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Hi guys, I am using ROS hydro for kinect. When I use rviz to show the point clouds (unregistered and registered), the window turns very slow. The display can response even two or three seconds. Could anyone give me some suggestions to fix this problem? Many thanks.
Originally posted by pinocchio on ROS Answers with karma: 101 on 2014-04-01
Post score: 0
Original comments
Comment by byeongkyu on 2014-04-01:
Can I know your machine specification? Graphic card performance is very important to view point cloud.
Comment by Ken_in_JAPAN on 2014-04-01:
Could you explain more detail? For example, with multi machine or with single machine? In case of multi machine, we can guess a problem on network. In case of single machine, we can guess a problem on graphic card as Mr. byeongkyu says.
Comment by demmeln on 2014-04-02:
Also, did you compile rviz from source, or did you install it with apt?
Comment by pinocchio on 2014-04-02:
@byeongkyu @Ken_in_JAPAN @demmeln Hi guys, thanks for you help. I am using single machine for rviz, and rviz is installed with hydro by default. I think it is installed with apt.
The computer's detailed information:
Processor: Intel(R) Core(TM) i5 CPU U 540 @ 1.20GHz (4 CPUs), ~1.2GHz
Memory: 8192MB RAM
Display:
Name: Intel(R) HD Graphics
Chip Type: Intel(R) HD Graphics (Core i5)
DAC Type: Internal
Comment by demmeln on 2014-04-02:
@pinocchio: Installing from apt should be ok. If installing from source, you might get bad performance if your forget to set the CMAKE_BUILD_TYPE to Release. Not sure if this should be faster on your machine.
Comment by byeongkyu on 2014-04-02:
@pinocchio: It is recommend that upgrade your graphic card, and set your cpufreq to performance mode.
Comment by Qt_Yeung on 2014-07-21:
Have you solved this problem? My computer slows down the same when I display the point cloud in rviz.
|
Hello,
I try to setup a Service which provides single images out of an image_transport stream to a client requesting an image.
I found this Question 42909 (Karma not sufficient to post links, sorry.) which is in principal what I need.
answers.ros.org/question/42909/how-can-i-use-a-servicerequest-to-capture-a-single-callback-from-a-subscription/
Since I'm new to ROS and the example is simplified I'm stuck at the point where the image is presented to the client.
What I would need to know is:
How does the srv file look like to use the example. (If a srv file is needed at all)
How can I actually get access to the image on client side to do image processing on it. In the example this part is simplified with the comment: read_grab() ?
I searched ROS answers for hours with no success so I hope somebody understands my problem description and is willing to help.
thanks in advance HXP2
Originally posted by HXP2 on ROS Answers with karma: 13 on 2014-04-01
Post score: 1
|
Hi,
I'm using ubuntu 13.04 ros hydro and I'm trying to run the camera_node on my in uvc_camera package using a launch file containing :
But I get this error ERROR: cannot launch node of type [uvc_camera/camera_node]: can't locate node [camera_node] in package [uvc_camera].
Originally posted by Leyonce on ROS Answers with karma: 97 on 2014-04-01
Post score: 1
|
Hi guys, I am using ROS hydro and learning the basis of rviz, following the tutorial in http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes. But nothing displays on rviz. In Global Options -> Fixed Frame there is only the default option "map", but no "/my_frame" as shown in the link above. I source the setup.bash and set the ROS_PACKAGE_PATH in every termial. Could you please give me some suggestions? Many thanks.
The cpp file is exactly same as shown in the link. The CMakeList is shown below.
cmake_minimum_required(VERSION 2.8.3)
project(using_markers)
find_package(catkin REQUIRED COMPONENTS
roscpp
visualization_msgs
)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})
I also add add_dependencies(basic_shapes using_markers_generate_messages_cpp), but no result either.
Originally posted by pinocchio on ROS Answers with karma: 101 on 2014-04-01
Post score: 1
Original comments
Comment by sai on 2014-04-01:
i think you have to type the frame name
Comment by ahendrix on 2014-04-01:
Just to confirm, have you run catkin_make, and is the basic_shapes node is running?
Comment by pinocchio on 2014-04-02:
Hi guys, thanks for your help.
@Sai I type the"/my_frame", but it does not work either.
@ahendrix I run catkin_make, but what is the node of basic_shapes?
Comment by Ken_in_JAPAN on 2014-04-02:
You are trying a command rosrun rviz rviz, aren't you. If you can't look at /my_frame in Fixed Frame in Rviz, /my_frame isn't registered. I think so.
Comment by pinocchio on 2014-04-02:
@ken_in_JAPAN thank you. I think you are right. But could you please tell me how to register the frame? I am nooby to ros. so.. Many thanks.
Comment by Ken_in_JAPAN on 2014-04-02:
At first, you should try a command rosrun tf view_frames. More detail are described on a web site.
http://wiki.ros.org/tf.
If you look at frames.pdf, you have to decide where you put /my_frame. After that, it is better for you to refer static_transform_publisher on same web. I think so.
Comment by pinocchio on 2014-04-02:
Hi @Ken_in_JAPAN thank you. I am trying to do it!
Comment by dinesh on 2016-07-06:
did someone get exact solution for this, i followed the instruction in the ans below also but didnt worked. what is exact solution?
Comment by ahendrix on 2016-07-06:
This is an exact solution; it lists the exact commands to run, the order to run them in, and shows how to configure rviz. If you're having trouble following these instructions please read how to ask smart questions and then ask a new question.
Comment by dinesh on 2016-07-06:
ok i got the answer, what i was doing wrong was after not seeing the /my_frame title inside the fixed_frame topic, i was not getting the output, i should write the topic /my_frame inside that fixed_frame my self manually, i was confused cas i was not seeing /my_frame in that box when i clicked it
di
|
I'm trying to navigate a turtlebot with eband_local_planner on hydro. I have already navigated a turtlebot with base_local_planner. With eband_local_planner, next error is displayed on a terminal.
load_parameters: unable to set parameters (last param was [/move_base/local_costmap/publish_voxel_map=True]): cannot marshal None unless allow_none is enabled
As if I chage publish_voxel_map false in costmap_common_params.yaml, new error is displayed on a terminal.
load_parameters: unable to set parameters (last param was [/move_base/local_costmap/publish_voxel_map=False]): cannot marshal None unless allow_none is enabled
I don't understand yaml file enough yet. What is difference between yaml on eband_local_planner and one on base_local_planner? Could anyone give me some advice?
costmap_common_params.yaml
global_frame: /map
robot_base_frame: /hokuyo_link
update_frequency:
publish_frequency: 1.0
publish_voxel_map: false
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
max_obstacle_height: 0.60
obstacle_range: 3.0
raytrace_range: 3.0
robot_radius: 0.18
observation_sources: scan bump
scan: {data_type: LaserScan, topic: /base_scan, marking: true, clearing: true, min_obstacle_height: 0.6, max_obstacle_height: 0.6}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 1.0
static_map: true
transform_tolerance: 1.0
width: 100
height: 100
resolution: 0.05
inflation_radius: 0.4
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 3.0
publish_frequency: 1.0
static_map: false
rolling_window: true
meter_scoring: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.25
footprint_padding: 0.02
move_base_params.yaml
foot_print: [[-0.18, -0.18], [0.18, -0.18], [0.18, 0.18], [-0.18, 0.18]]
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 2.0
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
eband_planner_params.yaml
EBandPlannerROS:
#TRAJECTORY CONTROL
differential_drive: true
# velocity limits
max_vel_lin: 0.8
max_vel_th: 0.5
min_vel_lin: 0.5
min_in_place_vel_th: 0.25
# goal tolerance
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.15
# angular velocity PID
k_prop: 0.3
#eband parameters
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-01
Post score: 0
Original comments
Comment by ahendrix on 2014-04-01:
It sounds like there's an error in your yaml file; can you add it to your question?
Comment by Ken_in_JAPAN on 2014-04-02:
Could you wait for my edit? I don't know how to show my .yaml directly on this page.
|
Hello, I'm trying to write a node that subscribes to the kinect data from multiple turtlebots, then concatenates/averages the data, and republishes the resulting single data stream to rviz as part of a larger program intended to map a room cooperatively with multiple turtlebots at once.
I've already written a node that subscribes to kinect data from multiple turtlebots, but now am struggling with the republishing. I have several callback methods that are call every time a message is published on a certain topic, and within each of these callback methods, I would like to copy all the data contained within the message to a temporary global variable which can then be accessed in the main class. However, the only way I can think of to do this is to go through and manually copy each individual piece of data from the message to the global variable. Is there a simpler way to do this? For example, is there a command that I could use to create a copy of each message within each callback function, which I could call and then just modify whatever parts I wanted to modify, instead of having to manually copy each data piece?
Edit:
Yes, I am using C++. Here is the odometry (location/heading) callback function. RIght now it just prints out the relevant data:
void OdomCallback(const nav_msgs::Odometry locator)
{
ROS_INFO("Position: %f,%f", locator.pose.pose.position.x,locator.pose.pose.position.y);
ROS_INFO("Heading: linear:%f,angular:%f", locator.twist.twist.linear.x,locator.twist.twist.angular.z);
}
So you're saying that in order to copy the message I would add in a line like this?
nav_msgs::Odometry globalLocationVariable=locator;
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-04-01
Post score: 0
|
I'm installing Groovy on ubuntu 12.04,when I'm configuring the environment,the following error occurs,(before this command it runs smoothly )
bash:/opt/ros/hydro/setup.bash:no such file or directory.
I installed Fuerte a few days ago ,but before I'm configuring the environment for Groovy ,I have uninstalled it.
I have tried to open the file to check whether it exist or not ,put the command gedit /opt/ros/hydro/setup.bash on the terminal,it was opened ,but it was empty.
What can I do to solve it ,thank you!
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-01
Post score: 0
Original comments
Comment by Wolf on 2014-04-01:
gedit /opt/ros/hydro/setup.bash will open with empty doc, no matter if the file exists and is empty or does not exist. Go to the path in your file system (cd /opt cd ros cd hydro) and check (ls) whether the file exists...
Comment by danmianjing_00 on 2014-04-01:
but how can I solve my problem to configure the ros environment successfully
Comment by Wolf on 2014-04-01:
Does the file or the entire folder (/opt/ros/hydro) exist? If not something might have gone wrong during sudo apt-get install or so, i. e. reinstall...
Comment by danmianjing_00 on 2014-04-01:
the entire folder (/opt/ros/hydro) does not exist, Do I have to reinstall ROS ? And I want to know the importance of the configuration of the evironment.
Comment by Wolf on 2014-04-02:
ROS is not installed in this case, try starting again for scratch with the steps noted here http://wiki.ros.org/hydro/Installation/Ubuntu
|
Hellow,
Easy question does roslaunch just execute a set of rosrun or is it slightly different ? I couldn't find it in the doc...
I'm asking that because I'm under the impression that my node run slower when launch with a roslaunch then with a rosrun.
Thanks.
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-01
Post score: 0
Original comments
Comment by henriquejsfj on 2018-01-16:
I had the same impression, I made a .launch file to calibrate camera, but It were very slower. When I run the same nodes using rosrun for each node it is really faster. But I don't know how to solve it.
|
Hellow,
I'm trying to follow the tutorial from here so i created the package but I have this error :
-- ==> add_subdirectory(simple_navigation_goals)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package move_base_msgs.
Set move_base_msgs_DIR to the directory containing a CMake configuration
file for move_base_msgs. The file will have one of the following names:
move_base_msgsConfig.cmake
move_base_msgs-config.cmake
Call Stack (most recent call first):
simple_navigation_goals/CMakeLists.txt:7 (find_package)
I guess it's because I miss some package but I have all those installed already :
ros@ros-K56CM:~$ dpkg -l | grep navigation
ii libdvdnav4 4.2.0-1 DVD navigation library
ii ros-groovy-common-msgs 1.9.17-0precise-20131011-0455-+0000 common_msgs contains messages that are widely used by other ROS packages. These includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.
ii ros-groovy-nav-msgs 1.9.17-0precise-20131011-0140-+0000 nav_msgs defines the common messages used to interact with the navigation stack.
ii ros-groovy-navigation 1.10.3-s1387754744~precise planar navigation stack
ii ros-groovy-navigation-tutorials 0.1.1-s1387953507~precise navigation_tutorials
ii ros-groovy-rqt-nav-view 0.3.1-0precise-20131016-0109-+0000 rqt_nav_view provides a gui for viewing navigation maps and paths.
[EDIT]
rospack find move_base_msgs
/opt/ros/groovy/stacks/navigation/move_base_msgs
the CmakeLists :
cmake_minimum_required(VERSION 2.8.3)
project(simple_navigation_goals)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
move_base_msgs
roscpp
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES simple_navigation_goals
# CATKIN_DEPENDS actionlib move_base_msgs roscpp
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(simple_navigation_goals src/hello.cpp)
target_link_libraries(simple_navigation_goals ${catkin_LIBRARIES})
Package.xml :
<?xml version="1.0"?>
<package>
<name>simple_navigation_goals</name>
<version>0.0.0</version>
<description>The simple_navigation_goals package</description>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>move_base_msgs</run_depend>
<run_depend>roscpp</run_depend>
<export>
</export>
</package>
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-01
Post score: 0
Original comments
Comment by demmeln on 2014-04-02:
can you add the output of rospack find move_base_msgs to your question?
|
Hi
I am trying to import a python module from another ROS package.
My package is utils
utils
-----/src
------------file_io.py (python module)
------------__init__.py
I have a node in Package A that wants to import a function in file_io.py
So far I have created a setup.py file for the package utils
## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=['utils'],
package_dir={'': 'src'},
requires=['roscpp', 'rospy', 'tf']
)
setup(**setup_args)
In my cmakeList file I made the following changes
install(PROGRAMS src/file_io.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
and uncommented #catkin_python_setup()
In the package.xml of package A, I made the utils package a build and run dependency, modified the cmakList of package A and added the package utils to the find_package(catkin required COMPONENTS).
from utils.file_io import extractor
results in the import error: No module name file_io.
Am I missing something? To be honest I did not really understand the tutorial, I am kind of new to python.
As I understand in order to import a python module it has to be in your python path, I thought this setup thing was meant to make ROS automatically add the files to the python path of any package that depends on utils...
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2014-04-02
Post score: 2
|
I want to use map_server as in this link:
wiki.ros.org/map_server
I built my map using mapper3 (basic)
the map should be projected in Rviz grid and should occupy it all, the centre of the map using mapper3 ( basic) should be the centre of the Rviz grid.
The problem is that the map is always shifted (the centres are not the same ) The centre of Rviz grid is the left down corner of the map image ( the image only occupy one quarter of the grid). How can I fix this problem?
Also, I have the error of No transform from [map] to [odom]
Originally posted by RSA on ROS Answers with karma: 100 on 2014-04-02
Post score: 0
|
Hi everybody,
I am trying to install gscam http://wiki.ros.org/gscam ans I have many problems . First, when I did the command rosrun gscam gscam I had the warning "Camera calibration file .ros/camera_info/camera.yaml not found." So I find a camera.yaml and add it. Now I have the warning "[camera] does not match name ~ in file .ros/camera_info/camera.yaml" I think I have to add the camera name in the file but I can't find it with lsusb. If someone knows how to find it, it will really help me.
And as it is only a warning, I think I still can run the command. I have something like :
[ INFO] [1396441119.700854095]: Loaded camera calibration from
[ INFO] [1396441119.743789905]: Time offset: 1396352825,277
[ INFO] [1396441120.290373939]: Publishing stream...
[ INFO] [1396441120.290746518]: Started stream.
and my webcam is turned on but when I tried to display it with "rosrun image_view image_view image:=/gscam/image_raw" a small blank window pops up, but without any picture or video from my camera. So I did a "rostopic hz --window=1000 /gscam/image_raw" to see what is published, but there are no messages published by the node.
When I list the topic, I have all topics published by gscam .
/camera/camera_info
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/rosout
/rosout_agg
And "rosrun rqt_graph rqt_graph" shows me the /gscam_publisher node and the /image_view nodeb and they are not linked.
I don't know what to do. Can somedody help me please?
Thank you
Originally posted by RosFaceNoob on ROS Answers with karma: 42 on 2014-04-02
Post score: 0
|
Using Hydro-Catkin, when we add a custom.action to my_package, although it is correctly generated and we can use it, it is not listed when using the rosmsg list command. And if we specify the package, rosmsg show my_package/customAction, it reports the following:
Unable to load msg [my_package/customAction]: Cannot locate message [customAction] in package [my_package] with paths [['my_workspace/src/my_package/msg']]
We already tried this answer, and we still have the same problem.
We have noticed that the action generated messages (customAction.msg, customActionGoal.msg, customGoal.msg, CustomActionFeedback.msg, etc.) are created in my_workspace/devel/share/my_package/msg, BUT the rosmsg tool searches them in my_workspace/src/my_package/msg.
With rosbuild this didn't happen, because the generated messages of the action were placed along with the regular messages in my_package/msg.
Is this a rosmsg bug in catkin? Or which would be the correct way to locate and get information of a custom action in catkin?
Originally posted by fherrero on ROS Answers with karma: 738 on 2014-04-02
Post score: 3
Original comments
Comment by hawesie on 2014-04-02:
I've run into the same issue this morning. My python code can't find the custom action messages either. The message files are generated under my_workspace/devel/share/my_package/msg as above, and the python files under my_workspace/devel/lib/python2.7/site-packages/my_package/msg too.
Comment by hawesie on 2014-04-02:
I solved my version of this problem using this answer: http://answers.ros.org/question/64935/importerror-with-custom-action-in-python/
Comment by hawesie on 2014-04-02:
I had a python file the same name as my package, e.g. my_workspace/src/my_package/scripts/my_package.py and when I was doing the import it was loading this file, not the ones for the auto-generated action messages. rosmsg still does not find the message files, but my code works nonetheless.
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hi there,
I find the ros_vrpn_client on the wiki page. I want to start the ros vrpn client, but i get the errror
/home/dante/workspace/ros/groovy/src/ngadh/src/rosclient.cpp:10:37: serious defect: LinearMath/btQuaternion.h: file or directory dont found
compile completed.
I download the vrpn 07.31. I follow the instructions. Someone an idea?
Originally posted by Dante on ROS Answers with karma: 21 on 2014-04-02
Post score: 0
Original comments
Comment by demmeln on 2014-04-02:
Please edit your question to contain relevant parts of the code you are trying to compile. Also include the commands your are using to compile and the full output including the error message you are getting.
Comment by demmeln on 2014-04-03:
If you want help, you will need to provide the full output including the commands you executed. Also, include the exact source of where you got your code from. Notice that the wiki page on ros_vrpn_client refers to fuerte, while you are using the newer groovy. So maybe it does not work at all.
Comment by demmeln on 2014-04-03:
(without adaptation)
|
Hi,
I record laser scanner data by "rosbag record" option. When I want to run hector_slam with the bag file I faced some errors.
I use these commands to run:
rosmake hector_slam
roslaunch hector_slam_launch tutorial.launch
rosbag play test.bag --clock
and in the tab that tutorial.launch run, this error appear repeatedly:
Trajectory Server: Transform from /map to scanmatcher_frame failed: "map" passed to lookupTransform argument target_frame does not exist.
And also the output of "rosbag info filename.bag" was:
path: 2014-04-02-19-53-59.bag
version: 2.0
duration: 9:40s (580s)
start: Apr 02 2014 19:54:00.22 (1396452240.22)
end: Apr 02 2014 20:03:40.50 (1396452820.50)
size: 12.8 MB
messages: 6412
compression: none [17/17 chunks]
types: diagnostic_msgs/DiagnosticArray [3cfbeff055e708a24c3d946a5c8139cd]
dynamic_reconfigure/Config [958f16a05573709014982821e6822580]
dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
topics: /diagnostics 579 msgs : diagnostic_msgs/DiagnosticArray
/hokuyo_node/parameter_descriptions 1 msg : dynamic_reconfigure/ConfigDescription
/hokuyo_node/parameter_updates 1 msg : dynamic_reconfigure/Config
/rosout 6 msgs : rosgraph_msgs/Log (2 connections)
/scan 5825 msgs : sensor_msgs/LaserScan
How can I solve this problem.?
Originally posted by adroit89 on ROS Answers with karma: 33 on 2014-04-02
Post score: 1
Original comments
Comment by demmeln on 2014-04-02:
What does rosbag info test.bag output? (edit your question to include the output)
Comment by demmeln on 2014-04-03:
It seems that the trajectory server complains, because the transform is not published. I don't know how hector mapping works, but I would disable the trajectory server and first look into how to get he mapping part to work.
Comment by demmeln on 2014-04-03:
I.e. make sure all the necessary topics and parameters are there. You can use rxgraph / rqt_graph to check that rosbag is connected to the mapping node on the laser topics.
Comment by adroit89 on 2014-04-04:
Actually I cant understand that which topics and parameter it exactly needs! I can run the bag file example that provided by hector darmstad. I am sure it is not my problem with laser device or hector slam package. It relates to parameters that bag file needs.
Comment by demmeln on 2014-04-06:
Two immediate candidates you might need are the Odometry, the IMU info and the /tf topic, which are both included in the bag file. I think hector mapping can work without IMU, but maybe needs some form of odometry still?
Comment by demmeln on 2014-04-06:
Moreover you might need to edit the launch files / parameters to account for your setup, i.e. topic and tf-frame names.
Comment by demmeln on 2014-04-06:
Have you followed this tutorial closely? http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot
It discusses how to set up your parameters with and without odometry.
Comment by adroit89 on 2014-04-07:
Yes, I followed this tutorial before. I can solve that problem. It was related to tf setting. Now I face another problem! During process in hector_slam I visit this message a lot: SearchDir angle change too
And it appears a lot and make problem for matching the data to map.
Comment by demmeln on 2014-04-08:
If there is a different problem, you should open a seperate question about it and mark stefan's answer as accepted for this question.
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I reference the Documentation and follow the instructions of GumROS , try to cross compile ROS for my board.But,when I move it to my board ,then set environment variables,and then type "roscore" , I got an error " ERROR: rosout is not built. Please run 'rosmake rosout' ".I'm sure that rosout is in the bin dir.How can I solve it? THX~
Originally posted by SmallFat on ROS Answers with karma: 1 on 2014-04-02
Post score: 0
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Hi,
I can successfully install the catkin (wet?) packages using the install from source on Ubuntu instructions found on the ROS website. However, I seem to still be missing packages that are installed when I install from binary. Looking at the Wiki for installing from source, it mentions "To utilize the things installed there simply source that file. Lets do that now before building the rest of ROS:". However, it never mentions how to build the rest of ROS.
So I figured, let's look at the source install documentation from Groovy. It is very similar, but has how to build the ROS (dry) packages. However, when I try to follow those instructions, substituting hydro for groovy, it tells me that there are no dry packages for Hydro.
I still don't understand why these files are not there when I compile from source, unless possibly they aren't actually part of ROS. They (apt-get packages) get installed as part of the dependency process when installing the HRATC2014 framework. See below:
dime@hratc4:~$ dpkg -S /opt/ros/hydro/lib/libhusky_gazebo_plugins.so /opt/ros/hydro/lib/libcontroller_manager.so
ros-hydro-husky-gazebo-plugins: /opt/ros/hydro/lib/libhusky_gazebo_plugins.so
ros-hydro-controller-manager: /opt/ros/hydro/lib/libcontroller_manager.so
These don't get installed as part of the source install, so do I need to look elsewhere for their source?
Edit:
You are correct, and this is the web page we are following. The problem is, currently robot_pose_ekf does not integrate GPS data. However, clearpath robotics has code (navigation stack) with a modified robot_pose_ekf that does integrate GPS data. Please Google "clearpath robotics robot_pose_ekf" (I can't post links yet due to karma). At the bottom it says "where to get the code", and you can see the github directory where we're getting the modified navigation stack. Note, that this is the entire navigation stack, not just robot_pose_ekf. Being new to the ROS ecosystem, we just assumed we could replace the navigation directory in the ROS source, build (which we did succesfully) and run it. However, we still need extra packages provided by the HRATC2014 competition, and weren't able to integrate them with our compiled version -- this is where we are hung up...the ROS desktop-full is installed (along with needed .so files from HRATC2014) in /opt/ros. My custom build of ROS with modified navigation stack is in home_dir/catkin_workspace1/install_isolated. Should I be doing the navigation source build in an "overlay" workspace? And by all means, if I'm simply asking something that's documented, just point me in the right direction, because I haven't been able to find it. Thanks for all your help.
Originally posted by dime on ROS Answers with karma: 41 on 2014-04-02
Post score: 1
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Since Gazebo is deprecating URDF and moving to SDF, it seems like ROS might follow suit.
Is URDF depricated, or about to be?
If so are there tools which work with SDF? For instance will robot_state_publisher be able to handle SDF defined robots?
If not, should we be sticking to using URDF for defining our robot models?
Originally posted by Asomerville on ROS Answers with karma: 2743 on 2014-04-02
Post score: 6
Original comments
Comment by demmeln on 2014-04-03:
cc @nkoenig
Comment by Kurt Leucht on 2014-04-03:
I recently found that in trying to learn Gazebo, they tend to focus on SDF and not give me any examples of URDF usage in Gazebo. But in the Gazebo tutorial section about ROS integration all the examples use URDF and I get stuck because all the other tutorials teach only SDF. Very frustrating.
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I am trying to understand how Costmaps Works. I have Costmap with params:
costmap params
base_scan: {clearing: true, data_type: LaserScan, expected_update_rate: 0.4, marking: true,
max_obstacle_height: 2.4, min_obstacle_height: 0.08, observation_persistence: 5.0}
cost_scaling_factor: 13.0
footprint: '[[-0.375,-0.375],[-0.375,0.375],[0.375,0.375],[0.375,-0.375]]'
footprint_padding: 0.05
global_frame: /odom
height: 6
inflation_radius: 0.5
lethal_cost_threshold: 100
map_topic: map
map_type: voxel
mark_threshold: 0
max_obstacle_height: 2.0
max_obstacle_range: 2.5
observation_sources: base_scan
obstacle_range: 2.5
origin_x: 0.0
origin_y: 0.0
origin_z: 0.0
publish_frequency: 5.0
publish_voxel_map: false
raytrace_range: 3.0
resolution: 0.05
restore_defaults: false
robot_base_frame: /base_link
robot_radius: 0.46
rolling_window: true
static_map: false
track_unknown_space: false
transform_tolerance: 0.3
unknown_cost_value: 0
unknown_threshold: 9
update_frequency: 5.0
width: 6
z_resolution: 0.05
z_voxels: 10
rviz(OcupancyGrid with topic: /test_node/local_costmap/infalted_obstacles:
rviz(OcupancyGrid with topic: /test_node/local_costmap/infalted_obstacles http://imageshack.com/a/img46/971/wf7w.png
How Costmap really looks like(openCV):
How Costmap really looks like(openCV) http://imageshack.com/a/img571/8012/n7mm.png
(I assume that black is obstacle and white is free because when I put robot in free space I get white costmap with black square(robot footprint)).
this assumption was wrong
This can be not true as @ahendrix mentioned. The Costmap picture is flipped vertically to OccupancyGrid
and my questions:
Why the costmap is consisted only of 0 or 255 values ( I thought there should be a gradient 0-255)?
I printed values in console and there are values between 0-255 (but not a lot of them - I suppose it depends on inflation radius). But still I don't get it why costmap looks like this and sends correct OccupancyGrid topics.
2. Why when obstacle spotted whole "beam" on map is 255 (not for instance part of beam from the point on distance that obstacle was spotted and further)?
i was wrong with the values(black is 0-free)
3. Why the place of robot (footprint?) is spoted as obstacle
i was wrong with the values- footprint is free, but why when i put robot in free space, costmap has only footprint spotted as free?
Thanks in advance
Originally posted by BP on ROS Answers with karma: 176 on 2014-04-02
Post score: 1
Original comments
Comment by Marcus on 2015-02-25:
Hey BP,
I am trying to get the costmap_2d into any kind of image format:
see here
It seems like you were able to do this. Could you give me a short explanation?
Thanks,
Marcus
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Hi guys I been fallowing beginner tutorial, I'm a newbie ok.
So when i wrote in my terminal :
$ rosmsg show beginner_tutorials/Num
I got this error :
$ rosmsg show beginner_tutorials/Num
Unable to load msg [beginner_tutorials/Num]: Cannot locate message [Num]: unknown package [beginner_tutorials] on search path [{'rosconsole': ['/opt/ros/hydro/share/rosconsole/msg'], 'catkin': ['/opt/ros/hydro/share/catkin/msg'], 'qt_dotgraph': ['/opt/ros/hydro/share/qt_dotgraph/msg'], 'image_view': ['/opt/ros/hydro/share/image_view/msg'], 'carrot_planner': ['/opt/ros/hydro/share/carrot_planner/msg'], 'urdf': ['/opt/ros/hydro/share/urdf/msg'], 'rosgraph': ['/opt/ros/hydro/share/rosgraph/msg'], 'rqt_py_console': ['/opt/ros/hydro/share/rqt_py_console/msg'], 'nodelet_topic_tools': ['/opt/ros/hydro/share/nodelet_topic_tools/msg'], 'rqt_graph': ['/opt/ros/hydro/share/rqt_graph/msg'], 'rotate_recovery': ['/opt/ros/hydro/share/rotate_recovery/msg'], 'fake_localization': ['/opt/ros/hydro/share/fake_localization/msg'], 'qt_gui': ['/opt/ros/hydro/share/qt_gui/msg'], 'filters': ['/opt/ros/hydro/share/filters/msg'], 'eigen_conversions': ['/opt/ros/hydro/share/eigen_conversions/msg'], 'navfn': ['/opt/ros/hydro/share/navfn/msg'], 'dwa_local_planner': ['/opt/ros/hydro/share/dwa_local_planner/msg'], 'rosgraph_msgs': ['/opt/ros/hydro/share/rosgraph_msgs/msg'], 'smclib': ['/opt/ros/hydro/share/smclib/msg'], 'rosparam': ['/opt/ros/hydro/share/rosparam/msg'], 'roscpp_serialization': ['/opt/ros/hydro/share/roscpp_serialization/msg'], 'diagnostic_msgs': ['/opt/ros/hydro/share/diagnostic_msgs/msg'], 'rosbuild': ['/opt/ros/hydro/share/rosbuild/msg'], 'rosclean': ['/opt/ros/hydro/share/rosclean/msg'], 'tf': ['/opt/ros/hydro/share/tf/msg'], 'rqt_publisher': ['/opt/ros/hydro/share/rqt_publisher/msg'], 'roswtf': ['/opt/ros/hydro/share/roswtf/msg'], 'geometric_shapes': ['/opt/ros/hydro/share/geometric_shapes/msg'], 'smach_ros': ['/opt/ros/hydro/share/smach_ros/msg'], 'rqt_web': ['/opt/ros/hydro/share/rqt_web/msg'], 'shape_msgs': ['/opt/ros/hydro/share/shape_msgs/msg'], 'trajectory_msgs': ['/opt/ros/hydro/share/trajectory_msgs/msg'], 'costmap_2d': ['/opt/ros/hydro/share/costmap_2d/msg'], 'robot_state_publisher': ['/opt/ros/hydro/share/robot_state_publisher/msg'], 'visualization_msgs': ['/opt/ros/hydro/share/visualization_msgs/msg'], 'resource_retriever': ['/opt/ros/hydro/share/resource_retriever/msg'], 'rqt_topic': ['/opt/ros/hydro/share/rqt_topic/msg'], 'smach': ['/opt/ros/hydro/share/smach/msg'], 'rqt_action': ['/opt/ros/hydro/share/rqt_action/msg'], 'rqt_top': ['/opt/ros/hydro/share/rqt_top/msg'], 'rqt_rviz': ['/opt/ros/hydro/share/rqt_rviz/msg'], 'move_base': ['/opt/ros/hydro/share/move_base/msg'], 'rosboost_cfg': ['/opt/ros/hydro/share/rosboost_cfg/msg'], 'genmsg': ['/opt/ros/hydro/share/genmsg/msg'], 'xacro': ['/opt/ros/hydro/share/xacro/msg'], 'rqt_robot_dashboard': ['/opt/ros/hydro/share/rqt_robot_dashboard/msg'], 'rqt_service_caller': ['/opt/ros/hydro/share/rqt_service_caller/msg'], 'rqt_msg': ['/opt/ros/hydro/share/rqt_msg/msg'], 'pluginlib': ['/opt/ros/hydro/share/pluginlib/msg'], 'rosdoc_lite': ['/opt/ros/hydro/share/rosdoc_lite/msg'], 'rosserial_python': ['/opt/ros/hydro/share/rosserial_python/msg'], 'rosmaster': ['/opt/ros/hydro/share/rosmaster/msg'], 'nodelet_tutorial_math': ['/opt/ros/hydro/share/nodelet_tutorial_math/msg'], 'rosnode': ['/opt/ros/hydro/share/rosnode/msg'], 'rqt_pose_view': ['/opt/ros/hydro/share/rqt_pose_view/msg'], 'bond': ['/opt/ros/hydro/share/bond/msg'], 'self_test': ['/opt/ros/hydro/share/self_test/msg'], 'image_geometry': ['/opt/ros/hydro/share/image_geometry/msg'], 'pcl_conversions': ['/opt/ros/hydro/share/pcl_conversions/msg'], 'actionlib_msgs': ['/opt/ros/hydro/share/actionlib_msgs/msg'], 'image_rotate': ['/opt/ros/hydro/share/image_rotate/msg'], 'rqt_image_view': ['/opt/ros/hydro/share/rqt_image_view/msg'], 'rqt_console': ['/opt/ros/hydro/share/rqt_console/msg'], 'joint_state_publisher': ['/opt/ros/hydro/share/joint_state_publisher/msg'], 'rosserial_client': ['/opt/ros/hydro/share/rosserial_client/msg'], 'xmlrpcpp': ['/opt/ros/hydro/share/xmlrpcpp/msg'], 'rviz_plugin_tutorials': ['/opt/ros/hydro/share/rviz_plugin_tutorials/msg'], 'tf2_msgs': ['/opt/ros/hydro/share/tf2_msgs/msg'], 'python_qt_binding': ['/opt/ros/hydro/share/python_qt_binding/msg'], 'laser_geometry': ['/opt/ros/hydro/share/laser_geometry/msg'], 'clear_costmap_recovery': ['/opt/ros/hydro/share/clear_costmap_recovery/msg'], 'rviz': ['/opt/ros/hydro/share/rviz/msg'], 'gencpp': ['/opt/ros/hydro/share/gencpp/msg'], 'rqt_gui_cpp': ['/opt/ros/hydro/share/rqt_gui_cpp/msg'], 'rqt_bag': ['/opt/ros/hydro/share/rqt_bag/msg'], 'rqt_gui': ['/opt/ros/hydro/share/rqt_gui/msg'], 'qt_gui_py_common': ['/opt/ros/hydro/share/qt_gui_py_common/msg'], 'console_bridge': ['/opt/ros/hydro/share/console_bridge/msg'], 'roscpp_traits': ['/opt/ros/hydro/share/roscpp_traits/msg'], 'driver_base': ['/opt/ros/hydro/share/driver_base/msg'], 'rosout': ['/opt/ros/hydro/share/rosout/msg'], 'diagnostic_common_diagnostics': ['/opt/ros/hydro/share/diagnostic_common_diagnostics/msg'], 'rostopic': ['/opt/ros/hydro/share/rostopic/msg'], 'smach_msgs': ['/opt/ros/hydro/share/smach_msgs/msg'], 'message_generation': ['/opt/ros/hydro/share/message_generation/msg'], 'camera_calibration': ['/opt/ros/hydro/share/camera_calibration/msg'], 'polled_camera': ['/opt/ros/hydro/share/polled_camera/msg'], 'rostime': ['/opt/ros/hydro/share/rostime/msg'], 'urdf_tutorial': ['/opt/ros/hydro/share/urdf_tutorial/msg'], 'kdl_conversions': ['/opt/ros/hydro/share/kdl_conversions/msg'], 'rqt_nav_view': ['/opt/ros/hydro/share/rqt_nav_view/msg'], 'rosservice': ['/opt/ros/hydro/share/rosservice/msg'], 'actionlib_tutorials': ['/opt/ros/hydro/share/actionlib_tutorials/msg'], 'rosunit': ['/opt/ros/hydro/share/rosunit/msg'], 'turtle_tf': ['/opt/ros/hydro/share/turtle_tf/msg'], 'roscpp_tutorials': ['/opt/ros/hydro/share/roscpp_tutorials/msg'], 'move_base_msgs': ['/opt/ros/hydro/share/move_base_msgs/msg'], 'turtle_actionlib': ['/opt/ros/hydro/share/turtle_actionlib/msg'], 'python_orocos_kdl': ['/opt/ros/hydro/share/python_orocos_kdl/msg'], 'stage': ['/opt/ros/hydro/share/stage/msg'], 'tf2_geometry_msgs': ['/opt/ros/hydro/share/tf2_geometry_msgs/msg'], 'visualization_marker_tutorials': ['/opt/ros/hydro/share/visualization_marker_tutorials/msg'], 'rqt_shell': ['/opt/ros/hydro/share/rqt_shell/msg'], 'bondcpp': ['/opt/ros/hydro/share/bondcpp/msg'], 'rosconsole_bridge': ['/opt/ros/hydro/share/rosconsole_bridge/msg'], 'pluginlib_tutorials': ['/opt/ros/hydro/share/pluginlib_tutorials/msg'], 'camera_info_manager': ['/opt/ros/hydro/share/camera_info_manager/msg'], 'camera_calibration_parsers': ['/opt/ros/hydro/share/camera_calibration_parsers/msg'], 'rqt_bag_plugins': ['/opt/ros/hydro/share/rqt_bag_plugins/msg'], 'rosmsg': ['/opt/ros/hydro/share/rosmsg/msg'], 'rospy': ['/opt/ros/hydro/share/rospy/msg'], 'turtlesim': ['/opt/ros/hydro/share/turtlesim/msg'], 'rqt_robot_monitor': ['/opt/ros/hydro/share/rqt_robot_monitor/msg'], 'roslib': ['/opt/ros/hydro/share/roslib/msg'], 'diagnostic_analysis': ['/opt/ros/hydro/share/diagnostic_analysis/msg'], 'stereo_msgs': ['/opt/ros/hydro/share/stereo_msgs/msg'], 'pcl_msgs': ['/opt/ros/hydro/share/pcl_msgs/msg'], 'interactive_markers': ['/opt/ros/hydro/share/interactive_markers/msg'], 'diagnostic_updater': ['/opt/ros/hydro/share/diagnostic_updater/msg'], 'laser_assembler': ['/opt/ros/hydro/share/laser_assembler/msg'], 'rospack': ['/opt/ros/hydro/share/rospack/msg'], 'diagnostic_aggregator': ['/opt/ros/hydro/share/diagnostic_aggregator/msg'], 'rviz_python_tutorial': ['/opt/ros/hydro/share/rviz_python_tutorial/msg'], 'tf2': ['/opt/ros/hydro/share/tf2/msg'], 'rqt_runtime_monitor': ['/opt/ros/hydro/share/rqt_runtime_monitor/msg'], 'rosbash': ['/opt/ros/hydro/share/rosbash/msg'], 'rqt_reconfigure': ['/opt/ros/hydro/share/rqt_reconfigure/msg'], 'rqt_dep': ['/opt/ros/hydro/share/rqt_dep/msg'], 'bfl': ['/opt/ros/hydro/share/bfl/msg'], 'urdfdom_headers': ['/opt/ros/hydro/share/urdfdom_headers/msg'], 'rqt_plot': ['/opt/ros/hydro/share/rqt_plot/msg'], 'topic_tools': ['/opt/ros/hydro/share/topic_tools/msg'], 'rostest': ['/opt/ros/hydro/share/rostest/msg'], 'control_msgs': ['/opt/ros/hydro/share/control_msgs/msg'], 'tf_conversions': ['/opt/ros/hydro/share/tf_conversions/msg'], 'interactive_marker_tutorials': ['/opt/ros/hydro/share/interactive_marker_tutorials/msg'], 'cpp_common': ['/opt/ros/hydro/share/cpp_common/msg'], 'nodelet': ['/opt/ros/hydro/share/nodelet/msg'], 'stage_ros': ['/opt/ros/hydro/share/stage_ros/msg'], 'rqt_robot_steering': ['/opt/ros/hydro/share/rqt_robot_steering/msg'], 'roslaunch': ['/opt/ros/hydro/share/roslaunch/msg'], 'genpy': ['/opt/ros/hydro/share/genpy/msg'], 'compressed_depth_image_transport': ['/opt/ros/hydro/share/compressed_depth_image_transport/msg'], 'compressed_image_transport': ['/opt/ros/hydro/share/compressed_image_transport/msg'], 'message_runtime': ['/opt/ros/hydro/share/message_runtime/msg'], 'gazebo_msgs': ['/opt/ros/hydro/share/gazebo_msgs/msg'], 'roscreate': ['/opt/ros/hydro/share/roscreate/msg'], 'image_transport': ['/opt/ros/hydro/share/image_transport/msg'], 'rqt_launch': ['/opt/ros/hydro/share/rqt_launch/msg'], 'angles': ['/opt/ros/hydro/share/angles/msg'], 'cv_bridge': ['/opt/ros/hydro/share/cv_bridge/msg'], 'gazebo_ros': ['/opt/ros/hydro/share/gazebo_ros/msg'], 'rosbag_storage': ['/opt/ros/hydro/share/rosbag_storage/msg'], 'tf2_bullet': ['/opt/ros/hydro/share/tf2_bullet/msg'], 'roslang': ['/opt/ros/hydro/share/roslang/msg'], 'std_srvs': ['/opt/ros/hydro/share/std_srvs/msg'], 'mk': ['/opt/ros/hydro/share/mk/msg'], 'octomap': ['/opt/ros/hydro/share/octomap/msg'], 'amcl': ['/opt/ros/hydro/share/amcl/msg'], 'urdfdom': ['/opt/ros/hydro/share/urdfdom/msg'], 'stereo_image_proc': ['/opt/ros/hydro/share/stereo_image_proc/msg'], 'tf2_kdl': ['/opt/ros/hydro/share/tf2_kdl/msg'], 'genlisp': ['/opt/ros/hydro/share/genlisp/msg'], 'class_loader': ['/opt/ros/hydro/share/class_loader/msg'], 'tf2_py': ['/opt/ros/hydro/share/tf2_py/msg'], 'map_server': ['/opt/ros/hydro/share/map_server/msg'], 'collada_urdf': ['/opt/ros/hydro/share/collada_urdf/msg'], 'timestamp_tools': ['/opt/ros/hydro/share/timestamp_tools/msg'], 'move_slow_and_clear': ['/opt/ros/hydro/share/move_slow_and_clear/msg'], 'robot_pose_ekf': ['/opt/ros/hydro/share/robot_pose_ekf/msg'], 'pcl_ros': ['/opt/ros/hydro/share/pcl_ros/msg'], 'nav_msgs': ['/opt/ros/hydro/share/nav_msgs/msg'], 'rosmake': ['/opt/ros/hydro/share/rosmake/msg'], 'image_proc': ['/opt/ros/hydro/share/image_proc/msg'], 'roscpp': ['/opt/ros/hydro/share/roscpp/msg'], 'rqt_moveit': ['/opt/ros/hydro/share/rqt_moveit/msg'], 'media_export': ['/opt/ros/hydro/share/media_export/msg'], 'depth_image_proc': ['/opt/ros/hydro/share/depth_image_proc/msg'], 'actionlib': ['/opt/ros/hydro/share/actionlib/msg'], 'laser_filters': ['/opt/ros/hydro/share/laser_filters/msg'], 'qt_gui_cpp': ['/opt/ros/hydro/share/qt_gui_cpp/msg'], 'eigen_stl_containers': ['/opt/ros/hydro/share/eigen_stl_containers/msg'], 'tf2_ros': ['/opt/ros/hydro/share/tf2_ros/msg'], 'librviz_tutorial': ['/opt/ros/hydro/share/librviz_tutorial/msg'], 'base_local_planner': ['/opt/ros/hydro/share/base_local_planner/msg'], 'shape_tools': ['/opt/ros/hydro/share/shape_tools/msg'], 'roslisp': ['/opt/ros/hydro/share/roslisp/msg'], 'message_filters': ['/opt/ros/hydro/share/message_filters/msg'], 'qt_gui_app': ['/opt/ros/hydro/share/qt_gui_app/msg'], 'std_msgs': ['/opt/ros/hydro/share/std_msgs/msg'], 'rosserial_arduino': ['/opt/ros/hydro/share/rosserial_arduino/msg'], 'gmapping': ['/opt/ros/hydro/share/gmapping/msg'], 'map_msgs': ['/opt/ros/hydro/share/map_msgs/msg'], 'rospy_tutorials': ['/opt/ros/hydro/share/rospy_tutorials/msg'], 'random_numbers': ['/opt/ros/hydro/share/random_numbers/msg'], 'gazebo_plugins': ['/opt/ros/hydro/share/gazebo_plugins/msg'], 'rqt_srv': ['/opt/ros/hydro/share/rqt_srv/msg'], 'rqt_gui_py': ['/opt/ros/hydro/share/rqt_gui_py/msg'], 'voxel_grid': ['/opt/ros/hydro/share/voxel_grid/msg'], 'rqt_py_common': ['/opt/ros/hydro/share/rqt_py_common/msg'], 'dynamic_reconfigure': ['/opt/ros/hydro/share/dynamic_reconfigure/msg'], 'opencv2': ['/opt/ros/hydro/share/opencv2/msg'], 'rqt_tf_tree': ['/opt/ros/hydro/share/rqt_tf_tree/msg'], 'collada_parser': ['/opt/ros/hydro/share/collada_parser/msg'], 'rqt_logger_level': ['/opt/ros/hydro/share/rqt_logger_level/msg'], 'nav_core': ['/opt/ros/hydro/share/nav_core/msg'], 'openslam_gmapping': ['/opt/ros/hydro/share/openslam_gmapping/msg'], 'kdl_parser': ['/opt/ros/hydro/share/kdl_parser/msg'], 'theora_image_transport': ['/opt/ros/hydro/share/theora_image_transport/msg'], 'rosserial_msgs': ['/opt/ros/hydro/share/rosserial_msgs/msg'], 'geometry_msgs': ['/opt/ros/hydro/share/geometry_msgs/msg'], 'urdf_parser_plugin': ['/opt/ros/hydro/share/urdf_parser_plugin/msg'], 'tf2_tools': ['/opt/ros/hydro/share/tf2_tools/msg'], 'sensor_msgs' ['/opt/ros/hydro/share/sensor_msgs/msg'], 'orocos_kdl': ['/opt/ros/hydro/share/orocos_kdl/msg'], 'rosbag': ['/opt/ros/hydro/share/rosbag/msg'], 'rosbag_migration_rule': ['/opt/ros/hydro/share/rosbag_migration_rule/msg']}]
==========================================================
roscore is running
ROS HYDRO
UBUNTU 12.04 64BIT
Any help it will be appreciated
sorry about my english
JC
Originally posted by juanquy on ROS Answers with karma: 55 on 2014-04-02
Post score: 5
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when I rosmake any file ,it has error and warning,like: rosmake arbotix, the results are as follows,
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['arbotix']
[ rosmake ] Logging to directory /home/yanglan/.ros/rosmake/rosmake_output-20140403-111529
[ rosmake ] Expanded args ['arbotix'] to:
[]
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['arbotix']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.
then I can not launch the note.
what can I do to solve it ,thank you!
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-02
Post score: 0
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I'm trying to create create a collision object from a mesh resource and am having trouble understanding how to pass an enumerated type to a message constructor:
const shapes::Mesh* navstar_shape = shapes::createMeshFromResource("package://altius_arm/meshes/NAVSTAR_GPS_Satellite.dae");
shape_msgs::Mesh navstar_mesh;
shapes::constructMsgFromShape(navstar_shape,navstar_mesh);
navstar_collision_object.meshes[0] = navstar_mesh;
I get the following compiler error:
/home/peter/ros/altius_ws/src/altius_arm/src/servo_capture.cpp: In constructor ‘ServoCapture::ServoCapture()’:
/home/peter/ros/altius_ws/src/altius_arm/src/servo_capture.cpp:77:61: error: invalid initialization of reference of type ‘shapes::ShapeMsg& {aka boost::variant<shape_msgs::SolidPrimitive_<std::allocator<void> >, shape_msgs::Mesh_<std::allocator<void> >, shape_msgs::Plane_<std::allocator<void> > >&}’ from expression of type ‘shape_msgs::Mesh’
/opt/ros/hydro/include/geometric_shapes/shape_operations.h:62:6: error: in passing argument 2 of ‘bool shapes::constructMsgFromShape(const shapes::Shape*, shapes::ShapeMsg&)’
I thought constructMsgFromShape was asking for the message object by reference, but it didn't work so I tried passing it by address which at least gets the compiler to realize that I'm passing the right typedef but gives a similar error. Does anyone have any idea what I'm doing wrong?
Originally posted by St3am on ROS Answers with karma: 170 on 2014-04-02
Post score: 3
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I'm trying to install ardrone_autonomy and tum_ardrone, both of which I have downloaded. However, whenever I use rosmake with these packages I get the error
SyntaxError: EOL while scanning string literal
CMake Error at /opt/ros/hydro/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/usr/bin/python
"/opt/ros/hydro/ardrone_autonomy/build/catkin_generated/generate_cached_setup.py")
returned error code 1
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/all.cmake:178 (safe_execute_process)
/opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:20 (include)
/opt/ros/hydro/share/ros/core/rosbuild/public.cmake:249 (find_package)
CMakeLists.txt:12 (rosbuild_init)
-- Configuring incomplete, errors occurred!
make: *** [all] Error 1
It's consistently the same error for both packages. Any ideas as to what is causing this?
Originally posted by ahadik on ROS Answers with karma: 1 on 2014-04-02
Post score: 0
|
Hi again,
I finally got to compile winros with another Boost version (in the end it was just ridiculously easy...), but now I don't know how to substitute the command
catkin_make -DCMAKE_INSTALL_PREFIX=$MATLAB_ROOT/ros/groovy -DBoost_NO_SYSTEM_PATHS=ON -DBOOST_ROOT=$MATLAB_ROOT/ros/groovy install
described here with winros_make, since I don't know how to pass those arguments to winros_make so that it redirects them to the internal call to cmake.
Is there anybody who solved this or has suggestions? I read about putting the arguments in either a configure.cmake or findboost.cmake file, but since I'm not yet familiar with cmake, I wasn't able to handle that by now.
Greets and big thanks in advance!
Originally posted by bnm-rc on ROS Answers with karma: 22 on 2014-04-02
Post score: 0
|
I am trying to launch a python script and hand over a parameter from the launchfile:
script:
#!/usr/bin/env python
import roslib
roslib.load_manifest( 'package_name' )
import rospy
import datetime, sys, yaml
from gazebo_msgs.msg import ModelStates
# some functions
if __name__ == '__main__':
sim = rospy.get_param( '~sim' ) # <- edit
rospy.init_node('package_name', anonymous=True)
#something else ...
and I am trying to start it like that:
<?xml version="1.0"?>
<launch>
<arg name="sim" default="true"/>
<node name="node_name" pkg="package_name" type="script.py" output="screen">
<param name="sim" value="$( arg sim )" />
</node>
</launch>
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-04-02
Post score: 1
Original comments
Comment by Brendan Andrade on 2014-04-03:
import roslib and roslib.load_manifest should not be used if you're using ROS Groovy or later and catkin. Not sure if the inclusion of those lines may be causing your issue.
Comment by lucasw on 2018-07-26:
I ran into this and had simply forgotten that usually I provide a default parameter:
foo = rospy.get_param( '~foo', 5.0)
|
Hello Everybody,
I am trying to rosmake my package and get this configuration error:
chencl@chencl-VirtualBox:~/fuerte_workspace/drrobot_jaguar4x4_player$ rosmake
[ rosmake ] rosmake starting...
[ rosmake ] No package specified. Building ['drrobot_jaguar4x4_player']
[ rosmake ] Packages requested are: ['drrobot_jaguar4x4_player']
[ rosmake ] Logging to directory /home/chencl/.ros/rosmake/rosmake_output-20140403-210405
[ rosmake ] Expanded args ['drrobot_jaguar4x4_player'] to:
['drrobot_jaguar4x4_player']
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-0] Finished <<< roslang No Makefile in package roslang
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-0] Finished <<< roscpp No Makefile in package roscpp
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rospy No Makefile in package rospy
[rosmake-0] Starting >>> bullet [ make ]
[rosmake-0] Finished <<< bullet ROS_NOBUILD in package bullet
[rosmake-0] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< geometry_msgs No Makefile in package geometry_msgs
[rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< sensor_msgs No Makefile in package sensor_msgs
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole No Makefile in package rosconsole
[rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest No Makefile in package rostest
[rosmake-0] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< roswtf No Makefile in package roswtf
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-0] Finished <<< message_filters No Makefile in package message_filters
[rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib No Makefile in package roslib
[rosmake-0] Starting >>> nav_msgs [ make ]
[rosmake-0] Finished <<< nav_msgs No Makefile in package nav_msgs
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs No Makefile in package std_msgs
[rosmake-0] Starting >>> DrRobotMotionSensorDriver [ make ]
[rosmake-0] Finished <<< DrRobotMotionSensorDriver [PASS] [ 0.25 seconds ]
[rosmake-0] Starting >>> drrobot_jaguar4x4_player [ make ]
[ rosmake ] All 32 linesrrobot_jaguar4x4_player: ... [ 1 Active 16/17 Complete ]
{-------------------------------------------------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake ..
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.3")
[rosbuild] Building package drrobot_jaguar4x4_player
Failed to invoke /opt/ros/fuerte/bin/rospack deps-manifests drrobot_jaguar4x4_player
[rospack] Error: package/stack drrobot_jaguar4x4_player depends on non-existent package player
CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package
'drrobot_jaguar4x4_player'. Look above for errors from rospack itself.
Aborting. Please fix the broken dependency!
Call Stack (most recent call first):
/opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
CMakeLists.txt:12 (rosbuild_init)
-- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package drrobot_jaguar4x4_player written to:
[ rosmake ] /home/chencl/.ros/rosmake/rosmake_output-20140403-210405/drrobot_jaguar4x4_player/build_output.log
[rosmake-0] Finished <<< drrobot_jaguar4x4_player [FAIL] [ 0.32 seconds ]
[ rosmake ] Halting due to failure in package drrobot_jaguar4x4_player.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 17 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/chencl/.ros/rosmake/rosmake_output-20140403-210405
Does anyone know what is wrong? Thanks in advance
Chun-Lin Chen
Originally posted by CHENCL on ROS Answers with karma: 1 on 2014-04-03
Post score: 0
|
Do anyone use LASER in gazebo to simulate tracking robot and avoiding obstacle at the same time? could you please suggest about the algorithm.
Originally posted by bestbesta on ROS Answers with karma: 1 on 2014-04-03
Post score: 0
|
I would like to fuse data from a magnetometer, wheel odometry and a GPS sensor using the robot_pose_ekf. Since I would like to take advantage of the fact that both magnetometer and GPS are defined within an absolute reference frame, I switched to a fork by clearpath robotics which is publicly available.
I publish my wheel odometry on topic /odom:
dat = tf.transformations.quaternion_from_euler(0, 0,self.th)
quaternion = Quaternion(dat[0],dat[1],dat[2],dat[3])
odom = Odometry()
odom.header.stamp = now
odom.header.frame_id = "odom_combined"
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.pose.covariance= [0.000001, 0, 0, 0, 0, 0,
0, 0.000001, 0, 0, 0, 0,
0, 0, 0.000001, 0, 0, 0,
0, 0, 0, 0.000001, 0, 0,
0, 0, 0, 0, 0.000001, 0,
0, 0, 0, 0, 0, 0.000001]
odom.twist.covariance = [99999, 0, 0, 0, 0, 0,
0, 99999, 0, 0, 0, 0,
0, 0, 99999, 0, 0, 0,
0, 0, 0, 99999, 0, 0,
0, 0, 0, 0, 99999, 0,
0, 0, 0, 0, 0, 99999]
odom.child_frame_id = "base_footprint"
self.odomPub.publish(odom)
My gps in topic /gps
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "odom_combined"
(x, y) = self.converter.LatLong2UTM(self.lat, self.lon)
odom.pose.pose.position.x = x
odom.pose.pose.position.y = y
odom.pose.pose.position.z = 0
dat = tf.transformations.quaternion_from_euler(0, 0, 0)
odom.pose.pose.orientation = Quaternion(dat[0],dat[1],dat[2],dat[3])
odom.child_frame_id = "base_footprint"
odom.pose.covariance =[1, 0, 0, 0, 0, 0, # covariance on gps_x
0, 1, 0, 0, 0, 0, # covariance on gps_y
0, 0, 1, 0, 0, 0, # covariance on gps_z
0, 0, 0, 99999, 0, 0, # large covariance on rot x
0, 0, 0, 0, 99999, 0, # large covariance on rot y
0, 0, 0, 0, 0, 99999] # large covariance on rot z
odom.twist.covariance = [99999, 0, 0, 0, 0, 0,
0, 99999, 0, 0, 0, 0,
0, 0, 99999, 0, 0, 0,
0, 0, 0, 99999, 0, 0,
0, 0, 0, 0, 99999, 0,
0, 0, 0, 0, 0, 99999]
self.pub.publish(odom)
and my compass data in /imu_data
im = Imu()
ori = tf.transformations.quaternion_from_euler(0, 0, math.radians(bearing))
qua = Quaternion(ori[0],ori[1],ori[2],ori[3])
im.header.frame_id = "imu_data"
im.header.stamp = rospy.Time.now()
im.orientation = qua
im.orientation_covariance = [0.000001, 0, 0,
0, 0.000001, 0,
0, 0, 0.000001]
# Switch others off for now.
im.angular_velocity_covariance = [99999, 0, 0,
0, 99999, 0,
0, 0, 99999]
im.linear_acceleration_covariance = [99999, 0, 0,
0, 99999, 0,
0, 0, 99999]
self.imupub.publish(im)
I've been toying around with the covariance values a lot, but they don't seem to have any influence on my particular problem..
Furthermore, I've had problems with robot_pose_ekf giving me transformation errors, even when I set the header.frame_id of the imu-message to base_footprint:
Could not transform imu message from base_footprint to base_footprint.
Therefore I created a static transform publisher relating the imu_data directly to base_footprint.
Now the EKF is giving me some output, and at the beginning /odom, /odom_combined and /imu converge nicely. As soon as I turn one of the wheels however, the pose output of the EKF begins jumping around uncontrollably (with the heading being updated correctly). It settles on some rather arbitrary looking point when I stop turning the wheel.
Furthermore the EKF reports that diagnostics has discovered a potential problem, which according to the docs is due to /odom and /imu being too far apart. They however are just fine and nicely aligned; it's only the kalman filter that misbehaves.
I've had the same problem with the official github version when attaching the GPS to the /vo topic, which is in fact the reason I switched to another fork.
Any ideas? I've been at this all day.
EDIT: The problem is definitely related to the /odom/pose/orientation calculated from the wheel encoders. If I switch off the compass entirely in the launch file, the filtered position still jumps. If I however set the odom/pose/orientation to a constant (0,0,0) and thus not include my odometry direction measurements, the jumping subsides (both with compass on and off).
Originally posted by Simon Harst on ROS Answers with karma: 35 on 2014-04-03
Post score: 3
|
Hi all (or, at least, the usual one who answers to my questions ;-)),
I have the following situation:
LAPTOP1: roscore, roslaunch with openni_node and some tf
LAPTOP2: roslaunch with some depth_image_proc nodelets, connected via ROS_MASTER_URI=http://LAPTOP1
the problem is that the nodelets on LAPTOP2 are alive only for a short while (some seconds), then, they start to die, one after the other:
[ INFO] [1396535717.713638183]: Bond broken, exiting
[camera/register_depth_rgb-3] process has finished cleanly
What's going on? How can I run this configuration properly?
Thanks
Originally posted by madmage on ROS Answers with karma: 293 on 2014-04-03
Post score: 3
Original comments
Comment by madmage on 2014-04-03:
I tested also what happens without the openni_node on LAPTOP1 (i.e., there is no input for the nodelets on LAPTOP2, so they should not run, since their subscribed topics are not published): same behavior
Comment by demmeln on 2014-04-03:
What happens when you start the roscore on laptop2 instead?
Comment by demmeln on 2014-04-03:
Moreover, do other nodes / nodelets have the same problems on laptop2, or is it just the image_proc nodelets?
Comment by madmage on 2014-04-03:
I can run the nodelets on laptop2 with a roscore on laptop2, everything works (this is actually how everything has begun).
Can you tell me a simple nodelet I can test (to see if it's a depth_image_proc problem or nodelet problem)?
Comment by demmeln on 2014-04-03:
Have you tried simple nodes on laptop2 with core on laptop1? Something like rostopic pub or rostopic sub?
Comment by madmage on 2014-04-03:
The openni_node running on laptop1 publishes /camera/rgb/image_raw and /camera/depth/image_raw (roscore is on laptop1), I can see that image by subscribing it from laptop2 with rqt_image_view.
Comment by demmeln on 2014-04-04:
Ok. I don't know what could be the problem, sorry. @esteve, @tfoote, any idea how to investigate this best?
Comment by madmage on 2014-04-04:
I rewrote launch files, rebooted laptops, upgraded packages... now it works (more or less)... could it be that was because I had image_transport package installed on one laptop (LAPTOP1) and not the other?
Comment by demmeln on 2014-04-04:
Could. Don't really know, but it sounds strang that it ran at all if image_transform was not installed... Let us know if this continues to be a problem.
Comment by madmage on 2014-04-04:
However, it seems that now it is working. I am still confused about who (which nodelet) is subscribing what (what topic) and using whatkindofcompression* (how to know it?), since running nodes with _image_transport:=theora does not make much difference in network traffic monitors
Comment by demmeln on 2014-04-04:
I don't know enough about how image transport works to answer that. I probably makes sense to open a new question about it if you can't find anything in the docs or with google.
|
Hi guys, I am learning to use TF on ROS hydro and Ubuntu 12.10, following the tutorial on http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29 and http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29. It can be compiled well by using catkin_make, but when launch, some errors occur, and the second turtle does not follow the first. I find some solutions on http://answers.ros.org/question/45884/turtle-tf-tutorial-fails-to-work/?answer=47845#post-id-47845. However it is for fuerte, and it says that the tutorial has already been fixed for hydro. Could you please give me some suggestions? Many thanks.
Result of catkin_make
rical@rical-CF-19RHRAX1M:~/tf_ws$ catkin_make
Base path: /home/rical/tf_ws
Source space: /home/rical/tf_ws/src
Build space: /home/rical/tf_ws/build
Devel space: /home/rical/tf_ws/devel
Install space: /home/rical/tf_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/rical/tf_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/rical/tf_ws/build"
####
Scanning dependencies of target turtle_tf_broadcaster
[ 50%] Built target turtle_tf_listener
[100%] Building CXX object learning_tf/CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o
Linking CXX executable /home/rical/tf_ws/devel/lib/learning_tf/turtle_tf_broadcaster
[100%] Built target turtle_tf_broadcaster
Result of roslaunch
rical@rical-CF-19RHRAX1M:~/tf_ws$ roslaunch learning_tf start_demo.launch
... logging to /home/rical/.ros/log/6972d1aa-bb3e-11e3-9b8c-58946b7e05e0/roslaunch-rical-CF-19RHRAX1M-3943.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://rical-CF-19RHRAX1M:40439/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
* /scale_angular
* /scale_linear
NODES
/
listener (learning_tf/turtle_tf_listener)
sim (turtlesim/turtlesim_node)
teleop (turtlesim/turtle_teleop_key)
turtle1_tf_broadcaster (learning_tf/turtle_tf_broadcaster)
turtle2_tf_broadcaster (learning_tf/turtle_tf_broadcaster)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[sim-1]: started with pid [3961]
process[teleop-2]: started with pid [3964]
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
process[turtle1_tf_broadcaster-3]: started with pid [3991]
process[turtle2_tf_broadcaster-4]: started with pid [4018]
process[listener-5]: started with pid [4029]
[ERROR] [1396537658.018576492]: "turtle2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1396537658.118410208]: "turtle2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1396537658.218442276]: "turtle2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1396537658.318519743]: "turtle2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1396537658.418561966]: "turtle2" passed to lookupTransform argument target_frame does not exist.
Originally posted by pinocchio on ROS Answers with karma: 101 on 2014-04-03
Post score: 0
Original comments
Comment by pinocchio on 2014-04-03:
I can control the first turtle with keyboard, but the second one does not follow the first.
Comment by demmeln on 2014-04-03:
What is happening to the second one? Is it not moving at all, or not moving correclty?
Comment by demmeln on 2014-04-03:
Maybe the tutorial is not fixed after all. Please review the suggested solutions in the old question about fuerte that you linked to, and check if they might still apply here.
Comment by pinocchio on 2014-04-03:
Hi, @demmeln, The second turtle just goes straightly from one side of window to the other, and then back. I am afraid the old question is just for fuerte, because I follow its suggestion but nothing changes.
Comment by Jack Fu on 2014-04-16:
Actually, I faced the same problem that the turtle kept going straightly and figured it out just now.
Change "q.setRPY(msg->theta, 0, 0)" to "q.setRPY(0, 0, msg->theta)", and re-catkin_make.
This a little different from Fuerte, which is in the transform.setRotation Function.
Comment by demmeln on 2014-04-17:
Could you please update the tutorial accirdingly?
|
Hi All,
I'm currently working with the ROS navigation stack. I am using move_base through its actionlib interface. The problem I am experiencing is that I seem to consistently see ~7 seconds of latency between sending the goal through the move_base action client and when the goal begins to execute. Once the server starts executing the goal, the speed is just fine and updates from the action server to client show no significant latency.
I have checked out both the navigation stack and actionlib from github so I could instrument the code to chase down the source of this latency. Specifically, what I have found is that there is a consistent ~7 seconds of latency between the time sendGoal (in simple_action_client.h) returns to when goalCallback (in action_server_base.h) begins to handle the "goal request". I have modified initialize() (in action_server_imp.h) to set TCP_NODELAY on the subscriber to the "goal" topic. One thought was that this message was getting lost in the ROS transport plumbing. Again, making this change seems to have no noticeable effect on this latency issue.
I have a couple of questions:
Is this normal / expected behavior?
Where should I look next?
If more context is needed, I'm happy to provide. However, we are not doing anything "exotic" in how we are using the advertised functionality. Any help is greatly appreciated.
Best,
Tom
EDIT1:
I should also note that I have tried instantiating the action client both with and without the extra thread to enable/disable using the global callback queue. Again, no difference.
EDIT2:
I'm getting somewhere. My hypothesis is that, in my setup, move_base is subscribed to too many "high frequency / large data" topics. Specifically, 4 sensors sources publishing QQVGA point clouds at 30 Hz. My assumption is that the /move_base/goal topic is sharing the same message queue as these sensor sources (??). Empirically, when I remove two of the input sensor sources, the above described latency drops from ~7 seconds to ~3 seconds. What tipped me off to this was that in a separate shell, I can rostopic echo /move_base/goal and I see the goal published from the action client immediately whereas in the move_base process, I saw the ~7 seconds of latency.
I plan to turn my attention to tuning my sensor sources to get the responsiveness from move_base that I need while not sacrificing fidelity and our perception subsystem. In the meantime, is there a mechanism (I am not aware of one) within ROS that would allow me to partition out the action server's message queue from the sensor topics coming into move_base?
Thanks in advance for any pointers.
Originally posted by Tom Panzarella on ROS Answers with karma: 51 on 2014-04-03
Post score: 2
Original comments
Comment by demmeln on 2014-04-03:
Interesting question. I'm not sure where to start digging further. Can you reproduce this with all nodes being on a single machine (no networking other than loopback)?
Comment by Tom Panzarella on 2014-04-03:
Yes. For the nodes in question, they are located on the same machine.
Comment by demmeln on 2014-04-04:
You can change to multithreaded spinning or even provide separate calllback queues for different subscribers, which might help. However you likely have to modify move_base yourself for that. Check http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning .
Comment by demmeln on 2014-04-04:
Also, maybe throttling the topics that seem to clog up move_base might help. I.e. only reduce the frequency / amount of data the move_base receives, while other parts of your system receive the full sensor data.
Comment by demmeln on 2014-04-04:
Lastly, a faster machine might also help dramatically.
Comment by Tom Panzarella on 2014-04-04:
@demmeln Thanks for the comments. A combination of using a multi-threaded spinner and (down) throttling my sensors is looking promising right now. Going to do more testing before confirming a definitive resolution.
|
I'm JUST TRYING to run the icp Demo available in the pcl tutorials
I can compile it perfectly... the problem is when i try to run the program in the terminal I get this :
./interactive_icp: symbol lookup
error: ./interactive_icp: undefined
symbol:
_ZN3pcl6search6KdTreeINS_8PointXYZEEC1Eb
And Yes, I've already tried this :
sudo apt-get install -f and
sudo apt-get autoremove together with
erasing build dirs and rebuilding in
my workspace
rm -r devel rm -r build ...
but it still doesn't work... Can you please help me ? It's been a week and a half all around this and its getting really frustrating since I just want to see the demo running !
I'm running pcl 1.7 with QT creator on Ubuntu 12.04 LTS.
THANK YOU ALL for your time !!
Originally posted by Gop on ROS Answers with karma: 3 on 2014-04-03
Post score: 0
|
When I run roslaunch turtlebot_navigation amcl_demo.launch map_file:=<path_of_my_map> I get, as part of the output:
[ INFO] [1396554684.603955092]: Using plugin "static_layer"
[ INFO] [1396554684.956445219]: Requesting the map...
[ INFO] [1396554685.162530181]: Resizing costmap to 480 X 288 at 0.050000 m/pix
[ INFO] [1396554685.262220473]: Received a 480 X 288 map at 0.050000 m/pix
[ INFO] [1396554685.288558669]: Using plugin "obstacle_layer"
[ INFO] [1396554685.355236864]: Subscribed to Topics: scan bump
[ INFO] [1396554685.659024142]: Using plugin "inflation_layer"
[ INFO] [1396554686.518542435]: Loading from pre-hydro parameter style
[ INFO] [1396554686.738804760]: Using plugin "obstacle_layer"
[ INFO] [1396554687.077918589]: Subscribed to Topics: scan bump
[ INFO] [1396554687.373924581]: Using plugin "inflation_layer"
[ INFO] [1396554687.994371819]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1396554688.069237432]: Sim period is set to 0.20
[ INFO] [1396554690.131045226]: odom received!
Where does amcl_demo.launch its plugins from?
(ROS Distro is Hydro and Ubuntu is 13.04).
Originally posted by oswinium on ROS Answers with karma: 105 on 2014-04-03
Post score: 2
|
Hi, i have ROS Hydro, Gazebo 1.9 on Ubuntu 13.04. I would debut ROS plugins wrote by me for Gazebo with gdb. I would insert breakpoints and step through a Gazebo plugin. How can i do this ?
Originally posted by Ste on ROS Answers with karma: 18 on 2014-04-03
Post score: 0
|
Hello,
I am a user trying to use the velodyne stack with ROS. I'm studying human interaction, so I would like the minimum distance with the Velodyne HDL-32e to be as small as possible. I understand that it has limits (as stated in the manual), however, when I attempt to change the value of the min_range parameter, nothing happens. Rviz does not update, even when I reinitialize it or anything else. The value definitely changes (as can be seen in my screenshot), but the data still reflects the minimum range as being 2.0 metres. Can someone help me out with this? Is it a possible bug?
[See joq's answer for solution]
Originally posted by Gariben on ROS Answers with karma: 5 on 2014-04-03
Post score: 0
Original comments
Comment by demmeln on 2014-04-04:
How do you change the parameter exactly? I don't see the mentioned screen shot.
Comment by Gariben on 2014-04-06:
I don't have the 'karma' to include links, sigh. I'll try to get a work around.
normal:
http://i.imgur.com/J6hgmZU.png
altered:
http://i.imgur.com/8NO7GFi.png
Comment by Gariben on 2014-04-06:
Note that it also does not change as you make the min_range larger either.
http://i.imgur.com/DBcWloU.png
|
Im using navigation with gmapping and wanted to know that if in the global_costmap_params.yaml the static map should be true or false? I have it with false and its working fine. the problem is that when i look in rxgraph the move_base node DOES NOT subscibe to the /map but to /tf published by gmapping. Can anyone explai to me why is it that /map message does not appear in rxgraph?
Originally posted by ctguell on ROS Answers with karma: 63 on 2014-04-03
Post score: 1
Original comments
Comment by ctguell on 2014-04-04:
@demmeln when i look in the rxgraph i only see the move_base node related to navigation i dont see the any costmap, but it appears that the costmap subscribes to the /map. So why is there no costmap node and is the /map only usefull for localisation as @AbuIbra ? i have to explain whats the use of /map
|
I get the following error when I run roscore:
Traceback (most recent call last):
File "/opt/ros/hydro/bin/roscore", line 62, in <module>
import roslaunch
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 46, in <module>
import rospkg
ImportError: No module named rospkg
I have installed fuerte and now have installed hydro side by side...
Originally posted by jennifer on ROS Answers with karma: 43 on 2014-04-03
Post score: 0
Original comments
Comment by jennifer on 2014-04-07:
yes I tried almost all of them.. Still not able to get the answer...
Any guesses what it could be?
Comment by RSA_kustar on 2014-09-21:
did u solve it ?? I have the same problem :S
|
I'm porting visp to indigo. According to http://www.ros.org/debbuild/indigo.html?q=visp it fails for trusty with the followin error (see http://jenkins.ros.org/view/IbinT32/job/ros-indigo-visp_binarydeb_trusty_i386/lastBuild/console):
package ros-indigo-visp does not have dependency [ffmpeg]
Dependencies not satisfied for packages: ['ffmpeg']
Process leaked file descriptors. See http://wiki.jenkins-ci.org/display/JENKINS/Spawning+processes+from+build for more information
Build step 'Execute shell' marked build as failure
Build step 'Groovy Postbuild' marked build as failure
Build step 'Groovy Postbuild' marked build as failure
In https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml, ffmpeg dependency is now specific for trusty. We have:
ffmpeg:
ubuntu:
trusty: [libavcodec-dev, libavformat-dev, libavutil-dev, libswscale-dev]
I can't understand wy I get this error "Dependencies not satisfied for packages: ['ffmpeg']". It should not happen as ffmpeg is not a dep for trusty. I'm wrong. Is there a problem with the build farm.
Moreover I'm also surprised with the last lines of the log:
Build step 'Groovy Postbuild' marked build as failure
The build is for indigo. Wy does it mention groovy ?
Originally posted by Fabien Spindler on ROS Answers with karma: 126 on 2014-04-03
Post score: 2
Original comments
Comment by demmeln on 2014-04-04:
cc @William
Comment by William on 2014-04-04:
@Dirk Thomas @tfoote
|
Hi,
I try to launch command : "rostopic pub -1 /vrep/position_command brics_actuator/JointPositions '{positions: [{joint_uri: arm_joint_1, unit: rad, value: 2.9}]}' "
but there is this error :
ERROR: invalid message type:
brics_actuator/JointPositions. If this
is a valid message type, perhaps you
need to type 'rosmake brics_actuator'
Originally posted by Peppe on ROS Answers with karma: 16 on 2014-04-03
Post score: 0
Original comments
Comment by Tirjen on 2014-04-03:
Please give more details. Have you downloaded the package brics_actuator? Did you run rosmake?
|
I am trying to implement Grid based FAST SLAM in ROS. I have taken the source code from http://openslam.org/gridslam.html .
I have made a catkin package and put all the source code in src folder.
Now, I am trying to build that package using
$catkin_make
It is giving me the error:
qapplication.h No such file or directory.
I have qt4 installed already and have qapplication.h file at /usr/include/qt4/Qt
I have tried using .pro file and qmake but still its giving me the error.
what should I do please help...
Originally posted by DPK27 on ROS Answers with karma: 5 on 2014-04-04
Post score: 0
|
The question is: In which directory am I supposed to be during the various steps ?
This question has confused me again and probably made me do some mistakes along the way.
I'm trying to follow the tutorial Parse a urdf file.
Below is a desription on how i guess where to be in the steps of the tutorial.
From the beginning of the tutorial:
$ cd ~/catkin_ws/src
$ catkin_create_pkg testbot_description urdf
$ cd testbot_description
$ mkdir urdf
(well, this is straight forward. Here we are placed in
~/catkin_ws/src/testbot_description creating the subdirectory
~/catkin_ws/src/testbot_description/urdf )
Next step:
cp /path/to/.../testbot_description/urdf/my_robot.urdf .
is a bit confusing since the file "my_robot.urdf"
created in the previous tutorial Create your own urdf file
was createde in a entirly different directory than indicated in the suggested command
since the directory:
~/catkin_ws/src/testbot_description/urdf
did not exist at all at the time.
Next step:
In the next step you are in directory
~/catkin_ws/src/testbot_description/urdf
Now you create a subdirectory "src"
> ~/catkin_ws/src/testbot_description/urdf/src
^^^
^^^
but you create parser.cpp when still being in:
> ~/catkin_ws/src/testbot_description/urdf
^^^^
^^^^
^^^^
but saving parser.cpp into directory
~/catkin_ws/src/testbot_description/urdf/src
(here I think i made a mistake by saving parser.cpp into:
~/catkin_ws/src/testbot_description/urdf I.E. not into:
~/catkin_ws/src/testbot_description/urdf/src )
Next step
I'm quoting:
...First add the following lines to
your CMakeList.txt file: ...
This leads to the question:
which "CMakeList.txt" ?
Just by following the general tutorial (and rosserial) I have:
~/ros/src/agitr/CMakeLists.txt
~/ros/src/CMakeLists.txt
~/catkin_ws/build/catkin_generated/metapackages/rosserial/CMakeLists.txt
~/catkin_ws/src/beginner_tutorials/CMakeLists.txt
~/catkin_ws/src/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_embeddedlinux/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_client/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_msgs/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_arduino/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_xbee/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_python/CMakeLists.txt
~/catkin_ws/src/rosserial/rosserial_server/CMakeLists.txt
~/catkin_ws/src/testbot_description/urdf/src/CMakeLists.txt
~/catkin_ws/src/testbot_description/CMakeLists.txt
~/ROStest/build/catkin_generated/metapackages/rosserial/CMakeLists.txt
~/ROStest/src/CMakeLists.txt
~/ROStest/src/rosserial/rosserial/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_embeddedlinux/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_client/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_msgs/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_arduino/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_xbee/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_python/CMakeLists.txt
~/ROStest/src/rosserial/rosserial_server/CMakeLists.txt
I guess it's either of these two:
~/catkin_ws/src/testbot_description/urdf/src/CMakeLists.txt
~/catkin_ws/src/testbot_description/CMakeLists.txt
Most probably
~/catkin_ws/src/testbot_description/CMakeLists.txt
since the other CMakeLists.txt has the following text
at the top:
"#toplevel CMakeLists.txt for a catkin workspace"
Next step
I asume where still in directory:
~/catkin_ws/src/testbot_description/urdf
so running catkin_make yields as follows:
~/catkin_ws/src/testbot_description/urdf$
~/catkin_ws/src/testbot_description/urdf$
~/catkin_ws/src/testbot_description/urdf$ catkin_make
Base path: ~/catkin_ws/src/testbot_description/urdf
Source space: ~/catkin_ws/src/testbot_description/urdf/src
Build space: ~/catkin_ws/src/testbot_description/urdf/build
Devel space: ~/catkin_ws/src/testbot_description/urdf/devel
Install space: ~/catkin_ws/src/testbot_description/urdf/install
####
#### Running command: "make cmake_check_build_system" in "~/catkin_ws/src/testbot_description/urdf/build"
####
####
#### Running command: "make -j2 -l2" in "~/catkin_ws/src/testbot_description/urdf/build"
####
~/catkin_ws/src/testbot_description/urdf$
~/catkin_ws/src/testbot_description/urdf$
I guess that parser.cpp will be compiled into "parser" but where ?
In my case it did not happen. (find ~/ -name parser* -print only finds parser.cpp)
Next step:
So I guess the next stepp is no use to try at all,
at this point, well, until I get some clarification.
As always, I'm trying to:
Use the force, read the source.
However it takes the learning process to slow motion ;)
Originally posted by ROSnewbie11 on ROS Answers with karma: 61 on 2014-04-04
Post score: 2
|
I'm attempting to go through the process of contributing a package to the ROS community. From what I've gleaned from various tutorials (like this), a common practice is to create a GitHub account, and create a repository named whatever-ros-pkg. Inside that repository, each directory contains a package (or metapackage). Two questions:
The root level of that repository itself does not represent a ROS package or metapackage, correct? Catkin appears to be displeased when you try to make it one, as the naming convention isn't correct (hyphens instead of underscores).
If my assumption in (1) is correct, then what should I put in the distribution.yaml file for a given ROS distro? Would I put this:
whatever-ros-pkg:
doc:
type: git
url: https://github.com/username/whatever-ros-pkg.git
version: hydro-devel
...or do I need to add every package within the repository and give them the same Git URL? Will the indexer pick up the repo and its constituent packages as it's currently written?
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-04-04
Post score: 1
|
Hello,
I am currently trying to install ROS, and getting to know the environment by following the well written online tutorials.
First I did a complete new ROS install on my Ubuntu 12.04, by following the install instructions here:
wiki.ros.org/hydro/Installation/Ubuntu
After this I dug right into the tutorials wiki.ros.org/ROS/Tutorials
But on the 3. tutorial, wiki.ros.org/ROS/Tutorials/CreatingPackage, I am currently stuck, since I get an error when running catkin_create_pkg. It output this to my shell:
File "/usr/local/bin/catkin_create_pkg", line 4, in <module>
import pkg_resources
File "/usr/local/lib/python2.7/dist-packages/distribute-0.6.28-py2.7.egg/pkg_resources.py", line 2819, in <module>
parse_requirements(__requires__), Environment()
File "/usr/local/lib/python2.7/dist-packages/distribute-0.6.28-py2.7.egg/pkg_resources.py", line 588, in resolve
raise DistributionNotFound(req)
I have already tried different things, like reinstalling the whole ROS, tryign to reinstall the python-catkin-pkg, and bunch of other things. Tried to follow the tutorials from scratch several times, to ensure I wasnt missing something.
Read some forums, and can already give some details about the installation:
python -c 'import catkin_pkg; print(catkin_pkg.__file__)'
gives
/usr/share/pyshared/catkin_pkg/__init__.py
Anyone got any clue of how I can fix this error, or maybe where to look? Any help would be greatly appreciated.
Originally posted by jesperhn on ROS Answers with karma: 16 on 2014-04-04
Post score: 0
Original comments
Comment by dornhege on 2014-04-04:
The /usr/local/... path is somewhat suspicious. For me catkin resides in /usr/bin. Do you have an older manual catkin install from somewhere?
Comment by jesperhn on 2014-04-07:
Had ROS groovy installed last year on this machine, maybe that could cause it?
|
Is there a way to check the version of ROS being used in the CMakeLists.txt file? i.e., are there any variables or macros to query the version?
Originally posted by rtoris288 on ROS Answers with karma: 1173 on 2014-04-04
Post score: 2
|
Since yesterday I've been having a problem to use the next command:
$ rospack depends1 rospy
And any other command like this.
I receive the next output:
$ rospack depends1 rospy
failed to load symbols, rosdep will
not function properly Cannot import
rospkg, rosdep will not function
properly Traceback (most recent call
last): File
"/usr/lib/pymodules/python2.7/rosdep2/rospack.py",
line 37, in
import subprocess File "/usr/lib/python2.7/subprocess.py",
line 429, in
import select ImportError: No module named select Error in
sys.excepthook: Traceback (most recent
call last): File
"/usr/lib/python2.7/dist-packages/apport_python_hook.py",
line 61, in apport_excepthook
from io import StringIO File "/usr/lib/python2.7/io.py", line 51,
in
import _io ImportError: /usr/lib/python2.7/lib-dynload/_io.so:
undefined symbol:
PyUnicodeUCS4_EncodeUTF32
Original exception was: Traceback
(most recent call last): File
"/usr/lib/pymodules/python2.7/rosdep2/rospack.py",
line 37, in
import subprocess File "/usr/lib/python2.7/subprocess.py",
line 429, in
import select ImportError: No module named select Traceback (most
recent call last): File
"/usr/lib/pymodules/python2.7/rosdep2/rospack.py",
line 37, in
import subprocess File "/usr/lib/python2.7/subprocess.py",
line 429, in
import select ImportError: No module named select Error in
sys.excepthook: Traceback (most recent
call last): File
"/usr/lib/python2.7/dist-packages/apport_python_hook.py",
line 61, in apport_excepthook
from io import StringIO File "/usr/lib/python2.7/io.py", line 51,
in
import _io ImportError: /usr/lib/python2.7/lib-dynload/_io.so:
undefined symbol:
PyUnicodeUCS4_EncodeUTF32
Original exception was: Traceback
(most recent call last): File
"/usr/lib/pymodules/python2.7/rosdep2/rospack.py",
line 37, in
import subprocess File "/usr/lib/python2.7/subprocess.py",
line 429, in
import select ImportError: No module named select [rospack] Error:
could not find python module
'rosdep2.rospack'. is rosdep
up-to-date (at least 0.10.4)?
I'm using Ubuntu 12.10 (Quantal), with ROS-HYDRO.
My rosdep version is:
$ rosdep --version
0.10.25
I've already tried to find some solution, but I couldn't. I've tried to 'autoremove' ros and clean install again, but nothing changed.
When I try to 'import select' using the python environment in terminal, everything is OK.
My PYTHONPATH is OK, as follows:
$ echo $PYTHONPATH
/home/usr/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages
Can anybody help me please?
Originally posted by mah_mpc on ROS Answers with karma: 16 on 2014-04-04
Post score: 0
Original comments
Comment by mah_mpc on 2014-04-06:
Thanks for trying to help! I had some other problems with my ubuntu and so I re-installed everything! Now I don't have that problem anymore, neither the other problems... =)
|
Based on a question asked in this link http://answers.ros.org/question/127581/rgbdslam-and-octomap/,
Mr. Felix answered, "Have rgbdslam send out the clouds+tf transformations and let the octomap_server listen." which I already did as depicted in the rxgraph attached below.
http:// s7.postimg.org/xw5l3rph7/Screenshot_from_2014_04_05_18_02_14.png
Given I had already did this, how do you visualize the Octomap? I read that the visualization tool is Octovis which I already installed but how will you render the registered point clouds to the Octovis?
Originally posted by Xegara on ROS Answers with karma: 52 on 2014-04-05
Post score: 0
Original comments
Comment by xuningy on 2014-05-28:
I am running into the same issue for not being able to map rgbdslam to octomap with /tf issues. SInce you mentioned that Mr. Felix's suggestions were implemented in your solution " "Have rgbdslam send out the clouds+tf transformations and let the octomap_server listen.", would you be able to elaborate on how you did that ( as your rxgraph is a very tiny screen shot )
|
Hi everybody, I'm a little bit new to ROS and making classes in c++ so excuse me for all the crap I'll surely write. My problem is that: I want to write a class called Cao and call its function from the Ros file which contains the main, but when I try to catkin_make it gives me the error: undefined reference to `Cao::SayHello()'.
Since the absence of a main I've declared the class a library adding this line in the CMakeLists.txt:
add_library(quadcopter_ctrl src/Cao.cpp)
The header Cao.h looks like this:
#ifndef CAO_H_
#define CAO_H_
#include <iostream>
class Cao{
private:
int state;
public:
Cao();
virtual ~Cao();
static void SayHello();
};
#endif /* CAO_H_ */
And the Cao.cpp is like this:
#include "Cao.h"
Cao::Cao(){
state = 0;
}
Cao::~Cao(){
// TODO Auto-generated destructor stub
}
void Cao::SayHello(){
std::cout << "Hello World!";
std::cout << std::endl;
}
I'm calling the SayHello function in this quadcopterRosCtrl.cpp file:
#include "ros/ros.h"
#include "geometry_msgs/PoseStamped.h"
#include "std_msgs/String.h"
#include "../include/quadcopter_ctrl/termColors.h"
#include "../include/quadcopter_ctrl/quadcopterRosCtrl.h"
#include "Cao.h"
geometry_msgs::PoseStamped quadPos;
int quadPosAcquired = 0;
void quadPosFromVrep(const geometry_msgs::PoseStamped::ConstPtr& pubQuadPose)
{
quadPos.pose.position.x = pubQuadPose->pose.position.x;
quadPos.pose.position.y = pubQuadPose->pose.position.y;
quadPosAcquired = 1;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "quadcopterRosCtrl");
ros::NodeHandle n;
ros::Publisher targetObjPos_pub = n.advertise<geometry_msgs::PoseStamped>("vrep/targetObjPos", 100);
ros::Subscriber quadcopPos_sub = n.subscribe("vrep/quadcopPos", 100, quadPosFromVrep);
Cao::SayHello();
[ SOME CODE IN THE MIDDLE ]
return 0;
}
And I didn't manage to get rid of this error in any way. It's something related to the code or to the CMakeList.txt?? The full output error after catkin_make is the following:
CMakeFiles/quadcopterRosCtrl.dir/src/quadcopterRosCtrl.cpp.o: In function `main':
/home/francescow/catkin_ws/src/quadcopter_ctrl/src/quadcopterRosCtrl.cpp:103: undefined reference to `Cao::SayHello()'
collect2: ld returned 1 exit status
make[2]: *** [/home/francescow/catkin_ws/devel/lib/quadcopter_ctrl/quadcopterRosCtrl] Error 1
make[1]: *** [quadcopter_ctrl/CMakeFiles/quadcopterRosCtrl.dir/all] Error 2
make: *** [all] Error 2
Thanks in advance.
Originally posted by merosss on ROS Answers with karma: 723 on 2014-04-05
Post score: 3
Original comments
Comment by BP on 2014-04-05:
show full error pls
Comment by merosss on 2014-04-05:
Just edited. I've made some slight changes but error is always the same.
Comment by merosss on 2014-04-05:
Thanks BP, it worked!!! Although I was missing some few other things, like where to put the linking instruction, and the meaning of the syntax, but definitely that was the problem. (Can I answer clearly my own question just for the records or that's enough?)
Comment by BP on 2014-04-05:
I don't know. In future try to look up things in tutorials (for instance CMakeList - there are also descriptions).
|
I have downloaded the newest development version of OpenCV ( 3.0) which I am using in python. But when using ROS Hydro I am including the "old" version (2 point something). But then I cannot use certain functions and some of the constants are named differently.
How do I include ROS, but still use my own version of OpenCV?
Originally posted by Frederik Hagelskjær on ROS Answers with karma: 23 on 2014-04-05
Post score: 1
|
I have VMWare Player 5 installed on my Windows 7 laptop. I thought it would be a simple matter of installing Ubuntu in another partition using Player and then adding Hydro Medusa on top of Ubuntu. In trying to follow the ROS instructions I have become confused. Looking at the command line entries makes it seem like a Linux OS should already be installed. It's like the chicken and egg thing. I don't know if I'm approaching this correctly. Can someone get me pointed in the right direction?
Originally posted by sdjeff57 on ROS Answers with karma: 1 on 2014-04-05
Post score: 0
|
Hi Guys,
I am new with ROS and would like to implement autonomous outdoor navigation using GPS/INS device. I have a differential wheel robot and I can now control it remotely in ROS. Can you give me an idea which pkg to use and how to proceed in order to be able to implement autonomous outdoor navigation using GPS/INS device?
Thx
Originally posted by fatiba on ROS Answers with karma: 1 on 2014-04-05
Post score: 0
Original comments
Comment by CMobley7 on 2015-02-26:
Fatiba,
Any luck on finding applicable packages.
Very Respectfully,
Chris
|
Hello Everyone,
I am trying to calculate the volume of octomap generated in octomap_server. Also I only want to calculate the volume containing occupied voxels(not the empty ones). Also some voxels overlap each other. So any thoughts on calculate the the volume?. Thank you.
Originally posted by metal on ROS Answers with karma: 174 on 2014-04-05
Post score: 1
Original comments
Comment by AHornung on 2014-04-07:
Don't change your question and replace it with a completely different one! Leave your questions for future reference and post a new one if it's not an addition or clarification on your original question.
Comment by metal on 2014-04-08:
Sorry about that. I have re-posted the new question, here http://answers.ros.org/question/150731/iterating-through-leaves-in-an-octomap/.
Please share your thoughts on that. Thank you.
|
I am working with the BeagleBone Black and Asus Xtion Pro Live.
(lsusb gives device ID 1d27:0600, exactly what I expect)
I have installed Ubuntu 12.04 (hard floating point edition for BeagleBoneBlack), and ROS Hydro.
After installing all the prerequisites, I built the OpenNI and Sensor software packages.
I can navigate to ~/OpenNI/Platform/Linux/Bin/Arm-Release, and run some of the samples, and they work fine. For example, running Sample-NiSimpleRead returns me distance at roughly 30Hz
However, when I try to roslaunch openni_launch, I get nothing.
No error messages, no reports of problems connecting to USB. Just no data coming out.
The cluster of nodes starts publishing a bunch of TF messages, and they seem to be what is desired.
However, I get no other rostopics published.
I have tried to use Openni2 launch and camera, but they refuse to build because they say they can't find libopenni2 (even though I built and installed openni2.2 as well)
Here is what I get:
ubuntu@ubuntu-armhf:~/catkin_ws$ roslaunch openni_launch openni.launch --screen
... logging to /home/ubuntu/.ros/log/2eca5c12-bd41-11e3-a675-c8a030a9e305/roslaunch-ubuntu-armhf-1039.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server (COMMENTED OUT DUE TO LOW KARMA)
SUMMARY
PARAMETERS
/camera/camera_nodelet_manager/num_worker_threads
/camera/depth_rectify_depth/interpolation
/camera/depth_registered_rectify_depth/interpolation
/camera/disparity_depth/max_range
/camera/disparity_depth/min_range
/camera/disparity_registered_hw/max_range
/camera/disparity_registered_hw/min_range
/camera/disparity_registered_sw/max_range
/camera/disparity_registered_sw/min_range
/camera/driver/depth_camera_info_url
/camera/driver/depth_frame_id
/camera/driver/depth_registration
/camera/driver/device_id
/camera/driver/rgb_camera_info_url
/camera/driver/rgb_frame_id
/rosdistro
/rosversion
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [1052]
ROS_MASTER_URI=(COMMENTED OUT DUE TO LOW KARMA)
setting /run_id to 2eca5c12-bd41-11e3-a675-c8a030a9e305
process[rosout-1]: started with pid [1065]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [1077]
process[camera/driver-3]: started with pid [1089]
[ INFO] [1396757346.036883399]: Initializing nodelet with 4 worker threads.
[ INFO] [1396757346.458945357]: Loading nodelet /camera/driver of type openni_camera/driver to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757346.462795566]: /camera/depth -> /camera/depth
[ INFO] [1396757346.466614774]: /camera/depth_registered -> /camera/depth_registered
[ INFO] [1396757346.468080191]: /camera/ir -> /camera/ir
[ INFO] [1396757346.470297191]: /camera/projector -> /camera/projector
[ INFO] [1396757346.474172607]: /camera/rgb -> /camera/rgb
process[camera/debayer-4]: started with pid [1117]
[ INFO] [1396757347.335602982]: Loading nodelet /camera/debayer of type image_proc/debayer to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757347.339695774]: /camera/image_color -> /camera/rgb/image_color
[ INFO] [1396757347.345555066]: /camera/image_mono -> /camera/rgb/image_mono
[ INFO] [1396757347.347040357]: /camera/image_raw -> /camera/rgb/image_raw
process[camera/rectify_mono-5]: started with pid [1131]
[ INFO] [1396757348.245950608]: Loading nodelet /camera/rectify_mono of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757348.251764066]: /camera/image_mono -> /camera/rgb/image_mono
[ INFO] [1396757348.253316524]: /camera/image_rect -> /camera/rgb/image_rect_mono
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/rectify_color-6]: started with pid [1146]
[ INFO] [1396757348.913601941]: Loading nodelet /camera/rectify_color of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757348.918652274]: /camera/image_mono -> /camera/rgb/image_color
[ INFO] [1396757348.921174233]: /camera/image_rect -> /camera/rgb/image_rect_color
process[camera/rectify_ir-7]: started with pid [1160]
[ INFO] [1396757349.529303816]: Loading nodelet /camera/rectify_ir of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757349.538406441]: /camera/image_mono -> /camera/ir/image_raw
[ INFO] [1396757349.542360441]: /camera/image_rect -> /camera/ir/image_rect_ir
process[camera/depth_rectify_depth-8]: started with pid [1174]
[ INFO] [1396757350.136137899]: Loading nodelet /camera/depth_rectify_depth of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757350.140509441]: /camera/image_mono -> /camera/depth/image_raw
[ INFO] [1396757350.147281024]: /camera/image_rect -> /camera/depth/image_rect_raw
process[camera/depth_metric_rect-9]: started with pid [1188]
[ INFO] [1396757350.753727900]: Loading nodelet /camera/depth_metric_rect of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757350.760690525]: /camera/image -> /camera/depth/image_rect
[ INFO] [1396757350.762344858]: /camera/image_raw -> /camera/depth/image_rect_raw
process[camera/depth_metric-10]: started with pid [1202]
[ INFO] [1396757351.345033983]: Loading nodelet /camera/depth_metric of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757351.350987316]: /camera/image -> /camera/depth/image
[ INFO] [1396757351.356612733]: /camera/image_raw -> /camera/depth/image_raw
process[camera/depth_points-11]: started with pid [1216]
[ INFO] [1396757351.977357441]: Loading nodelet /camera/depth_points of type depth_image_proc/point_cloud_xyz to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757351.982807316]: /camera/image_rect -> /camera/depth/image_rect_raw
[ INFO] [1396757351.989016275]: /camera/points -> /camera/depth/points
process[camera/register_depth_rgb-12]: started with pid [1230]
[ INFO] [1396757352.593318400]: Loading nodelet /camera/register_depth_rgb of type depth_image_proc/register to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757352.597428566]: /camera/depth/camera_info -> /camera/depth/camera_info
[ INFO] [1396757352.601426983]: /camera/depth/image_rect -> /camera/depth/image_rect_raw
[ INFO] [1396757352.604415233]: /camera/depth_registered/image_rect -> /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1396757352.607016566]: /camera/rgb/camera_info -> /camera/rgb/camera_info
process[camera/points_xyzrgb_sw_registered-13]: started with pid [1244]
[ INFO] [1396757353.224106108]: Loading nodelet /camera/points_xyzrgb_sw_registered of type depth_image_proc/point_cloud_xyzrgb to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757353.227869775]: /camera/depth_registered/image_rect -> /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1396757353.232736608]: /camera/depth_registered/points -> /camera/depth_registered/points
[ INFO] [1396757353.234236858]: /camera/rgb/camera_info -> /camera/rgb/camera_info
[ INFO] [1396757353.237942275]: /camera/rgb/image_rect_color -> /camera/rgb/image_rect_color
process[camera/depth_registered_rectify_depth-14]: started with pid [1258]
[ INFO] [1396757353.848848233]: Loading nodelet /camera/depth_registered_rectify_depth of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757353.855331442]: /camera/image_mono -> /camera/depth_registered/image_raw
[ INFO] [1396757353.857538067]: /camera/image_rect -> /camera/depth_registered/hw_registered/image_rect_raw
process[camera/points_xyzrgb_hw_registered-15]: started with pid [1272]
[ INFO] [1396757354.480069442]: Loading nodelet /camera/points_xyzrgb_hw_registered of type depth_image_proc/point_cloud_xyzrgb to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757354.487196817]: /camera/depth_registered/image_rect -> /camera/depth_registered/hw_registered/image_rect_raw
[ INFO] [1396757354.488677858]: /camera/depth_registered/points -> /camera/depth_registered/points
[ INFO] [1396757354.492098025]: /camera/rgb/camera_info -> /camera/rgb/camera_info
[ INFO] [1396757354.493744108]: /camera/rgb/image_rect_color -> /camera/rgb/image_rect_color
process[camera/disparity_depth-16]: started with pid [1286]
[ INFO] [1396757355.114874650]: Loading nodelet /camera/disparity_depth of type depth_image_proc/disparity to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757355.119781192]: /camera/left/disparity -> /camera/depth/disparity
[ INFO] [1396757355.121095400]: /camera/left/image_rect -> /camera/depth/image_rect_raw
[ INFO] [1396757355.124713233]: /camera/right -> /camera/projector
process[camera/disparity_registered_sw-17]: started with pid [1300]
[ INFO] [1396757355.771074525]: Loading nodelet /camera/disparity_registered_sw of type depth_image_proc/disparity to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757355.777746192]: /camera/left/disparity -> /camera/depth_registered/disparity
[ INFO] [1396757355.779304358]: /camera/left/image_rect -> /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1396757355.783324733]: /camera/right -> /camera/projector
process[camera/disparity_registered_hw-18]: started with pid [1314]
[ INFO] [1396757356.419458484]: Loading nodelet /camera/disparity_registered_hw of type depth_image_proc/disparity to manager camera_nodelet_manager with the following remappings:
[ INFO] [1396757356.425178859]: /camera/left/disparity -> /camera/depth_registered/disparity
[ INFO] [1396757356.426905775]: /camera/left/image_rect -> /camera/depth_registered/hw_registered/image_rect_raw
[ INFO] [1396757356.430642859]: /camera/right -> /camera/projector
process[camera_base_link-19]: started with pid [1328]
process[camera_base_link1-20]: started with pid [1339]
process[camera_base_link2-21]: started with pid [1350]
process[camera_base_link3-22]: started with pid [1361]
Originally posted by Maeth on ROS Answers with karma: 1 on 2014-04-05
Post score: 0
|
Hi
I am currently publishing msgs out of a bag file, and naturally the time will go backwards everytime I re-run my bagfile. I want my nodes to gracefully restart like RVIZ
Here is my code snippet - inside callback function
if self.tmap_loaded == True and self.tmap_prop_loaded == True:
# detection of negative time step
dt = (rospy.Time.now() - self.last_update_ros_time)
self.last_update_ros_time = rospy.Time.now()
if dt.to_sec() < 0:
print "Negative timestep Clearing tf buffer"
self.tf_L.clear()
time.sleep(10)
print "Cleared Buffer"
return
# generate a pointcloud to represent the UWB FOV mask
uwb_mask_pcd = self._gen_pointcloud_uwb_fov(data)
exception = False
try:
# transform points in mask using current tf transform
self.tf_L.waitForTransform("/map","/body",uwb_mask_pcd.header.stamp,rospy.Dur.(1.0))
uwb_mask_pcd = self.tf_listener.transformPointCloud("/map", uwb_mask_pcd)
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
# print str(e)
exception = True
if exception == False:
self._process_uwb_scan(data, uwb_mask_pcd)
Here is the output of the code after the bagfiles stops transmitting (clock stops)
[ERROR] [WallTime: 1396791647.721125] [1354679082.276449] bad callback: <bound method
self.tf_listener.waitForTransform("/map",
"/body", uwb_mask_pcd.header.stamp,
rospy.Duration(1.0))
Exception: Lookup would require extrapolation into the past.
Requested time 1354679074.849999905
but the earliest data is at time
1354679075.295000076, when looking up transform from frame [/body] to frame
[/map]
[ERROR] [WallTime: 1396791648.735426] [1354679083.286904] bad callback: <bound method
self.tf_listener.waitForTransform("/map",
"/body", uwb_mask_pcd.header.stamp,
rospy.Duration(1.0))
Exception: Lookup would require extrapolation into the past.
Requested time 1354679074.944000006
but the earliest data is at time
1354679075.295000076, when looking up transform from frame [/body] to frame
[/map]
[ERROR] [WallTime: 1396791649.755686] [1354679084.309238] bad callback: <bound method
self.tf_listener.waitForTransform("/map",
"/body", uwb_mask_pcd.header.stamp,
rospy.Duration(1.0))
Exception: Lookup would require extrapolation into the past.
Requested time 1354679075.038000107
but the earliest data is at time
1354679075.295000076, when looking up transform from frame [/body] to frame
[/map]
So the bagfile stops publishing clock, yet waitForTransform looks like its stuck, because the error msgs keep popping up.
Then I
Restart the BagFile
This is the prints I get
Negative timestep Clearing tf buffer
then a single unable to look up transforms cache empty and then a bunch of extrapolation into the past errors
for waitForTransform.
Once print "Cleared Buffer" Occurs
I get a bunch of
extrapolation into Past and Then Future.... it keeps alternating between them.
I thought waitForTransform is meant to wait only 1 second, but what I think happened is it uses the clock to tell when one second elapsed. I think its trying to wait until the last_time in bag file + 1 second. This time will never come, since I am using sim_time so the clock is controlled by the bag file. Therefore even when I restart the bag file the code is stuck in waitForTransform.
I am using the waitForTransform function to avoid small extrapolations into the future.
Is there any way I can fix this? Or Force waitForTransform to exit?
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2014-04-06
Post score: 0
|
HI there! i created a array containing elements of type pcl::pointxyzrgb ,that is"pcl::pointxyzrgb point[160]"in a for loop,i want to check if the element is empty,i use "if (point[n]!=0)" .but when compiling,system warn that 0 is not the type of pcl::pointxyzrgb.so,i want to ask is there a way to express a empty point in pcl::pointxyzrgb format?how to initialize all the array elements with that empty point?thanks a lot!
Originally posted by keygeorge on ROS Answers with karma: 18 on 2014-04-06
Post score: 0
|
Hi,
I want to stop publishing a message to a topic after 20 iterations. For that I have written the following piece of code, but however the counter reaches to 20, the program is still publishing the message to the topic and it seems that it is disregarding the counter variable's value. How can I resolve this issue?
class node():
def __init__(self):
rosInstance = rospy
pub = rosInstance.Publisher('cmd_vel', Twist)
r = rosInstance.Rate(1)
ctrlArgs = Twist()
iteration = 0
speed = -0.1
while not rospy.is_shutdown():
self.iterate()
if iteration < 20:
cntrlArgs.linear.x = 0.2
pub.publish(ctrlArgs)
r.sleep()
def iterate(self):
iteration = iteration + 1
And then I run the program:
if __name__ == '__main__':
rospy.init_node('iterator', anonymous=False)
try:
nn = node()
except rospy.ROSInterruptException: pass
Thank you
Originally posted by Warrior on ROS Answers with karma: 61 on 2014-04-06
Post score: 0
|
Hi， I wander known how I can subscribe a known laserscan
Originally posted by flightgong on ROS Answers with karma: 3 on 2014-04-06
Post score: 0
|
Hi,
I am using Ubuntu 12.04 with Hydro.
With reference to Points and Lines tutorial and Basic Shapes, I tried to create marker to each goal i send on rviz.
Essentially, I am trying to record and visualize all the goals i have sent and delete the goal i clicked for the second time. The points are working fine, while the lines are not showing up. Following is my code:
Class createMarker;
void Class::goalcb(const geometry_msgs::PoseStamped::ConstPtr& waypoint)
{
check = false;
x.push_back (waypoint->pose.position.x);
y.push_back (waypoint->pose.position.y);
for (int count = 0; count < x.size(); count ++)
printf("Starting Count%u X = %f, Y = %f \n", count, x[count], y[count]);
cout << "Sample 1 ="<< x.size() << endl;
for (int count = 0; count < x.size(); count ++)
{
printf("Y count = %f, Y que = %f\n", y[count], y[que]);
if ( count!=que && x[count]<(x[que]+0.05) && x[count]>(x[que]-0.05) && y[count]<(y[que]+0.05) && y[count]>(y[que]-0.05) )
{
Point = count;
printf("X = %f\n", x[count]);
reaction = visualization_msgs::Marker::DELETE;
x.erase(x.begin() + count);
y.erase(y.begin() + count);
//createMarker.makeMarker();
check = true;
/** x.erase(x.begin() + que);
y.erase(y.begin() + que);*/
printf("Value of point %u is erased\n", count);
printf("X after erased = %f\n", x[count]);
}
cout << "Sample 2 ="<< x.size() << endl;
Point = count;
if (check = true && count == x.size())
reaction = visualization_msgs::Marker::DELETE;
else
reaction = visualization_msgs::Marker::ADD;
createMarker.makeMarker();
vector<float>::const_iterator xii, yii;
xii = x.begin() + que;
yii = y.begin() + que;
cout << "X end =" << *xii << endl;
cout << "Y end =" << *yii << endl;
//printf("X end = %d, Y end = %d\n", x.end(), y.end());
}
printf("\n************************************\n");
for (int count = 0; count < x.size(); count ++)
printf("Point%u X = %f, Y = %f \n", count, x[count], y[count]);
printf("************************************\n");
if (check)
que --;
else
que ++;
return;
}
void Class::makeMarker()
{
visualization_msgs::Marker points, line_strip;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
points.header.frame_id = line_strip.header.frame_id = "/map";
points.header.stamp = line_strip.header.stamp = ros::Time::now();
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
points.ns = "Points";
line_strip.ns = "Lines";
points.id = line_strip.id = Point; //trying out
// Set the marker type. Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
points.type = visualization_msgs::Marker::POINTS;
line_strip.type = visualization_msgs::Marker::LINE_STRIP;
// Set the marker action. Options are ADD and DELETE
points.action = line_strip.action = reaction;//visualization_msgs::Marker::ADD;
if (reaction == visualization_msgs::Marker::DELETE)
printf("Point %u is deleted\n", Point);
else
printf("making marker %u at x = %f, y = %f\n", Point, x[Point], y[Point]);
// Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header
geometry_msgs::Point p;
p.x = x[Point];
p.y = y[Point];
p.z = 0;
points.points.push_back(p);
line_strip.points.push_back(p);
/**points.pose.position.x = x[Point];
points.pose.position.y = y[Point];
line_strip.pose.position.x = x[Point];
line_strip.pose.position.y = y[Point];
points.pose.position.z = line_strip.pose.position.z = 0;*/
points.pose.orientation.w = line_strip.pose.orientation.w = 1.0;
points.pose.orientation.x = points.pose.orientation.y = points.pose.orientation.z = 0;
//marker.text = Point;
// Set the scale of the marker -- 1x1x1 here means 1m on a side
points.scale.x = 0.1;
points.scale.y = 0.1;
line_strip.scale.x = 0.1;
// Set the color -- be sure to set alpha to something non-zero!
points.color.g = 1.0f;
points.color.a = 1.0;
line_strip.color.b = 1.0;
line_strip.color.a = 1.0;
//marker.lifetime = ros::Duration();
// Publish the marker
marker_pub.publish(points);
marker_pub.publish(line_strip);
}
Please help. Thank you.
Originally posted by chao on ROS Answers with karma: 153 on 2014-04-06
Post score: 1
Original comments
Comment by chao on 2014-04-06:
I suppose that it is the push_back function in the makeMaker() causing the problem. Any suggestion on how i can solve it? Thanks.
|
Hi,
I am using different AR tags and need to know how I can save their poses into a text file so I can use their poses in a MATLAB code. When I use "echo", it gives me a long list with different markers_id and the poses are not fixed. Any suggestion?
Thanks
Originally posted by miloup on ROS Answers with karma: 31 on 2014-04-06
Post score: 0
|
Hi,
I write a script to listen from a robot laser. I know which topic it is, but I cannot find the message name. So, I cannot use its attribute like ranges[].
Could u please tell me how to deal with it, I am a beginner to ros
Originally posted by flightgong on ROS Answers with karma: 3 on 2014-04-06
Post score: 0
|
Has anyone tried this tutorial of ROS for creating messages in order to communicate with the nodes.
I am using ubuntu 12.04 ver and ROS Hydro for this.
The error what i am getting is that i am not able to catkin_make it. It gives some error regarding the make file already installed in ros directory of linux in the folder and i am not able to generate the source file or anything.
Any feedback regarding this is welcomed...
thnks
Originally posted by sonny on ROS Answers with karma: 33 on 2014-04-06
Post score: 0
Original comments
Comment by Tirjen on 2014-04-07:
Please give more details of what you are doing and of the error you get.
Comment by sonny on 2014-04-07:
I am getting an error smthing like this,
CMake Error at /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:85 (message):
add_message_files() directory not found:
/home/traininghes/catkin_ws/src/hrsl/msg
Call Stack (most recent call first):
hrsl/CMakeLists.txt:48 (add_message_files)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
Comment by Tirjen on 2014-04-07:
Please edit also your question posting your CMakeLists.txt.
|
Hi, I want to implement path planning algorithm(A star) on turtle-bot.
Is it possible to do along with amcl demo.
How can i read the obstacles in the map? And how the cost of some position in the map can be changed if i want some places in the map to be avoided.
Can someone suggest me how to go with it.
Thank you.
Originally posted by Chennamaneni on ROS Answers with karma: 1 on 2014-04-07
Post score: 0
|
I'm using rosbridge with catkin packages.
ros_rope (the webserver for the GUI) is started with a python script. At the same time rosbridge_websocket is started. Here's my launchfile:
<launch>
<node name="ros_rope_server" pkg="ros_rope" type="server.py" output="screen" />
<node name="ros_rope_bridge" pkg="rosbridge_server" type="rosbridge_websocket" />
<node name="ros_rope_helper" pkg="ros_rope_helper" type="listener.py" output="screen" />
</launch>
Additionally there's another ROS node ros_rope_test providing the different services for the gui:
<launch>
<node name="ros_rope_test_server" pkg="ros_rope_test" type="rope_server.py" output="screen" />
</launch>
I start both packages with roslaunch ros_rope server and roslaunch ros_rope_test server.
When the ros_rope executes the first service call to ros_rope_test, it throws the following exception:
[ERROR] [WallTime: 1396864502.429285] [Client 0] [id: call_service:/get_process_list:2] call_service InvalidPackageException: Unable to load the manifest for package ros_rope_test. Caused by: ros_rope_test
The next calls work without any problem. So this exception is only thrown once after the node is started.
How can I fix this?
Originally posted by Pro on ROS Answers with karma: 11 on 2014-04-07
Post score: 1
Original comments
Comment by jihoonl on 2014-04-12:
Did you make sure service is available before you call service?
Comment by Pro on 2014-04-13:
Yes, I can call the service with rosservice call -> The service is definetly up and running. I can also reproduce this behavior by simply restarting the rosbridge_server rosbridge_websocket. Thus rosbridge causes the error after each restart. Maybe it's related to catkin packages?
Comment by jihoonl on 2014-04-13:
Can you provide any test code? So I can dig out the problem. I am not sure how to reproduce the given issue.
Comment by Pro on 2014-04-14:
Here are two ros packages to reproduce this behavior: https://www.dropbox.com/s/5acl60sygzjyf51/gui_process_editor.tar.gz
Just catkin_make and start them with roslaunch rosbridge_test_service server and roslauch rosbridge_test_webapp server. Then open your browser http://localhost:3000
Comment by Pro on 2014-04-14:
It looks like this problem only occurs when using backbone.js (see the comments in main.js file within the webapp folder)
Comment by jihoonl on 2014-04-14:
It complains about ros_rope package missing when I tried to start rosbridge_test_webapp server. Can you share this? Or any simple way to replicate the problem would be good too.
Comment by Pro on 2014-04-14:
Oh, sorry, here again: https://www.dropbox.com/s/h088mhtyqwf34zw/rosbridge_test_2.tar.gz Unfortunately I didn't found any simpler way than creating these two packages...
Comment by jihoonl on 2014-04-16:
I am following this. Please wait me for test. I just got too many things are loaded on my todo list these days.
|
I'm going through the rosjava tutorials, and I'm running up against problems with making unofficial messages.
I followed all of the steps in section 2.1, but when I attempt to catkin_make, my build fails. I get the following:
.
(...)
:my_java_library:jar UP-TO-DATE
:foo_msgs:generateSources UP-TO-DATE
:foo_msgs:compileJava UP-TO-DATE
:foo_msgs:processResources UP-TO-DATE
:foo_msgs:classes UP-TO-DATE
:foo_msgs:jar
FAILURE: Build failed with an exception.
* What went wrong:
Could not copy MANIFEST.MF to '/home/team5/RSS-hydro/src/myjava_msgs/foo_msgs/build/tmp/jar/MANIFEST.MF'.
> A Jar can only accept a valid file or directory: /home/team5/RSS-hydro/src/myjava_msgs/foo_msgs/build/classes/main
I'm not sure what I need to do to fix this...have you seen it before? I've gotten through the Publisher/Listener tutorials, set up launch files, etc, so I thought that I was on the right track...but I have no clue where to run with this one.
Thanks!
Originally posted by viccro on ROS Answers with karma: 1 on 2014-04-07
Post score: 0
|
real:
1.1239999532699585, 1.1260000467300415, 1.1260000467300415, 1.1260000467300415, 1.128000020980835, 1.128999948501587, 1.128999948501587....
sensor_msgs/LaserScan
simulated:
[-5.592209339141846, -5.592210292816162, 2.2351741790771484e-08]....
std_msgs/String
How can I get a sensor_msgs/LaserScan from the simulated Hokuyo?
Thank you!
Originally posted by nita-daniel on ROS Answers with karma: 1 on 2014-04-07
Post score: 0
|
I started to go through the ROS tutorials and I reached roswtf. Now it says that it cant find the rosinstall python module, but it is installed. Not sure if I ever going to need rosinstall, but right now this warning just bothers me. Is it possible to know why roswtf says there is a problem? Or can I suppress the warning?
I'm running Ubuntu 12.04 with ROS Hydro.
viki@ubuntu:~/catkin_ws/devel$ roswtf
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING You are missing core ROS Python modules: rosinstall --
================================================================================
ROS Master does not appear to be running.
Online graph checks will not be run.
ROS_MASTER_URI is [htp://localhost:11311]
.
viki@ubuntu:~/catkin_ws/devel$ dpkg --get-selections | grep rosinstall
python-rosinstall install
viki@ubuntu:~$ which rosinstall
/usr/local/bin/rosinstall
I even tried apt-get reinstall and purge remove and install, but no avail.
I installed rosinstall_shellcompletion with pip, maybe that caused some nasty stuff under the roof.
Originally posted by NLZ on ROS Answers with karma: 73 on 2014-04-07
Post score: 0
|
Hi,
I'm working on an underwater robot simulator.
The dynamic and control parts are covered and I am now trying to simulate side-scan sonars, as it is a commonly used sensor in AUV.
Are there any ROS packages that already simulate this kind of sensors?
I found a few papers on the theory, but nothing usable without recoding all the ray tracing.
Thanks.
Originally posted by Olivier Kermorgant on ROS Answers with karma: 280 on 2014-04-07
Post score: 0
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I'm trying to build gazebo_ros_pkgs on saucy/indigo, and I'm getting the following build error:
[ 14%] [ 15%] Generating dynamic reconfigure files from cfg/GazeboRosCamera.cfg: /home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/GazeboRosCameraConfig.h /home/scpeters/ws/gazebo_ros_pkgs/devel/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosCameraConfig.py
Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/HokuyoConfig.h /home/scpeters/ws/gazebo_ros_pkgs/devel/lib/python2.7/dist-packages/gazebo_plugins/cfg/HokuyoConfig.py
[ 15%] Generating dynamic reconfigure files from cfg/GazeboRosOpenniKinect.cfg: /home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/GazeboRosOpenniKinectConfig.h /home/scpeters/ws/gazebo_ros_pkgs/devel/lib/python2.7/dist-packages/gazebo_plugins/cfg/GazeboRosOpenniKinectConfig.py
...
Traceback (most recent call last):
File "/home/scpeters/ws/gazebo_ros_pkgs/src/gazebo_ros_pkgs/gazebo_plugins/cfg/Hokuyo.cfg", line 41, in
from driver_base.msg import SensorLevels
ImportError: No module named msg
Traceback (most recent call last):
File "/home/scpeters/ws/gazebo_ros_pkgs/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosCamera.cfg", line 6, in
from driver_base.msg import SensorLevels
ImportError: No module named msg
Traceback (most recent call last):
make[2]: *** [/home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/HokuyoConfig.h] Error 1 File "/home/scpeters/ws/gazebo_ros_pkgs/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosOpenniKinect.cfg", line 6, in
from driver_base.msg import SensorLevels
make[2]: *** Waiting for unfinished jobs....
ImportError: No module named msg
make[2]: *** [/home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/GazeboRosCameraConfig.h] Error 1
[ 16%] [ 20%] make[2]: *** [/home/scpeters/ws/gazebo_ros_pkgs/devel/include/gazebo_plugins/GazeboRosOpenniKinectConfig.h] Error 1
[ 23%] [ 28%] make[1]: *** [gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Any ideas? I've cross-posted to the gazebo_ros_pkgs issue tracker.
Originally posted by scpeters on ROS Answers with karma: 111 on 2014-04-07
Post score: 0
|
Hello all, I knew that some people have an interest in people detection while reading some articles on this site. So, I found open_ptrack on the web(http://openptrack.org/). So, Has someone experienced of using the package ? This package is available for Hydro and Ubuntu 13.04. My computer has hydro and Ubuntu 12.04. Could you tell me your experience if you have already used the package. For example, how to use the open_ptrack?
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-07
Post score: 0
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All of the search results I find for interaction for ROS and PCL are a few years old. I'm curious if there is a way to save PCD files from Kinect streams directly by a ROS input. Let's assume that the Kinects are launched through the standard openni.launch approach with names kinect_1 and Kinect_2. Would I be able to take "snapshots" of the stream and then use that data for a PCD file and PCL applications?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-04-07
Post score: 0
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I have built a simple chassis with left and right wheels with two separate motor controllers. The motor controllers are on a simple CAN communications bus. I've written an ROS service that sends the appropriate CAN messages to command each motor to any velocity it is capable of. I call that service from an ROS node that is subscribed to the standard geometry /cmd_vel Twist type message, which can be published by the example turtlebot-tele-op node or from the RQT plugin Robot Steering.
This is sort of the chain of events:
Robot Steering -> [Twist Messages] -> Locomotion Node -> [API Messages] -> Motor API Service -> [CAN frames] -> Motor Controllers -> [current, amps] -> Motors
So I've done all this and it works fine, but I still feel like a newbie because I cannot figure out how to run all my software in Gazebo. Sure it's running on real hardware, but I'd like to add complexity and I want to test that complexity in simulation before running it on real hardware.
So I've used this ROS/Gazebo Integration Differential Drive tutorial (http://gazebosim.org/wiki/Tutorials/1.9/ROS_Motor_and_Sensor_Plugins#Differential_Drive) to attach a differential drive plugin to a simple two wheeled and caster simulated robot in Gazebo and it allows me to drive the robot around the sim from the Robot Steering rqt plugin which publishes the Twist messages. This is great, but it only executes the Robot Steering rqt plugin to publish the Twist message and then it subscribes to that Twist message and none of the other software is used. So this scenario does not test my Locomotion Node nor my Motor API Service software that I wrote.
So my question is: Am I somehow able and does it make any sense to break the chain of events above at the CAN frames link and simulate just the motor controllers and the motors in the Gazebo sim so I can test the execution of the Robot Steering, Locomotion Node, and Motor API Service? I don't see any Gazebo nor ROS tutorials that show me a means to simulate down at this level of hardware, but maybe I'm just missing something fundamental because I'm so new to this domain.
Will I have to write my own layer of software to simulate the motor controllers and motors to Gazebo? Is there a plugin that I can use that operates at this level, rather than at the Twist Message level?
Thanks in advance for any help or advice you can give.
Kurt
Originally posted by Kurt Leucht on ROS Answers with karma: 486 on 2014-04-07
Post score: 0
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I am trying to use the ROS Sensors Driver application for android devices, but have been unsuccessful in my attempts to get the app to work. Does the android_sensors_driver work on a virtualbox version of ubuntu running ROS? I have followed the directions exactly how they are stated here: http://wiki.ros.org/android_sensors_driver/Tutorials/Connecting%20to%20a%20ROS%20Master but I am not able to successfully get ROS to recognize android-sensors-driver as a node. According to the virtualbox wired connection, my IP address is 10.0.2.15. I have tried the following
http://10.0.2.15:11311/
http://ROS:11311/ because ROS is displayed when roscore is running
http://10.0.2.2:11311/ because of a suggestion on an online forum
but nothing seems to work. Any guidance would be greatly appreciated.
Originally posted by musik on ROS Answers with karma: 19 on 2014-04-07
Post score: 0
Original comments
Comment by ahendrix on 2014-04-07:
Can you include the exact commands you're running and the error output you're seeing in your question?
Comment by musik on 2014-04-10:
The terminal now recognizes the sensor drivers When I test individual node connectivity:
viki@ROS:~$ rosnode ping /android_sensors_driver_imu
rosnode: node is [/android_sensors_driver_imu]
pinging /android_sensors_driver_imu with a timeout of 3.0s
unknown network error contacting node: timed out
|
Hi all,
First of all, Ubuntu 64 bit 12.04 Hydro.
I'm trying to make an RViz plugin with animations. To get started, I modified the code from the tutorial:
http://docs.ros.org/hydro/api/rviz_plugin_tutorials/html/display_plugin_tutorial.html
If I try to do some sort of "animation" though, by creating a marker, sleeping, updating the marker, sleeping, etc., this doesn't cause anything to render. I'm guessing that this is because I'm making the entire RViz system sleep, so it can't update.
In order to get around this, for each incoming message, I fire off a thread tahtthen is in charge of painting for this thread. Unfortunately, this has led to numerous graphical glitches - and after the first one, it fails to paint for subsequent loops.
So much is abstracted away from the user in these plugins (it's actually extremely frustrating!) that I really do not have a good grasp on how the painting occurs. And there is little to no documentation on these things.
I'm looking for an explanation as to how the painting actually occurs, and possibly a suggestion on how to do animations correctly?
Originally posted by aespielberg on ROS Answers with karma: 113 on 2014-04-07
Post score: 0
Original comments
Comment by Audi on 2016-06-17:
Hi, this question is old, but can I check what is the solution to this? I want to create animation in RViz plugin as well, and bumped into similar problem if I used the update-sleep-update-sleep-... approach. RViz would only show the last published markers. Thank you very much.
|
Why does roslaunch auto-start a new master for every remote machine?
Things I've tried:
-playing w/ every variation of default tag for machines defined in the .launch
Things that work but extremely painful at our scale:
-hard coding ROS_MASTER_URI in the /opt/ros/fuerte/env.sh
I'm on the latest fuerte.
Cheers,
-Willy
Originally posted by uuilly on ROS Answers with karma: 13 on 2014-04-07
Post score: 0
Original comments
Comment by ahendrix on 2014-04-07:
I think this was a bug in roslaunch in Fuerte. I suggest upgrading to a newer version of ROS.
Comment by uuilly on 2014-04-07:
Below you said that it was fixed. Is that not the case?
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Hi, I just started with ROS and I want to make an android app that reads a QR code to decide which information it should send. After deciding which information it should send, a node should receive it and do something. The information would be a position in the world.
May I ask how I should start?
I don't know the approach I should take:
-Should I make a common android app and find a way to send the information? How can I send it to a node without the app being a node?
-Should I run a node in the cel phone and send the information via a topic?
I am quite lost because I don't know java and I am new to ROS. Not sure which approach would be easier or better.
Thanks in advance for your help.
Originally posted by Elvish Champion on ROS Answers with karma: 165 on 2014-04-07
Post score: 0
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I am trying to run Stage 4.1.1 and produce a map as I did with gmapping. With gmapping, while running stage and navigating the robot via teleoperting, I could run( rosrun gmapping slam_gmapping scan:base_scan) and then (rosrun map_server map_saver -f map_name ) and create map. How do I produce the map with hector_slam
Originally posted by msturnage on ROS Answers with karma: 1 on 2014-04-07
Post score: 0
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If I want to write a program myself with calling the gmapping or amcl package, then run it,rarther than in ROS.How can I use the package,is there any file tell me how to use it?
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-07
Post score: 0
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I am trying to run tutorial , WritingServiceClient(python) on Hydro. After rosrun beginner_tutorials add_two_ints_serr.py, I get the following errors :
from: can't read /var/mail/beginner_tutorials.srv
/home/brent/catkin_ws/src/beginner_tutorials/scripts/add_two_ints_server.py: line 4: import: command not found
/home/brent/catkin_ws/src/beginner_tutorials/scripts/add_two_ints_server.py: line 6: syntax error near unexpected token (' /home/brent/catkin_ws/src/beginner_tutorials/scripts/add_two_ints_server.py: line 6: def handle_add_two_ints(req):'
The text was copied and pasted from the tutorial text accept the line numbers.
Any help would be appreciated.
Thank you.
Originally posted by Morpheus on ROS Answers with karma: 111 on 2014-04-07
Post score: 1
Original comments
Comment by naaj on 2021-01-20:
you can find it here
#!/usr/bin/env python
from beginner_tutorials.srv import *
import rospy
def handle_add_two_ints(req):
print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
return AddTwoIntsResponse(req.a + req.b)
def add_two_ints_server():
rospy.init_node('add_two_ints_server')
s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
print "Ready to add two ints."
rospy.spin()
if __name__ == "__main__":
add_two_ints_server()
|
Hello, I recently upgraded my Turtlebot from groovy to hydro, and am now trying to subscribe to the kinect data. However, when I launch the 3dsensor.launch startup file, I get the following error:
No devices connected ... waiting for devices to be connected.
Everything else works fine, except that the Turtlebot cannot seem to find the kinect, despite the fact that the kinect is definitely plugged in. Anyone know what the problem could be?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-04-07
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-04-07:
@randylewis7: Could you check next items?
You plug your kinect to USB 2.0 on turtlebot PC.
There are two yaml file (depth_.yaml, rgb_.yaml) in ~/.ros/camera_info.
Comment by mysteriousmonkey29 on 2014-04-14:
I'm sorry but I don't understand what you're asking. about the yaml files. THe kinect is plugged in correctly but I can't find any directory called .ros/camera_info
Comment by Ken_in_JAPAN on 2014-04-14:
@randylewis7: Do you put the command cd ~/.ros and ls on a terminal? If you can't see the directory camera_info , I think you can do a calibration for kinect. Did you receive some message except for No devices connected ... ?
Comment by Ken_in_JAPAN on 2014-04-14:
I can check if I receive any messges in case that there is not camera_info. That means removing my camera_info folder. So I will do that if you wait for me.
Comment by Ken_in_JAPAN on 2014-04-14:
@randylewis7: I'm sorry. I checked that, [WARN] happens ,but the error didn't happens. I could look at a image on Rviz. I guess that you miss installing. I have experienced the error at the early version of groovy. When I reinstall ROS, I also reinstall Ubuntu OS. I like Ubuntu 12.04.
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I am trying to include the header files of ImageMagick in my catkin package.
I am using include_directories() function in CMakeLists.text file.
like this :
find_package(ImageMagick COMPONENTS magick)
include_directories(include ${ImageMagick_INCLUDES} )
still its giving the error no such file or directory.
What to do to resolve this??
Originally posted by DPK27 on ROS Answers with karma: 5 on 2014-04-07
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-04-08:
First of all if you don't use the "REQUIRED" keyword you can't even be sure that the package has been found. And second you should output the content of the variable ImageMagick_INCLUDES to check what it actually contains. It might just be empty because either the package was not found or the variable name is actually wrong and should be different.
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I'm trying to change the resolution of my Asus Xtion Pro Live. I'm currently running ROS Groovy on Ubuntu 12.04.
I am aware that there is a graphical method to do this, using rosrun rqt_reconfigure rqt_reconfigure, but is there a command line way of doing this? Or even better, is there some way such that when I use roslaunch openni_launch openni.launch, the resolution is lowered by default? The default right now is VGA 640x480 @ 30fps. I want to change it to QVGA 320x240 @ 30fps.
I tried adding <arg name="image_node" value="5" /> to my openni.launch file, but it didn't do anything. I set the value to 5 because using the graphical method, QVGA 320x240 @ 30fps is labelled as (5).
Can someone help me out here?
Originally posted by Andrew.A on ROS Answers with karma: 324 on 2014-04-07
Post score: 1
|
Hi,
I have a Pandaboard ES and i installed Arch linux by following theese instructions => archlinuxarm.org/platforms/armv7/ti/pandaboard
After that when i try to install ros-hydro by following these instructions => wiki.ros.org/hydro/Installation/Arch
it fails at yaourt ros-hydro, saying that armv7h is not supported.
For example, ros-hydro-catkin 's PKGBUILD doesn't contain armv7h architecture in its arch array. aur.archlinux.org/packages/ros-hydro-catkin/
When i download its PKGBUILD manually and add 'armv7h' to its arch array. it also gives error.
How can i install ros-hydro on my pandaboard? (i don't want to use ubuntu).
Originally posted by lvntbkdmr on ROS Answers with karma: 23 on 2014-04-07
Post score: 1
Original comments
Comment by ahendrix on 2014-04-07:
Why don't you want to use Ubuntu?
Comment by lvntbkdmr on 2014-04-08:
i'm not sure but i think ubuntu uses more resources. I tried installing ubuntu-12.04-preinstalled-desktop-armhf+omap4.img.gz and ROS Hydro. I was able to install them without any trouble, but when i ran hector_mapping package with a Hokuyo URG. It used %105 of cpu and map was disaster.
|
Hi everybody,
I configured my non static map, but I have not figured out how to read information on obstacles. The type of topic (/move_base_node/local_costmap/obstacles) is nav_msgs::GridCells ?
I could use occupancy grid ?
thanks
#Independent settings for the planner's costmap
global_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 2.5
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 20.0
height: 20.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
#Independent settings for the local costmap
local_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
map_type: costmap
transform_tolerance: 0.2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.25
observation_sources: base_scan
#base_scan_marking: {sensor_frame: base_scan_link,
# data_type: PointCloud2,
# topic: /base_scan/marking,
# expected_update_rate: 0.2,
# observation_persistence: 0.0,
# marking: true,
# clearing: false,
# min_obstacle_height: 0.06,
# max_obstacle_height: 2.0}
base_scan: {sensor_frame: base_laser_front_link,
data_type: LaserScan,
topic: /base_scan,
expected_update_rate: 0.2,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -0.10,
max_obstacle_height: 2.0}
#change this
footprint: [[0.26, 0.18],
[0.26, 0.014],
[0.31, 0.014],
[0.31, -0.014],
[0.26, -0.014],
[0.26, -0.18],
[-0.27, -0.18],
[-0.27, 0.18]]
controller_frequency: 10.0
controller_patience: 15.0
clearing_radius: 0.25
footprint_padding: 0.03
Originally posted by mrshifo on ROS Answers with karma: 1 on 2014-04-07
Post score: 0
Original comments
Comment by Mike Charikov on 2014-04-08:
You have a problem with reading topic /move_base_node/local_costmap/obstacles? Is it epty or something else? Did not quite understand the question.
Comment by mrshifo on 2014-04-09:
This is my code for read where are the obstacles:
#include "ros/ros.h"
#include "nav_msgs/GridCells.h"
void chatterCallback(const nav_msgs::GridCells::ConstPtr& msg)
{
ROS_INFO("width: [%f]", msg->cell_width);
ROS_INFO("height: [%f]", msg->cell_height);
ROS_INFO("size: [%f]", msg->cells.size());
ROS_INFO("pos_x: [%f]", msg->cells[0].x); // segmentation fault if there are not obstacle's
ROS_INFO("pos_y: [%f]", msg->cells[0].y);
ROS_INFO("pos_z: [%f]", msg->cells[0].z);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/move_base_node/local_costmap/obstacles", 1000, chatterCallback);
ros::spin();
return 0;
}
The Problem is:
if there are not obstacles:
return segmentation fault
width = 0.05 height =0.05 size =0.0000
how can I know the size of the array cells[] ? I would like to know if there are obstacles and where
Comment by Mike Charikov on 2014-04-09:
msg->cells.size() ? You already have it in your code.
Comment by mrshifo on 2014-04-09:
Yes but msg->cells.size() don't return the dimension of the array !!
So how can I know the last index of the array cells[] ?
( https://www.dropbox.com/s/0e61wd46v4201jg/screen.png )
Comment by Mike Charikov on 2014-04-09:
msg->cells[] is one-dimensional array, as far as i see. So, if msg->cells.size() == 0, then there are no obstacles. If msg->cells.size()>0, then the last index of array == msg->cells.size()-1. In your code you always read first member in array (cells[0]).
Comment by mrshifo on 2014-04-09:
Thank you very much,
but why ROS_INFO("size: [%f]", msg->cells.size()); return size = 0.05000 when there are obstacles ?
the msg->cells.size() should return the number of cells occupied by obstacles but it did not happen.
Comment by mrshifo on 2014-04-10:
Right !! Thank you very much, return the correct value.
But I have noticed that sometimes the information remain obstacles in the map. I attach photos and configuration files. I do not understand why.
https://www.dropbox.com/s/4bxzlid7e25mwuu/obstacle_remain.png
https://www.dropbox.com/s/4bxzlid7e25mwuu/obstacle_remain.png
https://www.dropbox.com/s/eu7xq4nzpbdrjeb/base_laser.png
https://www.dropbox.com/s/ygvetcp7j2yspuu/config.txt
thanks
Comment by Mike Charikov on 2014-04-10:
It's hard to say why: cannot corellate rviz and sim images on https://www.dropbox.com/s/4bxzlid7e25mwuu/obstacle_remain.png. Can you add laser visualisation in rviz?
Comment by Mike Charikov on 2014-04-14:
It's hard to say why: cannot corellate rviz and sim images on https://www.dropbox.com/s/4bxzlid7e25mwuu/obstacle_remain.png. Can you add laser visualisation in rviz?
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I have a Fotonic E70P (ToF camera) publishing a Pointcloud2 topic. So I would like to know a good way to reconstruct a 3D scene through ICP and get published an odometry topic. Could any of the available software for RGBD cameras be used? RGBDSLAM for instance? Or using PCL directly?
I am using ubuntu 12.04 with Hydro and ethzasl_icp_mapping is not available for my version.
Thanks.
Originally posted by Dani C on ROS Answers with karma: 126 on 2014-04-08
Post score: 1
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I'm really new to ROS and Arduino. I get a problem in arduino . When I finished installing the Arduino IDE in Ubunto 12.04 , I test the helloworld program in ros_lib, it remind me like this:fatal error: ros/node_handle.h no such file or directory.
SO , is there anyone could help me
Originally posted by berry0511 on ROS Answers with karma: 15 on 2014-04-08
Post score: 0
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Hi all,
I am trying to merge two pointclouds from kinects, convert this merged pointcloud data into 2D image and publish the image data as a topic. I am using ros fuerte.
Here is my launch file:
<launch>
<!--broadcasting the transformation from world frame to kinect frames-->
<node pkg="tf" type="static_transform_publisher" name="overhead_kinect1" args="-0.37 0.94 1.04 0 0.83 -1.57 /world_base_link /overhead_kinect1_link 40" />
<node pkg="tf" type="static_transform_publisher" name="overhead_kinect2" args=" 0.37 0.98 1.02 0 0.80 -1.57 /world_base_link /overhead_kinect2_link 40" />
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="camera" value="overhead_kinect1"/>
<arg name="depth_registration" value="false" />
<!--<arg name="device_id" value="A00365911792039A"/>-->
<arg name="device_id" value="002@18"/>
</include>
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="camera" value="overhead_kinect2"/>
<arg name="depth_registration" value="false" />
<!--<arg name="device_id" value="000000000000000"/>-->
<arg name="device_id" value="002@20"/>
</include>
<!--
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find ar_marker_detection_multiple)/ar_marker_detection.vcg"/>
-->
<node pkg="ar_marker_detection_multiple" type="ar_kinect" name="ar_kinect" respawn="false" output="screen"/>
</launch>
and part of the code responsible for merging:
ros::Publisher pub;
tf::TransformListener *listener;
sensor_msgs::PointCloud2 output, output1, output2;
pcl::PointCloud<pcl::PointXYZ> output_pcl, output1_pcl, output2_pcl;
void cloud_cb1(const sensor_msgs::PointCloud2ConstPtr& input1) {
listener->waitForTransform("/world_base_link", (*input1).header.frame_id, (*input1).header.stamp, ros::Duration(5.0));
sensor_msgs::PointCloud &pcout) const
pcl_ros::transformPointCloud("/world_base_link", *input1, output1, *listener);
pcl::fromROSMsg(output1, output1_pcl);
output_pcl = output1_pcl;
output_pcl += output2_pcl;
pcl::toROSMsg(output_pcl, output);
pub.publish(output);
}
void cloud_cb2(const sensor_msgs::PointCloud2ConstPtr& input2) {
listener->waitForTransform("/world_base_link", (*input2).header.frame_id, (*input2).header.stamp, ros::Duration(5.0));
sensor_msgs::PointCloud &pcout) const
pcl_ros::transformPointCloud("/world_base_link", *input2, output2, *listener);
pcl::fromROSMsg(output2, output2_pcl);
output_pcl = output2_pcl;
output_pcl += output1_pcl;
pcl::toROSMsg(output_pcl, output);
pub.publish(output);
}
int main (int argc, char **argv)
{
ros::init (argc, argv, "ar_kinect");
ros::NodeHandle n;
ARPublisher ar_kinect (n);
listener = new tf::TransformListener();
ros::Subscriber sub1 = n.subscribe("/overhead_kinect1/depth_registered/points", 1, cloud_cb1);
ros::Subscriber sub2 = n.subscribe("/overhead_kinect2/depth_registered/points", 1, cloud_cb2);
pub = n.advertise<sensor_msgs::PointCloud2>("/overhead_kinect_merged/depth_registered/points", 1);
ros::spin ();
return 0;
}
When I run one kinect alone I get data from /camera/deprth_registered/points, but when I merge - no response from /overhead_kinect_merged/depth_registered/points. Also the serial number of one kinect is zeros (which is rather weird), that's why I switched to bus parameters.
I am running out of ideas what could be the cause for it. I would be very thankful for any help or idea.
Originally posted by Andrii Matviienko on ROS Answers with karma: 56 on 2014-04-08
Post score: 0
Original comments
Comment by BennyRe on 2014-04-08:
Do the two Kinects actually work? I mean without the whole merging stuff. Do you get an image from both Kinects?
Comment by Andrii Matviienko on 2014-04-08:
Yes, both of them work absolutely fine separately
Comment by BennyRe on 2014-04-08:
Do you mean with separately, both together but without merging or each Kinect at a time?
Comment by Andrii Matviienko on 2014-04-08:
Both situations. If I run roslaunch openni_launch openni.launch for the 1st and then for the 2nd kinect - I get the data. When I run the lunch file specified above I get data from /overhead_kinect1 ( and 2) /depth_registered/points, but not from /overhead_kinect_merged/depth_registered/points
Comment by BennyRe on 2014-04-08:
Did you check that your callbacks get called properly?
Comment by Andrii Matviienko on 2014-04-08:
I don't know why, but when I changed 'depth_registered' to 'depth' it started giving me a merged point cloud. So it's solved, but why it did not work for 'depth_registered' is still a question.
|
I am attempting to install the WIRE stack, as described on http://wiki.ros.org/wire however, when I try to run
svn co https://robotics.wtb.tue.nl/svn/ros/release/wire
I just get the response
svn: access to 'https://robotics.wtb.tue.nl/svn/ros/release/wire' forbidden
Could anyone explain how to get access to this?
Thanks
Originally posted by rmb209 on ROS Answers with karma: 80 on 2014-04-08
Post score: 0
|
I want to design an obstacle avoiding robot using IR sensors and arduibo, can anyone guide me how to get started with programming in ROS? I have already completed my work with rosserial-arduino. I want to know how to make decisions in ROS depending upon the data coming from sensors, and on basis of those decisions I want to control my motors.
Originally posted by Abdul_Manan on ROS Answers with karma: 1 on 2014-04-08
Post score: 0
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I am trying to setup Jenkins to build my ros hydro packages. I have yet to find any useful documentation on integrating ROS with Jenkins. Can someone point me in the correct directions as to how to setup the ROS Environment and run catkin_make on a package?
Originally posted by mdedonato on ROS Answers with karma: 61 on 2014-04-08
Post score: 1
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I'm using ROS to control a Kinect, and I need to project the skeleton points I get with openni_tracker to image coordinates.
I found an answer about converting world coordinates to image coordinates (P_screen = I * P_world, where I is the 3x4 intrinsics matrix), however, the mapping I get seems incorrect.
An example of the /tf topic I have recorded is below:
transforms:
-
header:
seq: 0
stamp:
secs: 1385988109
nsecs: 907731078
frame_id: /skeleton/openni_depth_frame
child_frame_id: /skeleton/head_4
transform:
translation:
x: 1.97650313527
y: 0.467346462985
z: 0.124516482569
rotation:
x: 0.320303175814
y: 0.601755401028
z: 0.604153236547
w: 0.412668365236
---
Could you please help me with the needed transform to get the image coordinates (RGB topic: /camera/rgb/image_color) of the above point (the head of Kinect skeleton). The rest of the skeleton point have similar format.
Also, I want to point out, that I used the skeleton_markerspackage and the visualization of the joints of the skeleton seems correct. However, the problem is that I don't know how to project those points on the RGB image.
Originally posted by xana on ROS Answers with karma: 11 on 2014-04-08
Post score: 1
|
My local machine is a laptop running Ubuntu 10.04 (old, I know). While collecting data during my experiments, I am generating text files for Matlab, but I want to organize a single experiment into a new directory. Here is my test code (found on an ANT reference page):
<!-- -*- mode: XML -*- -->
<launch>
<mkdir dir="/home/turtlebot/00x/"/>
<!-- Other Stuff excluded as irrelevant -->
</launch>
Does anyone know a way to have a directory (in this case /00x/) automatically generated using XML?
Originally posted by benabruzzo on ROS Answers with karma: 79 on 2014-04-08
Post score: 1
Original comments
Comment by benabruzzo on 2014-04-14:
I made a shell script and called it this way:
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Have a lib in my package and want to share its header.
According to "how-to" I use this command:
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
But after "catkin_make" command no headers are in devel/include folder. (Lib itself successfully appears in /devel/lib folder)
When I run "catkin_make install" command headers appear in install/include folder properly.
What am i doing wrong?
Originally posted by Mike Charikov on ROS Answers with karma: 123 on 2014-04-08
Post score: 3
|
For some of our in-house ROS nodes, I want to link against some of our proprietary headers and libraries, none of which are built using catkin or cmake. What I would like to do is create a ROS package that acts as a wrapper, so that all my other ROS packages can just list the wrapper package as a dependency, and all the include and library C++ flags that point to our proprietary software are automatically included. What's the most efficient way to do that?
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-04-08
Post score: 2
|
After installing a package open_ptrack (https://github.com/OpenPTrack/open_ptrack) on my PC, Rviz didn't start. So, I downloaded a package rviz from the web site (http://wiki.ros.org/rviz) to compile the source with catkin_make, but Rviz doesn't start yet.
A terminal on my PC tells me next error.
ken@ken:~$ rosrun rviz rviz
[ INFO] [1396998258.516054297]: rviz version 1.11.0
[ INFO] [1396998258.516185316]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1396998259.050160910]: Stereo is NOT SUPPORTED
[ INFO] [1396998259.050340409]: OpenGl version: 4.2 (GLSL 4.2).
*** glibc detected *** /home/ken/catkin_ws/devel/lib/rviz/rviz: corrupted double-linked list: 0x00000000017a85d0 ***
Inconsistency detected by ld.so: dl-open.c: 221: dl_open_worker: Assertion `_dl_debug_initialize (0, args->nsid)->r_state == RT_CONSISTENT' failed!
The error explains that there is inconsistency on my PC. Does anyone have same experience as me? Doesn't anyone know the way to resolve it? or What's the cause? My PC has ROS Hydro on Ubuntu 12.04. Thank you in advance!
In case of trying sudo apt-get install ros-hydro-rviz
The following packages have unmet dependencies:
ros-hydro-rviz : Depends: libassimp3 (>= 2.0.863) but it is not installable
Depends: libboost-filesystem1.49.0 (>= 1.49.0-1) but it is not installable
Depends: libboost-program-options1.49.0 (>= 1.49.0-1) but it is not installable
Depends: libboost-signals1.49.0 (>= 1.49.0-1) but it is not installable
Depends: libboost-system1.49.0 (>= 1.49.0-1) but it is not installable
Depends: libboost-thread1.49.0 (>= 1.49.0-1) but it is not installable
Depends: libyaml-cpp0.3 but it is not installable
Depends: libyaml-cpp-dev but it is not installable
E: Unable to correct problems, you have held broken packages.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-08
Post score: 1
|
We are working on a project whereby we are attempting to localize the robot within the map using the received wi-fi signal strength ID (RSSID). We have had a look through the amcl_node.cpp file and have a pretty general idea of how it functions.
Just wondering how do we achieve localization solely on the basis of RSSID?
The way we are trying to make it work is by receiving the goal co-ordinates from the user and the turtlebot navigating to the goal using the map and the wi-fi signal strength. Do we need to build a wi-fi signal strength map and then feed this through to amcl?
Thanks!
Originally posted by aviprobo on ROS Answers with karma: 61 on 2014-04-08
Post score: 1
|
I am following the tutorial, Using the low-level robot base controllers to drive the robot.
I got a pr2 in gazebo and rosran the pr2 controller manager. When I try to
roscreate-pkg drive_base_tutorial roscpp geometry_msgs this is what the terminal looks like:
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
WARNING: current working directory is not on ROS_PACKAGE_PATH!
Please update your ROS_PACKAGE_PATH environment variable.
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Created package directory /home/roger/catkin_ws/src/drive_base_tutorial
Created include directory /home/roger/catkin_ws/src/drive_base_tutorial/include/drive_base_tutorial
Created cpp source directory /home/roger/catkin_ws/src/drive_base_tutorial/src
Created package file /home/roger/catkin_ws/src/drive_base_tutorial/Makefile
Created package file /home/roger/catkin_ws/src/drive_base_tutorial/manifest.xml
Created package file /home/roger/catkin_ws/src/drive_base_tutorial/CMakeLists.txt
Created package file /home/roger/catkin_ws/src/drive_base_tutorial/mainpage.dox
Please edit drive_base_tutorial/manifest.xml and mainpage.dox to finish creating your package
I am using 12.04 ubuntu and groovy. export
declare -x ROSLISP_PACKAGE_DIRECTORIES=""
declare -x ROS_DISTRO="groovy"
declare -x ROS_ETC_DIR="/opt/ros/groovy/etc/ros"
declare -x ROS_PACKAGE_PATH="/opt/ros/groovy/share:/opt/ros/groovy/stacks"
declare -x ROS_ROOT="/opt/ros/groovy/share/ros"
and cd is in catkin_ws/src.
Please help. I do not know how to proceed
Originally posted by Ros_newbie on ROS Answers with karma: 17 on 2014-04-08
Post score: 0
|
Hi there!
This is my first time using AR Tags in ROS.
I already had my camera with /image_raw and /camera_info topics published.
However, when I ran "roslaunch ar_track_alvar pr2_indiv.launch"
there was an error saying:
"Could not process inbound connection: topic types do not match: [sensor_msgs/PointCloud2] vs [sensor_msgs/Image]"
I believe my sensor_msgs/Image topic already correct, since I can visualize them in rviz and in image_view.
Is this a bug? since in the instructions it is clearly stated that Image topic is used...
Thanks for your help!
Originally posted by Dipta on ROS Answers with karma: 3 on 2014-04-08
Post score: 0
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I came across a segmentation fault while trying rosrun rviz rviz. This issue has been discussed on this web( http://answers.ros.org/question/11376/rviz-segmentation-fault-at-launch/ ), but I think that essential issue has been not solved. The solution in the comment and the answer was to delete all of file in ~/.rviz. I also deleted all of files as I follow the instruction. But, the error doesn't go out.
[ INFO]rviz version 1.10.14
[ INFO]compiled against OGRE version 1.7.4 (Cthugha)
[ INFO]Stereo is NOT SUPPORTED
[ INFO]OpenGl version: 2.1 (GLSL 1.2)
Segmentation fault
I have checked the article (http://wiki.ros.org/rviz/Troubleshooting). I can't find the way to solve the issue on the article. Could anyone give me clues? Thank you in advance!
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-08
Post score: 0
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Hello,
I was following the tutorials and I have a question about the message generation. Once you generate a service with messages you need to modify the package.xml file:
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
That part is cover, I have no problems there. Now, after that, you need to modify the CMakeLists file, you need to add:
find_package(catkin REQUIRED_COMPONENTS roscpp rospy std_msgs message_generation)
...
add_dependencies(<node_name> package_name_generate_messages_cpp)
But then, following the tutorials those two lines have different names for the message generation:
find_package(catkin REQUIRED_COMPONENTS roscpp rospy std_msgs genmsg)
...
add_dependencies(<node_name> package_name_gencpp)
What is the difference between message_generation and genmsg?
In the add_dependencies function, the second function declared is for the messages, but why one is package_name_gencpp and the other package_name_generate_messages_cpp??? I am confused here. So, the name for the message generation dependency can be whatever I want. But where is that defined, how does ROS know the second dependency is for messages???
Tutorial Publisher Subscriber
Tutorial Service Client
Thanks.
Originally posted by Luis Ruiz on ROS Answers with karma: 114 on 2014-04-08
Post score: 2
|
Hey ,
i am using ros hydro and ubuntu 12.04 (LTS) , i need to know how to convert the 8-bit depth data which i receive from kinect in the topic /camera/depth/image_raw to depth of individual points in mm . i know that we have to use encoding and is_bigendian values , but i dont know how to use them . can someone please guide me how to use them .
Note: i didnt want to use point cloud data type because it was a bit complicated when compared to /camera/depth/image_raw and i only need depth data , so i thought this was better . if you feel that in order to access depth data point clouds are better please guide me how to obtain the depth data from point cloud .
Thank you for your patience .
Originally posted by hunterkaushik on ROS Answers with karma: 3 on 2014-04-08
Post score: 0
Original comments
Comment by BennyRe on 2014-04-08:
Do you mean something like this http://answers.ros.org/question/141741/calculate-depth-from-point-cloud-xyz/?answer=141756#post-id-141756
Comment by hunterkaushik on 2014-04-09:
no , i want to know how to get the values x,y,z in the first place , also the time taken for my robot to read point cloud data is very high like 4sec difference between one input and the other , how do i rectify it ?? please help me out .
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I am doing an experiment that consists on transferring JPG compressed stereo pairs from one node to another at 5Hz. I am measuring the message transfer time using two technologies: UDPROS and TCPROS. The frame sizes tested are 320x240 and 640x480.
The point is that the average message transfer times are better when using TCPROS. In the best case UDPROS matches the transfer times obtained with TCPROS (Very rarely UDPROS gets a little better). How is that possible? Am I doing something wrong?
The technology used is 802.11ac WiFi.
Originally posted by Javier J. Salmerón García on ROS Answers with karma: 114 on 2014-04-09
Post score: 1
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