log/cb1447ea-9df2-11e3-9357-0022697f602c/youbot_driver-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Note that before I got this error message I also had a different problem with the package: I had to set the ethernet capabilites like described in the building from source section (2.2.2) here: [2] This might be a bug or could be related to this error.
After executing ldconfig /opt/ros/hydro/lib I now get the following error message:
[ INFO] [1393319937.340360990]: Configuration file path: /opt/ros/hydro/share/youbot_driver/config
[ INFO] [1393319937.364843922]: Initializing EtherCAT on eth0 with communication thread
[FATAL] [1393319937.388841667]: No EtherCAT slaves found!
[ERROR] [1393319937.389182353]: Base "youbot-base" could not be initialized.
[ INFO] [1393319937.389486163]: Configuration file path: /opt/ros/hydro/share/youbot_driver/config
[FATAL] [1393319937.392086845]: No socket connection on eth0
Excecute as root
[ERROR] [1393319937.392452185]: Arm "youbot-manipulator" could not be initialized.
[ INFO] [1393319937.392667785]: System has 0 initialized arm(s).
[ WARN] [1393319937.393588013]: ../config/youbot-ethercat.cfg file not found
terminate called after throwing an instance of 'youbot::FileNotFoundException'
what(): ../config/youbot-ethercat.cfg file not found
[youbot_driver-1] process has died [pid 5955, exit code
Originally posted by Jabro on ROS Answers with karma: 5 on 2014-02-24
Post score: 0
Original comments
Comment by Jabro on 2014-02-24:
adding export LD_LIBRARY_PATH="/opt/ros/hydro/lib/libtf.so"
to zshrc/bashrc also didn't help.
|
I'm trying to use ros in cpp with Visual Studio 2012. I wrote the publisher and subscriber tutorial (http:// wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29) and first, I configure the project as says in the guide (http:// wiki.ros.org/win_ros/hydro/Msvc%20SDK%20Projects).
Then i compiled an linked the publisher, but when I tried to run it, ros::init(argc,argv,"talker") throws an exception... The console says that I ROS_MASTER_URI is not defined but I've got it defined
There are 2 images here: https:// www.dropbox.com/s/o12m0l38gaxiugi/error1.png - https:// www.dropbox.com/s/ocdmf0wj6rj0962/error.png
Can anyone helps me?
Thanks in advance
Originally posted by Bardo on ROS Answers with karma: 1 on 2014-02-24
Post score: 0
|
Hi, I start to learn ros and have the turtlebot. I did all tutorials and don't know how to go on.
I have an assignment - turtlebot have to scan a figure from paper and after it must search the figure in the room, move to this figure and stop nearly.
As I understand, turtlebot have a ready base controller, navigation, odomentry and so on, I don't need creating it myself, in bringup minimal I saw this packages and used. But I don't understand how to use it separately, and I couldn't find their sources. Personally, I think to write node for global control, but also can't figure out what topics I need publish, subscribre, what services i need, what I must to write myself and what I can use ready-prepared?
I hope my questions is clear, if not asking please.
Originally posted by Kirill_Sokolov on ROS Answers with karma: 11 on 2014-02-24
Post score: 0
Original comments
Comment by bvbdort on 2014-02-25:
write more clear about you taks
Comment by aguadopd on 2014-02-25:
I suggest http://www.cse.sc.edu/~jokane/agitr/
|
Hi
I am trying to follow catkin tutorial for hydro. I realise 'sudo rosdep init' and rosdep update command need connection to internet repository. We have a local deb repository of ubuntu & ros in lab and are not connected directly to net.
Is there a work around of this problem?
EDIT 2:
I have created /etc/ros/rosdep/sources.list.d . In this directory I copied https://github.com/ros/rosdistro/tree/master/rosdep/sources.list.d/20-default.list. I modified https URL with local URI as file:///hoe/rosdep/base.yaml etc.
Other files are copied from https://github.com/ros/rosdistro/tree/master/rosdep .
I have set 20-default.list properly. rosdep update can read from it. After generating HIT for listed yaml files, rosdep start looking for net with the following prompt
query rosdistro index
https://raw.github.com/ros/rosdistro/master/index.yaml
This file I have added as one of the yaml files!
My current sources.list.d/20-default.list files have following contents
yaml file:///mnt/store/rosdep/osx-homebrew.yaml osx
#yaml https://github.com/ros/rosdistro/raw/master/rosdep/osx-homebrew.yaml osx
# generic
#yaml https://github.com/ros/rosdistro/raw/master/rosdep/base.yaml
yaml file:///mnt/store/rosdep/base.yaml
#yaml https://github.com/ros/rosdistro/raw/master/rosdep/python.yaml
yaml file:///mnt/store/rosdep/python.ymal
#gbpdistro https://github.com/ros/rosdistro/raw/master/releases/fuerte.yaml fuerte
I do not have any entry relataed to hydro which IMHO rosdep is trying to access.
This link https://github.com/ros/rosdistro/raw/master/releases/hydro.yaml do not works! I do not know whether gbpdistro resolves this into an actual link? A fuerte.yaml is available at https://github.com/ros/rosdistro/tree/master/releases but nothing related to hydro or groovy. It is probably because in hydro rosdep is updated. There is a hint in 20-default.list, which read as follows :
newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead
I have no idea how set it up.I need help in resolving this issue.
thanks
prince
Originally posted by prince on ROS Answers with karma: 660 on 2014-02-24
Post score: 1
|
I cant seem to blink the leds on Nao using nao_leds.
Does anyone knows how do I do it?
I dont seem to really get the action goal stuff.
Thanks
Originally posted by dnth on ROS Answers with karma: 106 on 2014-02-24
Post score: 0
|
i'm on the university network and they can't offer static ip addresses. the main problem is when driving the robot through different wifi networks and getting a new IP.
i have the robot set up as the master (or i could make it slave if i have to) and i came up with a work around sort of like DynDNS, where once i get a new ip i send it to my google drive and can access it.
problem is dynamically changing the ROS_MASTER_URI and ROS_IP variables. I'm pretty sure as soon as u start a node they're locked to that node. is there no way to change it while the node is running?
otherwise it's essentially required that the computers running ROS and communicating together have static IPs.
if i can't dynamically change the IP addresses of running nodes i guess the best solution then, for a mobile computer running nodes is to have an 4G/LTE modem attached to it? am i right in assuming that this should provide me with the same IP address throughout its lifetime?
or maybe i'll have to make some "communication" nodes on both the robot and the controller.
thank you for your time.
Originally posted by Garrick on ROS Answers with karma: 96 on 2014-02-24
Post score: 2
Original comments
Comment by dornhege on 2014-02-25:
I am not a network expert at all, but if you disconnect and reconnect to another network won't all connections be broken and would need to be reestablished anyways?
Comment by Garrick on 2014-02-25:
i sort of tested this today. i had the master running on the robot computer (the one i expect to move through the wifi networks) and hit the wifi on/off button to shut down the wifi. the uni network is a bit weird because it gave me the same ip address. but anyways. once i reconnected the internet..
Comment by Garrick on 2014-02-25:
.. (sorry, not internet, network) the control pc (which was running a joy node) was still able to communicate with the master/robot and drive it round. also when the master was dced i couldn't view any topics on the control, but when it was connected again i could see all the topics that were...
Comment by Garrick on 2014-02-25:
running. and this is all without restarting any nodes...
did the same with the control pc (disconnecting). once it reconnected was still able to drive the robot around. but like said. i'm scared the ip will be locked when nodes are created. one thing that might fix this is hosts and a DNS server?
|
Hi ,
I am new in ROS .
I am using ubuntu 12.04 LTS .
ROS Hydro
I want to test the tuturial 6 about undrstanding ROS topics.
I can run the first command . but in part when I want to see the output of
rosrun rqt_graph rqt_graph
in the opened window I can't see the map of rqt graph.
the opened window is empty but there are some button in it.
sara@sara:~$ rosrun rqt_graph rqt_graph
Couldn't import dot_parser, loading of dot files will not be possible.
PluginHandlerDirect._restore_settings() plugin "rqt_graph/RosGraph#0" raised an exception:
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 116, in _restore_settings
self._plugin.restore_settings(plugin_settings_plugin, instance_settings_plugin)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 202, in restore_settings
self._refresh_rosgraph()
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 226, in _refresh_rosgraph
self._update_graph_view(self._generate_dotcode())
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 259, in _update_graph_view self._redraw_graph_view()
File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 292, in _redraw_graph_view same_label_siblings=True)
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_dotgraph/dot_to_qt.py", line 228, in dotcode_to_qt_items graph = pydot.graph_from_dot_data(dotcode.encode("ascii", "ignore"))
File "/usr/lib/pymodules/python2.7/pydot.py", line 199, in graph_from_dot_data
return dot_parser.parse_dot_data(data)
NameError: global name 'dot_parser' is not defined
What should I do ?
Thanks in advance
Sarah
Originally posted by sara.ershadi on ROS Answers with karma: 1 on 2014-02-25
Post score: 0
Original comments
Comment by Veerachart on 2014-03-03:
I also got the same problem with you. I am using Ubuntu 13.10 and ROS Hydro, installed from source a week ago.
|
For different projects, I need to have Groovy and Hydro installed in my system. How do I use the catkin_ws and other packages? Do I have separate catkin_ws? Can I rename them separately like catkin_ws_g and catkin_ws_h, or will it create accessibility problems?
Originally posted by expelliarmus on ROS Answers with karma: 28 on 2014-02-25
Post score: 0
|
I am trying use an HD web cam for tracking QR codes, but when I tell libuvc to output a 720X1280 image I get a 640X480 one. here is the launch file code for libuvc
<node pkg="libuvc_camera" type="camera_node" name="logitech_cam">
<param name="vendor" type="string" value="0x046d"/>
<param name="product" type="string" value="0x082d" />
<param name="serial" type="string" value="D016F4DF" />
<param name="image_width" type="int" value="1280"/>
<param name="image_height" type="int" value="720"/>
<param name="pixle_format" type="string" value="mjpeg"/>
<param name="auto_focus" type="bool" value="True" />
</node>
does anyone why it is sending the wrong sized image?
Originally posted by AlphaOne on ROS Answers with karma: 141 on 2014-02-25
Post score: 0
|
Hi ,
I am new in ROS and I want to use ROS to make dvo (dense visual odometry) package
the command is :
rosmake dvo_core dvo_ros dvo_benchmarke
but it can't execute and the error is :
sara@sara:~$ rosmake dvo_core dvo_ros dvo_benchmark
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_benchmark']
[ rosmake ] Logging to directory /home/sara/.ros/rosmake/rosmake_output-20140225-192413
Traceback (most recent call last):
File "/opt/ros/hydro/bin/rosmake", line 55, in <module>
if rma.main():
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosmake/engine.py", line 741, in main
makedirs_with_parent_perms(self.log_dir)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosmake/engine.py", line 91, in makedirs_with_parent_perms
os.chown(p, s.st_uid, s.st_gid)
OSError: [Errno 1] Operation not permitted: '/home/sara/.ros/rosmake/rosmake_output-20140225-192413'
Traceback (most recent call last):
File "/opt/ros/hydro/bin/rosmake", line 55, in <module>
if rma.main():
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosmake/engine.py", line 741, in main
makedirs_with_parent_perms(self.log_dir)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rosmake/engine.py", line 91, in makedirs_with_parent_perms
os.chown(p, s.st_uid, s.st_gid)
OSError: [Errno 1] Operation not permitted: '/home/sara/.ros/rosmake/rosmake_output-20140225-192413'
sara@sara:~$
What should I do ?
Thanks a lot in advance
Sarah
Originally posted by sara.ershadi on ROS Answers with karma: 1 on 2014-02-25
Post score: 0
|
Hi all,
I'm trying to install this package: minecraft-ros
But it fails :( showing me this error when i execute make:
/opt/ros/hydro/2schematic/build$ make
[ 33%] Built target rgbd2schematic
[ 66%] Built target octomap2schematic
[ 83%] Building CXX object CMakeFiles/pcd2schematic.dir/src/pcd_converter.cpp.o
/opt/ros/hydro/2schematic/src/pcd_converter.cpp: In member function ‘virtual bool rgbd_2_schematic::PcdConverter::convertData(rgbd_2_schematic::Schematic&)’:
/opt/ros/hydro/2schematic/src/pcd_converter.cpp:120:42: error: no matching function for call to ‘getMinMax3D(rgbd_2_schematic::PointCloudT&, rgbd_2_schematic::PointT&, rgbd_2_schematic::PointT&)’
/opt/ros/hydro/2schematic/src/pcd_converter.cpp:120:42: note: candidates are:
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:58:3: note: void pcl::getMinMax3D(const PCLPointCloud2ConstPtr&, int, int, int, Eigen::Vector4f&, Eigen::Vector4f&)
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:58:3: note: candidate expects 6 arguments, 3 provided
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:76:3: note: void pcl::getMinMax3D(const PCLPointCloud2ConstPtr&, int, int, int, const string&, float, float, Eigen::Vector4f&, Eigen::Vector4f&, bool)
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:76:3: note: candidate expects 10 arguments, 3 provided
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:143:3: note: template<class PointT> void pcl::getMinMax3D(const typename pcl::PointCloud<PointT>::ConstPtr&, const string&, float, float, Eigen::Vector4f&, Eigen::Vector4f&, bool)
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h:160:3: note: template<class PointT> void pcl::getMinMax3D(const typename pcl::PointCloud<PointT>::ConstPtr&, const std::vector<int>&, const string&, float, float, Eigen::Vector4f&, Eigen::Vector4f&, bool)
make[2]: *** [CMakeFiles/pcd2schematic.dir/src/pcd_converter.cpp.o] Error 1
make[1]: *** [CMakeFiles/pcd2schematic.dir/all] Error 2
make: *** [all] Error 2
CAN YOU HELP ME PLEASE, I NEED HELP !!
thx in advance ..
Originally posted by assil on ROS Answers with karma: 41 on 2014-02-25
Post score: 0
Original comments
Comment by AbuIbra on 2014-02-25:
Where did you get this package?
It says: no matching function for call to ‘getMinMax3D..
And then it gives you some ideas to call the "getMinMax3D" right. If you want just change the code at pcd_converter.cpp:120:42 to fix this with one of the suggestions.
Comment by assil on 2014-02-26:
I get it from here: https://code.google.com/p/minecraft-ros/wiki/Install
I changed the code at pcd_converter as he said but it doesn't function.
Any other suggestion please !
Comment by AbuIbra on 2014-02-27:
This is strange..
http://docs.pointclouds.org/1.7.0/group__common.html#ga3166f09aafd659f69dc75e63f5e10f81
https://github.com/idryanov/2schematic/blob/master/src/pcd_converter.cpp
|
Hi,
I followed the rosjava tutorials for 'unofficial messages' for Hydro. It all works, but I get an interface .java file instead of a class. For example:
scip_api/msgs/Alarm.msg:
string alarm_name
string data_name
scip_api/build/generated-src/scip_api/Alarm.java:
package scip_api;
public interface Alarm extends org.ros.internal.message.Message {
static final java.lang.String _TYPE = "scip_api/Alarm";
static final java.lang.String _DEFINITION = "string alarm_name\nstring data_name";
java.lang.String getAlarmName();
void setAlarmName(java.lang.String value);
java.lang.String getDataName();
void setDataName(java.lang.String value);
}
While for the std_msgs types, the generated .java file is a class (at least for String.msg it is)
What did I do wrong ? I used the released ros-hydro-rosjava packages for Ubuntu 12.04
Originally posted by psoetens on ROS Answers with karma: 76 on 2014-02-25
Post score: 0
|
I'm trying to catkinize the people stack, and am getting undefined references to things in a header file in the face_detector package.
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(face_detector)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
geometry_msgs
std_srvs
cv_bridge
stereo_msgs
sensor_msgs
tf
rosbag
image_transport
people_msgs
image_geometry
genmsg
actionlib_msgs)
find_package(Boost REQUIRED COMPONENTS signals system thread)
find_package(OpenCV)
include_directories(
include
${Boost_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS})
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
add_action_files(
DIRECTORY action
FILES FaceDetector.action
)
generate_messages(DEPENDENCIES actionlib_msgs people_msgs)
add_executable(face_detector
src/face_detection.cpp
src/faces.cpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${OpenCV_LIBRARIES})
catkin_package(INCLUDE_DIRS include
CATKIN_DEPENDS people_msgs geometry_msgs)
Errors:
CMakeFiles/face_detector.dir/src/face_detection.cpp.o: In function `people::FaceDetector::FaceDetector(std::string)':
face_detection.cpp:(.text._ZN6people12FaceDetectorC2ESs[_ZN6people12FaceDetectorC5ESs]+0xd49): undefined reference to `people::Faces::FACE_SIZE_MIN_M'
face_detection.cpp:(.text._ZN6people12FaceDetectorC2ESs[_ZN6people12FaceDetectorC5ESs]+0xdb6): undefined reference to `people::Faces::FACE_SIZE_MAX_M'
face_detection.cpp:(.text._ZN6people12FaceDetectorC2ESs[_ZN6people12FaceDetectorC5ESs]+0xe23): undefined reference to `people::Faces::MAX_FACE_Z_M'
face_detection.cpp:(.text._ZN6people12FaceDetectorC2ESs[_ZN6people12FaceDetectorC5ESs]+0xe90): undefined reference to `people::Faces::FACE_SEP_DIST_M'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/lazewatd/people_ws/devel/lib/face_detector/face_detector] Error 1
make[1]: *** [people/face_detector/CMakeFiles/face_detector.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
A few things to note:
this worked fine with rosbuild in
hydro
I know it can find the header file - if I remove/change include from include_directories, it complains about not being able to find it way earlier
UPDATE:
Now I'm even more confused. The first example works, but the second leads to the linker errors above:
namespace people {
//works
double fsmm = Faces::FACE_SIZE_MIN_M;
local_nh.param("face_size_min_m",face_size_min_m,fsmm);
//doesn't work
local_nh.param("face_size_min_m",face_size_min_m,Faces::FACE_SIZE_MIN_M);
}
Originally posted by Dan Lazewatsky on ROS Answers with karma: 9115 on 2014-02-25
Post score: 1
Original comments
Comment by joq on 2014-02-25:
Those are linker errors. Where are the symbols in the header file defined? Is there a missing library?
Comment by Dan Lazewatsky on 2014-02-25:
It's referring to a few constants defined in faces.h, which is in the package which I'm trying to catkin_make. faces.h is in include/face_detector.
|
I'm wondering if anyone can offer advice on how to approximate a non-rigid robot model. I'm implementing a model of a 3 DOF arm for a university independent study that uses a rollable prestressed tube (like this: http://www.youtube.com/watch?v=tJ5w8xoi1IU) as one of the extensible elements (this is the robot: https://www.youtube.com/watch?v=xlHGNTRlD1U). Essentially it is just a rolled fiber composite that can be unrolled to provide a rigid tube like a tape measure. I can't model the roll because it deforms from its rigid form, but I can make the assumption that the boom section is rigid. I initially set the model up with a prismatic joint so the boom could slide in an out of the arm, but the arm then retracts into the body of the arm and eventually out the back and looks terrible. This method also introduces problems with collision checking in moveit due to self collisions when the boom extends into the arm, and with the environment when it extends out the back.
The next approach I'm researching is to dynamically set the length of the straight tube in the boom section so that the model renders properly within rviz/gazebo, dynamically resizes the collision elements, and correctly publishes transforms and link/joint states. I think I have a good handle publishing the transforms and states with a custom robot state publisher (I'm working on an implementation based on the tutorial: http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher) but I'm getting bogged down in the implementation details trying to work out how to update the collision and visualization meshes
There are 3 possibilities that seem feasible:
Publish the link as a marker with the transforms in a robot state publisher and skip the link in the urdf file that rviz parses so that the marker just fills in for the boom.
Modify a rviz node to update the representation of the mesh for the tube by subscribing to a robot state publisher along the lines of the answer to this thread: http://answers.ros.org/question/9425/gazebo-model-dynamically-modified-by-programming/ I'm still trying to understand how exactly rviz displays the model, but I assume it can be done programatically similar to gazebo.
It seems like a pointer to a robot model is passed around in gazebo, if this is also true in rviz it might be possible to subscribe to the pointer to the model in my state publisher, build the new model and switch it out with the old one. I'm not sure how to deal with race conditions that would be caused here without modifying rviz.
Does anyone have a better idea for how this could be done? Do any of the ideas I have so far seem like they are the right way to go?
Originally posted by St3am on ROS Answers with karma: 170 on 2014-02-25
Post score: 3
|
I want to do something along the lines of:
t = tf.getLatestCommonTime(l2, l4)
mat1 = transRotToMat4x4(tf.lookupTransform(l2, l1, t))
mat2 = transRotToMat4x4(tf.lookupTransform(l4, l3, t))
mat3 = mat1 * mat3
trans,rot = Mat4x4ToPosQuat(mat3)
br = tf.TransformBroadcaster()
br.sendTransform(
trans,
rot,
t,
"target",
"source");
Does transformations.py have something like transRotToMat4x4 and the complementary function for going the other direction?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-02-25
Post score: 1
|
Hello,
in Hydro, are there some working robot simulations? I mean Gazebo models etc. I know only about Turtlebot but I would rather do some experiments with an omnidirectional platform. Unfortunately, PR2 simulator stack is not available (doesn't compile) as well as Care-O-Bot (not released but there is hydro branch on github - need to try it)...
Originally posted by ZdenekM on ROS Answers with karma: 704 on 2014-02-25
Post score: 0
Original comments
Comment by ZdenekM on 2014-02-25:
Thanks for tip. But I need simulated sensors like camera, 3D laser etc.
|
I am currently using OpenCv 3.0. And now I would like to use it with ROS (as Ros still has OpenCv 2.4 ). I need to use cv_bridge in my work. However, because cv_bridge is linked with open cv libraries of openCV 2.4 (which I must hide from ROS system inorder to use opencv3.0) I tried to compile it with 3.0 libraries, but without any success.
There are a lot of changes made on transitioning from 2.4 to 3.0 including lots of variable names.
Has anyone tried to do so with any sucess? I would appreciate any information on how to proceed.
Originally posted by espee on ROS Answers with karma: 81 on 2014-02-25
Post score: 1
|
Hi,
we face this problem since about one year and in every Ubuntu installation, it is alway the same (trying Xubuntu, Linux Mint ...):
Persistent problem updating (installing) ROS (Groovy or Hydro):
Using "sudo apt-get upgrade" results ALWAYS in:
Fetched 83.4 MB in 8min 33s (163 kB/s)
Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-groovy-navigation/ros-groovy-navigation_1.10.3-s1387754744~precise_amd64.deb Connection failed
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
--> It is NOT a connection problem
I WAS NEVER ABLE TO INSTALL ROS IN A QUIET MODE!!!! I had to fetch manually from http://packages.ros.org/ros/ubuntu/pool/main/r/
The problem is in the divergence of the real name of a file and the name in the get list.
Originally posted by MartinHummel on ROS Answers with karma: 156 on 2014-02-26
Post score: 0
Original comments
Comment by RedoXyde on 2014-02-26:
That's interesting... I've done Hydro installation on Ubuntu 12.04 32b, and 13.04 64b without facing such problem... It looks like it comes from your network configuration, maybe a caching or filtering proxy, or from your GNU/Linux setup, maybe locales...
Anything unusual on your setup ?
Comment by ahendrix on 2014-02-26:
I'm able to fetch the file you linked to without problems. Are you able to fetch it through your browser or through wget on the machine you're trying to install linux on?
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.