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I wanted to operate the ROS on my IntelGalilo board and followed the tutoria IntelGalile/HydroGalileoInitialInstall. However, it had something wrong when I handled the step of "bitbake image-full".
Pseudo is not present but is required, building this first before the main build
ERROR: OE-core's config sanity checker detected a potential misconfiguration.
Either fix the cause of this error or at your own risk disable the checker (see sanity.conf).
Following is the list of potential problems / advisories:
Please install the following missing utilities: makeinfo
ERROR: Execution of event handler 'check_sanity_eventhandler' failed
How can I solve this problem. Thanks for any help.
Originally posted by dhu_student on ROS Answers with karma: 11 on 2014-04-09
Post score: 1
|
Hi
The stable version release of Eigen3 library in Ubuntu 12.04 is version 3.0.5. I am trying to upgrade eigen3 to atleast version 3.2.1. It is required for compilation of hierarchical branch of g2o lib.
any suggestion how this can be solved.
thanks
nitin
Originally posted by prince on ROS Answers with karma: 660 on 2014-04-09
Post score: 1
|
Hi,
I'm new to ROS and was having a go at a tutorial for using the Clearthpath Husky simulator.
Gazebo works fine, but Rviz for the husky reports an error finding the model. I get this output in the terminal:
Traceback (most recent call last):
File "/opt/ros/hydro/lib/joint_state_publisher/joint_state_publisher", line 327, in <module>
jsp = JointStatePublisher()
File "/opt/ros/hydro/lib/joint_state_publisher/joint_state_publisher", line 25, in __init__
robot = xml.dom.minidom.parseString(description).getElementsByTagName('robot')[0]
File "/usr/lib/python2.7/xml/dom/minidom.py", line 1931, in parseString
return expatbuilder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 940, in parseString
return builder.parseString(string)
File "/usr/lib/python2.7/xml/dom/expatbuilder.py", line 223, in parseString
parser.Parse(string, True)
TypeError: must be string or read-only buffer, not None
I'm using ROS Hydro on Ubuntu 13.04. Haven't been able to find a solution for this, so any help would be greatly appreciated.
Thanks!
Originally posted by apple233 on ROS Answers with karma: 1 on 2014-04-09
Post score: 0
Original comments
Comment by apple233 on 2014-04-10:
Running rviz using the command roslaunch husky_viz view_robot.launch
|
Hello,
I am currently trying to model a wheeled robot (pioneer3at) in Gazebo. The problem I face is that it strangely bounces of its wheels whenever it gets an impulse. So I thought the problem might be that the wheels are too hard and do not absorb any energy.
http://gazebosim.org/wiki/Tutorials/1.9/Using_A_URDF_In_Gazebo#The_.3Cgazebo.3E_Element
Following the link above I added a kp-tag to the according gazebo-tag in my URDF, but whatever value I use, it just causes the wheel to be ignored completely for collisions. (It will just fall through the floor)
What is the correct way to describe collision properties in Gazebo?
Update:
I now had a closer look at the Husky-Bot, which seems quite similar to the Pioneer. In Gazebo, it shows none of the mentioned problems. The definition of the Husky-Wheels seems pretty similar to what I did:
<gazebo reference="${fb}_${lr}_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
So how comes it is not bouncing around like my Pioneer?
Originally posted by Sebastian Kasperski on ROS Answers with karma: 1658 on 2014-04-09
Post score: 0
|
I was going through pr2_controller tutorials and came across the portion where we must build and run the program.
It says
make the binary by typing make in the drive_base_tutorial directory.
Where must I type this? In the CMakeList.txt file? and what does it mean by make the binary?
Thanks in advance
Originally posted by Ros_newbie on ROS Answers with karma: 17 on 2014-04-09
Post score: 0
|
Hello all, I observe the following when trying to test out the new version of the most excellent hector_quad_rotor sudo apt-get install ros-hydro-hector-quadrotor-demo.
user@happyplace:~$ roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch
... logging to /home/ubuntu/.ros/log/297f0af6-c010-11e3-8a21-fa163eaa4736/roslaunch-10-100-16-5-23452.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.
Invalid <arg> tag: hector_quadrotor_description
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks.
Arg xml is <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>
It seems that ros-hydro-hector-quadrotor-description should be a dependency. Can anyone else confirm this experience?
Originally posted by SL Remy on ROS Answers with karma: 2022 on 2014-04-09
Post score: 0
|
So I am trying to use the biotac_drivers package here: https://github.com/kth-ros-pkg/biotac_driver
I would like to link to "/lib/x86_64-linux-gnu/libdl.so.2".
I know how to link a ROS package just fine but I'm coming up empty on how to link system dependencies.
On hydro, Ubuntu 3.11.10
Just incase I'm completely wrong on what I need to do here is the error:
Linking CXX executable /home/ablasdel/catkin_ws/devel/lib/biotac_sensors/biotac_pub
/usr/bin/ld: CMakeFiles/biotac_pub.dir/src/cheetah.c.o: undefined reference to symbol 'dlsym@@GLIBC_2.2.5'
/usr/bin/ld: note: 'dlsym@@GLIBC_2.2.5' is defined in DSO /lib/x86_64-linux-gnu/libdl.so.2 so try adding it to the linker command line
/lib/x86_64-linux-gnu/libdl.so.2: could not read symbols: Invalid operation
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ablasdel/catkin_ws/devel/lib/biotac_sensors/biotac_pub] Error 1
make[1]: *** [biotac_driver/biotac_sensors/CMakeFiles/biotac_pub.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by Aaron Blasdel on ROS Answers with karma: 211 on 2014-04-09
Post score: 1
|
Hello guys,
I made my 3D model by Sketchup and I exported collada file (final.dae). Today I tried to import this .dae file to gazebo (by my_mesh.world file) and when gazebo starts, on shell it gives me this error a lot of times:
Error [Material.cc:93] Unable to find texture [final/texturename.jpg] in path[/home/myusername/Desktop/gazebo]
My question is: every time I make a .dae file and I want to import on gazebo (for example), always I have to paste into directory of my gazebo ALL .jpg file of texture??? Is not .dae file sufficient? How can I resolve?
Thnx
Originally posted by Il_Voza on ROS Answers with karma: 56 on 2014-04-09
Post score: 0
|
As suggested by the helpful folk at the question "Building ROS on OSX 10.9 (solution)", ID 94771 (this forum won't let me post questions with links), I'm opening a new question to deal with the Python issues I'm facing.
Originally, I went through the ROS Hydro brew-based installation instructions. There were a number of issues with individual packages that were addressed in the answer to the question referenced above, but there's also an issue with using Brew's Python, the recommended solution to which is to use the system Python. I'm now trying to do that, but it's not clear to me how to restore the packages needed by Brew and ROS to make that work. The last issue was with upgrading sip (although it's not clear to me if this should be done through Brew or separately, as to keep with the system Python):
https://gist.github.com/wjwwood/3f93c45c2edabd07a44a
I never use Python, and apologize for having very little clue about its environment. Appreciate the help!
Originally posted by JetForMe on ROS Answers with karma: 21 on 2014-04-09
Post score: 2
|
Hello,
I'm new to youBot and ROS and I run into a problem.
When launching the following command for simulating in rviz:
roslaunch youbot_description youbot_arm_publisher.launch,
I get the following error:
Traceback (most recent call last):
[...]
ResourceNotFound: gazebo_worlds
System: ROS Hydro and youbot Remastered Ubuntu 0.4.0 (Ubuntu 12.04)
Regards,
Timo
Full Output:
roslaunch youbot_description youbot_arm_publisher.launch
... logging to /home/youbot/.ros/log/ad0e6c3e-c026-11e3-9e5b-9439e56c05d9/roslaunch-Aspire-8982.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.
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
self._load_config()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 605, in _recurse_load
n = self._node_tag(tag, context.child(''), ros_config, default_machine, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 351, in _node_tag
self.opt_attrs(tag, context, ('machine', 'args', 'output', 'respawn', 'cwd', 'launch-prefix', 'required'))
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 178, in opt_attrs
return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
return _find_executable(resolve_without_path, a, [args[0], path], context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: gazebo_worlds
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/youbot/ros_stacks
ROS path [2]=/home/youbot/catkin_ws/src
ROS path [3]=/opt/ros/hydro/share
ROS path [4]=/opt/ros/hydro/stacks
Originally posted by cobhc999 on ROS Answers with karma: 38 on 2014-04-09
Post score: 0
|
I've created a new robot model for integration with moveit and am having trouble getting moveit to recognize the end effectors. I've generated the SRDF as well as other configuration files with the moveit setup assistant, and then launch the demo automatically generated along with my own node called servo capture. In my node I wait for rviz to come up, instantiate a move group similar to the PR2 move group interface tutorial, and then have a listener callback that sets a goal when a point is published from rviz. When the callback executes an error is displayed right after I print confirmation that the point was received:
[ INFO] [1397094975.183158794]: Got new goal: [1.72786,2.13589,0.553876]
[ERROR] [1397094975.183266964]: No end-effector to set the pose for
[ INFO] [1397094975.184236157]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1397094975.186156762]: No goal constraints specified. There is no problem to solve.
I've tried printing out the parent link name and and end effector name but both member functions to do so return empty strings.
Of the different ways I've configuring my planning groups in the setup assistant, the most reasonable one I could come up with is in the background below. With my current understanding the end effector group should have no links in common with its parent, be a child group of the arm, and defined as an end effector attached to the last link of the arm. It also needs to have its own kinematics solver written if it is not a chain, I've avoided this problem by just fixing the non chain components. If I launch the demo launch file which starts a joint publisher, transform publisher, state publisher, move group server and rviz, they should provide all resources necessary to run a fully functional move group interface node. If something was wrong with the end effector description I would still expect that the end of the chain link for the arm would at least be the default end effector. Is there anything in the above that seems like a misunderstanding?
Background:
Here is a visualization of the URDF:
And here is how I have the arm configured in the SRDF (through the setup assistant):
<group name="arm">
<link name="base_link" />
<link name="base" />
<link name="shoulder" />
<link name="arm" />
<link name="boom0" />
<link name="boom1" />
<link name="boom2" />
<link name="boom3" />
<link name="boom4" />
<link name="boom5" />
<link name="boom6" />
<link name="boom7" />
<link name="boom8" />
<link name="boom9" />
<link name="boom10" />
<link name="boom_cap" />
<joint name="base_link_to_base" />
<joint name="base_to_shoulder" />
<joint name="shoulder_to_arm" />
<joint name="arm_to_boom" />
<joint name="boom0_to_boom1" />
<joint name="boom1_to_boom2" />
<joint name="boom2_to_boom3" />
<joint name="boom3_to_boom4" />
<joint name="boom4_to_boom5" />
<joint name="boom5_to_boom6" />
<joint name="boom6_to_boom7" />
<joint name="boom7_to_boom8" />
<joint name="boom8_to_boom9" />
<joint name="boom9_to_boom10" />
<joint name="boom_to_boom_cap" />
<chain base_link="base" tip_link="boom_cap" />
<group name="electrostatic_gripper" />
</group>
<group name="electrostatic_gripper">
<link name="top_pad" />
<link name="left_pad" />
<link name="right_pad" />
<link name="bottom_pad" />
<link name="rocker_pin" />
<link name="rocker_frame" />
<joint name="rocker_frame_to_bottom_pad" />
<joint name="rocker_frame_to_left_pad" />
<joint name="rocker_frame_to_right_pad" />
<joint name="rocker_frame_to_top_pad" />
<joint name="boom_cap_to_rocker_pin" />
<joint name="rocker_pin_to_rocker_frame" />
<chain base_link="boom_cap" tip_link="rocker_frame" />
</group>
<end_effector name="electrostatic_gripper" parent_link="boom_cap" group="electrostatic_gripper" parent_group="arm" />
I'm fairly certain that the demo correctly loads the kinematics for my node once I call the demo.launch, but to be safe I also load them in the context of that node:
<launch>
<include file="$(find altius_arm)/launch/demo.launch"/>
<arg name="debug" default="true" />
<node name="servo_capture" pkg="altius_arm" type="servo_capture" required="false" output="screen">
<rosparam command="load" file="$(find altius_arm)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find altius_arm)/config/ompl_planning.yaml"/>
<rosparam command="load" file="$(find altius_arm)/config/joint_limits.yaml"/>
<rosparam command="load" file="$(find altius_arm)/config/fake_controllers.yaml"/>
</node>
</launch>
When my node starts it prints out the end effector name and end effector link on launch but neither one has any value despite seeming to load correctly:
[ INFO] [1397094934.400980727]: Ready to take MoveGroup commands for group arm.
[ INFO] [1397094937.115176897]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094937.115443436]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094938.725159150]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094938.755955440]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094940.005700657]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094940.030302217]: Loading robot model 'altius_arm_satellite'...
[ INFO] [1397094941.355940819]: Starting scene monitor
[ INFO] [1397094941.357702162]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1397094943.227471676]: Starting scene monitor
[ INFO] [1397094943.227555435]: Constructing new MoveGroup connection for group 'arm'
[ INFO] [1397094943.229115965]: Listening to '/planning_scene'
[ INFO] [1397094944.120048076]: Ready to take MoveGroup commands for group arm.
[ INFO] [1397094944.120161345]: Looking around: no
[ INFO] [1397094944.120224969]: Replanning: no
[ INFO] [1397094959.407079126]: Starting Servo Capture Node
[ INFO] [1397094959.407156366]: End effector:
[ INFO] [1397094959.407190909]: End effector link:
Here is a condensed version of my code:
class ServoCapture
{
private:
ros::NodeHandle node;
ros::Subscriber point_goal;
moveit::planning_interface::MoveGroup arm;
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
moveit::planning_interface::MoveGroup::Plan capture_plan;
ros::Publisher display_publisher;
moveit_msgs::DisplayTrajectory display_trajectory;
geometry_msgs::Pose goal_pose;
public:
ServoCapture() : arm("arm")
{
sleep(25);
point_goal = node.subscribe("clicked_point",10,&ServoCapture::setNewGoal,this);
display_publisher = node.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
ROS_INFO_STREAM("Starting Servo Capture Node");
ROS_INFO_STREAM("End effector: " << arm.getEndEffector());
ROS_INFO_STREAM("End effector link: " << arm.getEndEffectorLink());
while (ros::ok())
{
sleep(1);
}
}
void setNewGoal(const geometry_msgs::PointStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("Got new goal: [" << msg->point.x << "," << msg->point.y << "," << msg->point.z << "]");
goal_pose.position = msg->point;
arm.setPositionTarget(msg->point.x,msg->point.y,msg->point.z);
if (!arm.plan(capture_plan))
ROS_INFO_STREAM("Failed to plan point to goal");
else
{
display_trajectory.trajectory_start = capture_plan.start_state_;
display_trajectory.trajectory.push_back(capture_plan.trajectory_);
display_publisher.publish(display_trajectory);
}
}
};
int main(int argc, char *argv[])
{
// Initialize the node
ros::init(argc,argv,"servo_capture");
// Create a single asynchronous thread
ros::AsyncSpinner spinner(1);
// Start the callback managment thread
spinner.start();
// Initialize the servo capture
ServoCapture servo_capture;
// The capture routine has finished
ros::shutdown();
// Return no error executing capture attempt
return 0;
}
Originally posted by St3am on ROS Answers with karma: 170 on 2014-04-09
Post score: 0
|
Hello,
Simple comprehension problem.
I though that when a message on a topic was read by a subscriber it was "erased" just after. If I have, lets say, two subscribers on one topic, when new information is available, do all subscriber are going to receive the same message ? It makes sense but I never considered it that way =). So I just want confirmation.
For example if I have a subscriber with a very complex and long callback while I have a very short callback for the other subscriber, I guess it's their queue size that is going to determine which message are going to be used by he Callback but overall, thy are gong to have access to the same message. Is it correct ?
Like :
Message 1 on topic -|----> Message 1 to Subscriber 1 if space available in queue
|----> Message 1 to Subscriber 2 at the same time if space available in queue
Thanks
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-09
Post score: 1
|
Hello,
I am not able to install openni package on hydro. Is there any workaround? Since i could see it is not available for the hydro disto.
sudo apt-get install ros-hydro-openni2-camera
[sudo] password for rootx:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages will be upgraded:
ros-hydro-openni2-camera
1 upgraded, 0 newly installed, 0 to remove and 313 not upgraded.
Need to get 441 kB of archives.
After this operation, 0 B of additional disk space will be used.
Err http://packages.ros.org/ros/ubuntu/ raring/main ros-hydro-openni2-camera i386 0.1.2-0raring-20140311-1903-+0000
404 Not Found
Failed to fetch http://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-openni2-camera/ros-hydro-openni2-camera_0.1.2-0raring-20140311-1903-+0000_i386.deb 404 Not Found
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?
-Abhimoh
Originally posted by Prasad on ROS Answers with karma: 79 on 2014-04-09
Post score: 0
|
Hi
I'm using hector_mapping on pandaboard es with arch linux+hydro installed. I have hokuyo urg 04lx. However when i start mapping with default settings.
rosrun urg_node urg_node
roslaunch hector_mapping mapping_default.launch
(Static transform from base_footprint to laser)
Nothing else
However, when i type "top" to see its cpu usage. It shows nothing below %105.. how can i reduce this. It this normal? Am i doing something wrong?
Is it better option for me to use laser_scan_matcher + gmapping
Edit:
I installed ros-base from Aur repository using yaourt.
After that i cloned hector_slam from from github to my catkin directory and catkin_make only hector_mapping (i installed every dependencies of it)
Originally posted by lvntbkdmr on ROS Answers with karma: 23 on 2014-04-09
Post score: 0
|
Hi,
i try to advertise my service, but i am not able to compile.
Here is my msg file:
string sourceRobot
float64 x
float64 y
My srv file:
map_merger/pointFromRobot inputPoint
---
map_merger/pointFromRobot outputPoint
And here are the cpp parts according to the Service:
in map_merger.h:
map_merger::pointFromRobot transformPoint(map_merger::transformPoint::Request req);
in map_merger.cpp:
map_merger::pointFromRobot transformPoint(map_merger::transformPoint::Request req)
{
map_merger::pointFromRobot returnValue;
return returnValue;
}
in the Constructor the advertiseService is called (that does not work), here is the code:
nodeHandle = new ros::NodeHandle("~");
ros::ServiceServer service = nodeHandle->advertiseService("transformPoint",&MapMerger::transformPoint,this);
regard peter
Originally posted by pkohout on ROS Answers with karma: 336 on 2014-04-09
Post score: 0
|
Hello,
I have run this tutorial (I am using ROS Hydro)
wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge
on running rosbridge example.
When I started the HTML page, I noticed that all work expect publishing the /cmd/vel topic. I am getting this error message
[ERROR] [WallTime: 1397113517.026746] [Client 4] [id: advertise:/cmd_vel:1] advertise: init() got an unexpected keyword argument 'queue_size'
[ERROR] [WallTime: 1397113517.035466] [Client 4] [id: publish:/cmd_vel:2] publish: Cannot infer topic type for topic /cmd_vel as it is not yet advertised
Do you have any idea how to fix this issue?
I tested the same code on another Hydro machine and it worked, but on my machine with the same configuration, I had the error above.
Thank you in advance
Originally posted by Anis Koubaa on ROS Answers with karma: 1 on 2014-04-09
Post score: 0
Original comments
Comment by jihoonl on 2014-04-12:
Can you share the rosbridge package version and HTML code you tested?
Comment by jihoonl on 2014-04-25:
I will check the problem sometime tommorrow
|
Hi,
I want my robot to find its initial pose on its own rather than providing it with rviz "2d pose estimate". For that I already figured out that you can call AMCLs /global_localization service, whicht distributes the particles over the whole map. Second I'd need to rotate the robot. Therefore move_base already has the recovery behaviour, but how to trigger that? I know there is the C++ API, but isn't there a service call for that? Something that smoothly integrates with move_base resp. nav stack? Or can I use the actionlib for that? Anything any trigger despite the cpp api?
I'm wondering for a long time why there isn't something out there for initial pose estimation with the widely used combination of amcl and move_base. Are you guys all using the rviz-button? all the time you start demos?
Update 1
As I could not find an answer to this, I wrote a node triggering a recovery-behaviour similar to the move_base.cpp implementation. However those behaviours (rotate_recovery, clear_costmap_recovery) need the global and local costmap as parameters. Just creating your own as suggested in the code snipples from the wiki doesnt seem to work as intended since those maps are not the ones used by move_base: Running clear_costmap_recovery then does not clear the costmap used by move_base. However, and this is strange, rotate_recovery sometimes is not carried out due to potential collision. How can there be collisions if the costmap is empty? Or IS there a connection between a costmap you create and name ('local_costmap', 'global_costmap') and the ones used by move_base? This is confusing ...
An alternative solution would be to use actionlib and send move_base_msgs/MoveBaseActionGoal, but how can I tell move_base to just use the local planner and ignore the global one?
Originally posted by stfn on ROS Answers with karma: 287 on 2014-04-10
Post score: 0
Original comments
Comment by stfn on 2014-05-22:
so .. nobody has the problem of initial pose estimation with amcl?
|
Hi All,
I've managed to download and successfully compile OpenNi2 and run the sample apps.
Getting some problems with Openni2_camera however:
Compiling I get the likes of:
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniStreamRegisterNewFrameCallback'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniStreamGetProperty'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniDeviceIsCommandSupported'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniDeviceSetProperty'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniReleaseDeviceList'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniStreamDestroy'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniStreamStart'
/home/mark/catkin_ws/devel/lib/libopenni2_wrapper.so: undefined reference to `oniDeviceCreateStream'
And probably related:
Running (or trying to)
rosrun openni2_camera OpenNI2.cfg
I get
Traceback (most recent call last):
File "/home/mark/catkin_ws/src/openni2_camera/cfg/OpenNI2.cfg", line 7, in <module>
gen = ParameterGenerator()
File "/opt/ros/groovy/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py", line 234, in __init__
self.dynconfpath = sys.argv[1] # FIXME this is awful
IndexError: list index out of range
I'm running this with Groovy on my PC. Was to stick with Groovy ideally as I'm going to migrate it all to my Raspberry Pi
Many Thanks
Mark
Originally posted by MarkyMark2012 on ROS Answers with karma: 1834 on 2014-04-10
Post score: 1
Original comments
Comment by jbinney on 2014-04-10:
How did you install OpenNi2? The ROS debs are built from a fork of that - there may be modifications. Can you uninstall your source copy of OpenNi2 and sudo apt-get install libopenni2-dev libopenni2-0?
Comment by MarkyMark2012 on 2014-04-11:
Okay just tried that and still getting the same error
|
How can I access to the functions of "rosservice" from a c++?
I need to know the existing services and information about each service.
Thanks
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-04-10
Post score: 1
|
Hi folks,
do you have an idea on how I can decently insert a ROS graph output of my stack into a LaTeX file? I have tried exporting it as a DOT file and converting that to TIKZ. It works. But it's faaaaar too big. And it's not using TIKZ nodes but primitives like ellipses instead. That way it's pretty much unmaintainable.
Thanks a lot!
Cheers,
Hendrik
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2014-04-10
Post score: 0
|
link: http://moveit.ros.org/wiki/Kinematics/IKFast
when I finish the tutorial, I try to run: "roslaunch motoman_mh5_moveit_config demo.launch"
The rviz opens correctly, but then it closes and the terminal shows:
All is well! Everyone is happy! You can start planning now!
[ INFO] [1397151951.649167498]: Loading robot model 'motoman_mh5'...
[ INFO] [1397151951.649462158]: No root joint specified. Assuming fixed joint
[ INFO] [1397151952.044567779]: joint_s -2.9671 2.9671 1
[ INFO] [1397151952.044887373]: joint_l -1.1345 2.618 1
[ INFO] [1397151952.045032293]: joint_u -2.3736 4.4506 1
[ INFO] [1397151952.045166528]: joint_r -3.3161 3.3161 1
[ INFO] [1397151952.045301182]: joint_b -2.1817 2.1817 1
[ INFO] [1397151952.045439119]: joint_t -6.2831 6.2831 1
[ INFO] [1397151952.225434215]: Starting scene monitor
[ INFO] [1397151952.227811123]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1397151952.732558619]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[name_machine_15204_2001356156261009935-4] process has died [pid 15262, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d ~/catkin_workspace/src/motoman_mh5_moveit_config/launch/moveit.rviz __name:=rviz_machine_15204_2001356156261009935 __log:=~/.ros/log/e8dfae26-c0d5-11e3-9580-00216a36b28c/rviz_ismael_ThinkPad_T500_15204_2001356156261009935-4.log].
log file: ~/.ros/log/e8dfae26-c0d5-11e3-9580-00216a36b28c/rviz_machine_15204_2001356156261009935-4*.log
Update:
kinematics.yaml:
planning_group:
kinematics_solver: motoman_mh5_planning_group_kinematics/IKFastKinematicsPlugin
kinematics_solver_attempts: 3
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-04-10
Post score: 0
Original comments
Comment by gvdhoorn on 2014-04-11:
RViz seems to be crashing with a SIGSEGV (segmentation fault: -11), which can be caused by trying to access an invalid pointer fi. Is this with the IKFast plugin configured in the kinematics.yaml file?
Comment by gvdhoorn on 2014-04-14:
It would seem you created the MH5 IKFast plugin yourself (AFAIK ROS-Industrial does not supply an MH5 setup). It would help if you could make your pkg / code available somewhere.
Comment by Bastbeat on 2014-04-16:
Which file do you need?
Comment by gvdhoorn on 2014-04-16:
All of the pkgs that you created yourself, relating to the MH5 (so the MoveIt configuration pkg and the IKFast plugin package).
Comment by gvdhoorn on 2014-04-16:
Also, have you checked those logfiles? There could be something in there which could help in debugging this issue (graphics card driver failure, etc).
Comment by Bastbeat on 2014-04-16:
Here, I have Upload my files: https://github.com/Bastbeat/ikfastproblem
|
Hi everyone.
I have been trying to simulate two Turtlebot II on Gazebo.
I wonder if it is possible to perform simulations with time increased several times (pun). I'm not really concerned in visually observe the movements, but I want to run several times the same simulation and store different measurements / data for statistical analysis of the project I'm working on.
Is this kind of high-speed simulation possible in Gazebo?
Originally posted by Carlos Hdz on ROS Answers with karma: 103 on 2014-04-10
Post score: 1
|
UPDATE: The solution, as far as the plugins go, was to move my plugin info to a yaml file of it's own called simple_layers.yaml (so local_costmap_params.yaml is back to default). Then add a clear_params attribute to the move_base < node > tag in turtlebot_navigation/launch/includes/move_base.launch.xml. Then within this < node > tag, add <rosparam file="$(find turtlebot_navigation)/param/simple_layers.yaml" command="load" />.
Mark clear_params as "true". When you want to load the plugins uncomment the above line. When want to unload, comment out that same line. simple_layers.yaml looks like this:
local_costmap:
plugins:
-
name: layer_simple
type: "simple_layer_namespace::SimpleLayer"
-
name: layer_grid
type: "simple_layer_namespace::GridLayer"
Hello everyone,
I have a bunch of different problems, but they're all very inter-related, so I'm going to pose them all in this one question. Here's the situation:
I created two costmap layers called layer_simple and layer_grid as per the tutorial here. I then load them into the local_costmap_params.yaml file of turtlebot_navigation/amcl_demo.launch as per the tutorials here. The idea is to have these layers added to the map_file launched by amcl_demo.launch.
The problem, in a nutshell, is that this sometimes works and sometimes doesn't. I find it easier to describe in the form of a table. Consider the following variables:
"File" refers to the event that I DO have the plugin information in my local_costmap_params.yaml file.
"Source" refers to the event that I DO run source /home/turtlebot/workspace/devel/setup.bash where 'workspace' contains my simple_layers package. [When this event is false, or no, then /opt/ros/hydro/setup.bash is sourced].
"NotExist" refers to the event that I DO get this error (if I don't get it, the plugins load successfully and I can view them on rviz):
[ INFO] [1397144317.022246229]: Using plugin "layer_simple"
terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
what(): According to the loaded plugin descriptions the class simple_layer_namespace::SimpleLayer with base class type costmap_2d::Layer does not exist. Declared types are costmap_2d::FootprintLayer costmap_2d::InflationLayer costmap_2d::ObstacleLayer costmap_2d::StaticLayer costmap_2d::VoxelLayer costmap_2d::VoxelWithFootprintLayer
[move_base-16] process has died ...
"Goal" refers to the event that I CAN run 2DNavGoal on rviz (or send goals to /move_base/goal) successfully. If I can't, I get this error:
[ WARN] [1397145188.637196407]: Clearing costmap to unstuck robot.
[ WARN] [1397145199.036562301]: Rotate recovery behavior started.
"ClassLoader" refers to the event that I DO get this error AFTER shutting down amcl_demo.launch:
Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
Having said that, here's the table (Case 1-6 happen chronologically --> 1 before 2, etc.):
A few things to notice:
Even when the plugins are irrelevant, as in Case 1 and 2, ClassLoader happens. When the plugins do matter as in Case 3 and 4, ClassLoader doesn't happen. So is the "library" spoken of NOT referring to my simple_layers library?
When File is false after being true previously, the plugins are still sought (Case 5) and even loaded (Case 6). Does this mean that the system does not realize I've taken the information out of local_costmap_params.yaml?
In other posts and tutorials, I see people only exporting their layer plugins to costmap_2d, and not also turtlebot_navigation. So if they don't use amcl_demo.launch (part of turtlebot_navigation) for their costmaps, what DO they use?
Sometimes Goal happens and works when I haven't changed anything. Just pure randomness (I think). It had worked with the plugins loaded and without. For now, it does NOT work.
PLEASE HELP ME MAKE SENSE OF THIS.
Update: The following is no longer needed!
(Old) EDIT (In response to @demmeln 's answer)
For method 2, I moved my plugin info to a yaml file of it's own called simple_layers.yaml (so local_costmap_params.yaml is back to default). Then I add these lines to move_base.launch.xml within the move_base tag:
<rosparam file="$(find turtlebot_navigation)/param/simple_layers.yaml" command="load"/>
But that doesn't accommodate for unloading the parameters too from the parameter server. So I guessed I should use rosparam delete command. First I find the name of the parameters of my plugins using rosparam list. Then I add this line to move_base.launch.xml in the same tag:
(Obviously when I want to rosparam delete the params, I comment OUT the rosparam load line). But the PROBLEM IS THAT when I do run this, after loading the plugins once and now desiring to unload them, they do not get unloaded. In fact rosparam list still shows these param names.g%20Layered%20Costmaps) and here.
Originally posted by oswinium on ROS Answers with karma: 105 on 2014-04-10
Post score: 0
Original comments
Comment by demmeln on 2014-04-15:
It probably will be easiest add clear_params="true" to this line https://github.com/turtlebot/turtlebot_apps/blob/hydro/turtlebot_navigation/launch/includes/move_base.launch.xml#L10. I did not suggest to add rosparam delete statements to the launch file. It was rather a means to manually remove...
Comment by demmeln on 2014-04-15:
... them from the command line with the rosparam command for debugging. It is not a very scalable solution.
Comment by demmeln on 2014-04-16:
Just a comment on what you wrote as a solution: It should not be necessary to change clear_params to false. Just leave it as true all the time, and comment or uncomment the additional <param ... > tag that you added to change between with and without your custom plugin.
|
In this tutorial - http://wiki.ros.org/pr2_controllers/Tutorials/Getting%20the%20current%20joint%20angles
I was trying to run the service node for getting the current joint angles but the screen shows the message stated below.-
~/groovy_workspace/sandbox/joint_states_listener$ rosrun joint_states_listener joint_states_listener.py
/home/roger/groovy_workspace/sandbox/joint_states_listener/nodes/joint_states_listener.py: line 6: syntax error near unexpected token `'joint_states_listener''
I am following the tutorial stepwise and havent missed any. Dont know what the problem is. Pls help.
I am using geoovy and ubuntu 12.04
Originally posted by Ros_newbie on ROS Answers with karma: 17 on 2014-04-10
Post score: 0
|
Hello,
I would like to implement a speech detection which will send sentences to the google API and get the text. This will be permanently listening and doesn't need any vocabulary. so before starting I thought it would be better to ask maybe somebody already did something like that.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-04-10
Post score: 0
Original comments
Comment by bapclenet on 2014-06-07:
I'm looking for something like you, have you tried the package audio_common?
http://wiki.ros.org/audio_common
It should catch the sound from the microphones and publish an /audio message.
Let us know if it works.
|
when i try to launch "roslaunch openni2_launch openni2_launch" command, this command is for the kinect but the openni1 command doesn't open or connect to the usb interface.But the openni2 can connect to the asus kinect (primesense) it can detect the usb interface without any errors. In the rviz software there is no images and also the camera together with
Openni2 launch.
Openni2 camera.
how to solve the kinect issue, please help me with the kinect issue please thanks.
Originally posted by Rizwan on ROS Answers with karma: 3 on 2014-04-10
Post score: 0
|
Hi,
I try to make a moveIt package. I follow the tutorial and finish it without problems, but when I try to launch the new package with "roslaunch new_moveit_package demo.launch"
[demo.launch] is neither a launch file in package [new_moveit_package] nor is [new_moveit_package] a launch file name
Any idea??
Originally posted by rcj1986 on ROS Answers with karma: 121 on 2014-04-11
Post score: 1
Original comments
Comment by Bastbeat on 2014-04-11:
http://answers.ros.org/question/151656/problem-with-ikfast_moveit-tutorial/
Comment by Bastbeat on 2014-04-11:
what tutorial did you do?
Comment by rcj1986 on 2014-04-11:
This http://aeswiki.datasys.swri.edu/rositraining/Exercises/3.3
Comment by Bastbeat on 2014-04-11:
http://moveit.ros.org/wiki/Kinematics/IKFast
Try the part "Create plugin" of this Tutorial.
if you did correctly the moveit assistante tutorial, it should work
|
when install (sudo apt-get install ros-hydro-desktop) give that error :sudo apt-get install ros-hydro-desktop
Originally posted by AbdallahHesham on ROS Answers with karma: 11 on 2014-04-11
Post score: 1
|
Hi and thanks for your attention.
I want create a program in C++. This program is external to ROS. But I want that this program can be read and work with ROS TOPICS.
For example, I have a node that calculate the distance that walk my robot, and publish a topic with this data. And now I want that my external-program read this topic.
Any idea or example for resolve my question?
Thanks for all.
EDIT-------------------------------------
Ok, I can read topics out of ROS with client.http or client.python but now I want a client.c THIS is my client.c :
#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h>
/* netbd.h es necesitada por la estructura hostent ;-) */
#define PORT 9090
/* El Puerto Abierto del nodo remoto */
#define MAXDATASIZE 100
/* El número máximo de datos en bytes */
int main(int argc, char *argv[])
{
int fd, numbytes;
/* ficheros descriptores */
char buf[MAXDATASIZE];
/* en donde es almacenará el texto recibido */
struct hostent *he;
/* estructura que recibirá información sobre el nodo remoto */
struct sockaddr_in server;
/* información sobre la dirección del servidor */
if (argc !=2) {
/* esto es porque nuestro programa sólo necesitará un
argumento, (la IP) */
printf("Uso: %s <Dirección IP>\n",argv[0]);
exit(-1);
}
if ((he=gethostbyname(argv[1]))==NULL){
/* llamada a gethostbyname() */
printf("gethostbyname() error\n");
exit(-1);
}
if ((fd=socket(AF_INET, SOCK_STREAM, 0))==-1){
/* llamada a socket() */
printf("socket() error\n");
exit(-1);
}
server.sin_family = AF_INET;
server.sin_port = htons(PORT);
/* htons() es necesaria nuevamente ;-o */
server.sin_addr = *((struct in_addr *)he->h_addr);
/*he->h_addr pasa la información de ``*he'' a "h_addr" */
bzero(&(server.sin_zero),8);
if(connect(fd, (struct sockaddr *)&server,
sizeof(struct sockaddr))==-1){
/* llamada a connect() */
printf("connect() error\n");
exit(-1);
}
else
{
printf("CONECT_ok!\n");
}
char* message = "raw\r\n\r\n";
int bytes = send(fd,message, strlen(message),0 );
printf("bytes = %d\n", bytes);
if ((bytes) == -1)
{
printf("Error send \n");
}
if ((numbytes=recv(fd,buf,MAXDATASIZE,0)) == -1){
/* llamada a recv() */
printf("Error recv() \n");
exit(-1);
}
buf[numbytes]='\0';
printf("Mensaje del Servidor: %s\n",buf);
/* muestra el mensaje de bienvenida del servidor =) */
while(1);
close(fd); /* cerramos fd =) */
}
I build with gcc. and I launch with ./client 127.0.0.1 or ./client localhost
The steps that I do are:
1 console: roscore
2 console: roslaunch rosbridge_server rosbridge_websocket.launch
3 console: ./client
When I execute ./client, the printing of progrm:
CONECT_ok!
bytes = 7
Mensaje del Servidor:
But the console 2 no say nothing. I think that this is for the handshake or similar, but I don´t know that do now.
Ps: I use Ubuntu 12.04, Ros Hydro and rosbridge 2.0
Originally posted by alex.filgueira on ROS Answers with karma: 62 on 2014-04-11
Post score: 0
|
I want to know if there is any official websites about SLAM,except for the OpenSLAM.org.
The following is my assumption：If I want to check whether the gmapping package I downloaded is opensource or not,I may write a program with calling the gmapping package under ubuntu, if my program runs successfully,it proves the package is opensource.But now I don't know how to call it,is there any file telling me how to do?
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-11
Post score: 0
|
I am currently working on a software framework to monitor the energy consumption of robots or any embedded device. I wanted to build my framework in a similar manner as ROS.
At the moment, I have created a user API that does the following (front end):
a user can create a probe (a data structure used to collect data from an energy source) and associate it with a device attached to the embedded board.
set a checkpoint with respect to any probe that is already created; once set, energy monitoring of the corresponding device begins.
A user can 'sampleCheckpoint' at which point the latest energy reading collected from the corresponding device is returned.
Finally, a user can also delete checkpoints and probes.
This framework allows users to profile their code for energy consumption.
The backend:
The architecture of the system is built in a producer-consumer fashion (similar to ROS), where energy sources are the producers and any software using the API are consumers. There is a central authority in between that stores checkpoints and probe related data in an sqlite database. And all communications between producers and consumers happen via this central authority over unix sockets.
Does ROS also use UNIX sockets to do all its network communications?
Does ROS store all the topics & subscribers associated with each topic in a database of some sort or just in memory?
I would also like to integrate this framework with ROS at some point. In order to do that, I believe I need to create a ROS package for the framework?
Thank you.
Originally posted by JaysonJT on ROS Answers with karma: 3 on 2014-04-11
Post score: 0
Original comments
Comment by gvdhoorn on 2014-04-11:
Some nitpicking: ROS (the middleware) is built upon publish-subscribe and a flavour of RPC (or implicit and explicit invocation). While similar, a plain producer-consumer system is not the same.
Comment by JaysonJT on 2014-04-11:
Thanks for pointing that out.
|
I have set up my ROS package with the following layout:
packagename
CMakeLists.txt
package.xml
|- src/
|- packagename/
|- __init__.py
|- package_file.py
|- scripts/
|- node_file.py
And in node_file.py, I'd like to be able to do
from packagename import package_file
But I get cannot import name package file.
Am I laying this out correctly? How do I make my python package visible to node_file.py? I am using ROS Hydro in Ubuntu 12.04 LTS.
Originally posted by kamek on ROS Answers with karma: 79 on 2014-04-11
Post score: 0
|
Looking at how other robots are set up, there doesn't seem to be a clear consensus on this.
For clarity, I'm specifically talking about the case where a robot has one (or more) headless PCs onboard, and rviz is being run off-board, probably from a launcher part of a xxxx_viz or xxxx_desktop package.
Should an interactive marker server be started by default with the base robot bringup, or should it be launched alongside rviz, in the view_robot.launch roslaunch file?
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2014-04-11
Post score: 1
|
Hi
im currently running the sicktoolbox_wrapper package for the LMS200 for scanning purpose
I have two LMS200 and would like to use them at the same time
I know the connecting port which are ttyUSB0 and ttyUSB1
lets say im running in port ttyUSB0
when i execute the command of
rosparam set /sicklms/port /dev/ttyUSB1
rosrun sicktoolbox_wrapper sicklms
the old one is killed because of
[new node registered with the same
name]
is there any possible way to change the node name before executing it?
or is it possible to copy and paste then reinstall the same package with a different and publishing a different node name?
I am trying rosparam set but have not found a clue yet
plx help
Originally posted by fcl21 on ROS Answers with karma: 1 on 2014-04-11
Post score: 0
|
How to run a server?
I cloned the package dmp and saved it in my sandbox. when I roslaunch the dmp node, I get the error
ERROR: cannot launch node of type [dmp/dmp_server]: can't locate node [dmp_server] in package [dmp]
Must I add something in CMakeList.txt before I launch?
Originally posted by Ros_newbie on ROS Answers with karma: 17 on 2014-04-11
Post score: 0
|
My upstream repository contains a master branch, as well as branches for Groovy, Hydro, and Indigo. Each distro branch is named <ros_version>-devel. How should I handle release tagging in this case? For example, I already have a "v0.1.0" tag for my last Hydro release. For Indigo, I only modified my package.xml and threw in a #define to silence some warnings, so the software is, for all intents and purposes, identical. I was hoping to create the same version number for Indigo as I have for Hydro, but even if I bumped it to 0.1.1, how should I tag it? Will bloom be able to handle a tag with a name like "v0.1.1-indigo"?
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-04-11
Post score: 0
|
Hello,
Everyone might think that this question is same as this article ( http://answers.ros.org/question/39347/how-to-change-global-planner-of-move_base/ ). Actually, as following the answer, I edited my move_base.launch.xml like this.
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="carrot_planner/CarrotPlanner" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/eband_planner_params.yaml" command="load" />
<param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
<param name="global_costmap/map_topic" value="$(arg map_topic)" />
<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
</node>
The result is following. As showing, Global plan set to elastic band. Elastic band is a local planner, not a global planner.
My experiment environment is a turtlebot2 as a target, Hydro as ROS dist on Ubuntu 12.04.
[ INFO] [1397253785.373263757]: Global plan set to elastic band for optimization
[ INFO] [1397253785.374082648]: TrajectoryController: Goal reached with distance 0.00, 0.11 (od = -0.02); sending zero velocity
Could anybody tell me some information to change a global planner? Thank you in advance!
I show you an additional information. Rviz just seems to display a eband_local_planner as global & local planner.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-11
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-04-11:
I should have read this article on this web ( http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS)
Comment by Ken_in_JAPAN on 2014-04-11:
The reason that another planner isn't displayed on Rviz relate to yaml file?
|
Hello everyone
I have downloaded hokuyo_node-hydro-devel in GitHub,and I want to simulate it in Gazebo or rviz. First I don't konw if Gazebo or rviz meet the requirements,which one should I choose? My Ubuntu is 12.04.Then,how to simulate the hokuyo sensor without hardware?Because Ijust want to see how the sensor works, make sure what I downloaded is what I need,then I can use the sensor somewhere else as a library.
Originally posted by ran95yu on ROS Answers with karma: 3 on 2014-04-11
Post score: 0
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I'm using groovy on ubuntu 12.04.
I downloaded rbx_vol_1 package through svn checkout http://ros-by-example.googlecode.com/svn/trunk/rbx_vol_1 ,then I rosmake it: rosmake rbx_vol_1, rosmake results as follows,
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['rbx_vol_1']
[ rosmake ] Logging to directory /home/yanglan/.ros/rosmake/rosmake_output-20140412-113116
[ rosmake ] Expanded args ['rbx_vol_1'] to:
['rbx1_description', 'rbx1_bringup', 'rbx1_speech', 'rbx1_dynamixels', 'rbx1_nav', 'rbx1_apps', 'rbx1_vision']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-1] Starting >>> cpp_common [ make ]
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-1] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-1] Starting >>> rostime [ make ]
[rosmake-1] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-1] Starting >>> roscpp_traits [ make ]
[rosmake-1] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-1] Starting >>> roscpp_serialization [ make ]
[rosmake-1] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-1] Starting >>> message_runtime [ make ]
[rosmake-1] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-1] Starting >>> std_msgs [ make ]
[rosmake-1] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-1] Starting >>> rosgraph_msgs [ make ]
[rosmake-1] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-1] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Starting >>> rosgraph [ make ]
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-1] Starting >>> roscpp [ make ]
[rosmake-0] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Starting >>> diagnostic_msgs [ make ]
[rosmake-0] Finished <<< diagnostic_msgs ROS_NOBUILD in package diagnostic_msgs
No Makefile in package diagnostic_msgs
[rosmake-0] Starting >>> rbx1_speech [ make ]
[rosmake-1] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-1] Starting >>> sound_play [ make ]
[rosmake-1] Finished <<< sound_play ROS_NOBUILD in package sound_play
[rosmake-1] Starting >>> opencv2 [ make ]
[rosmake-1] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-1] Starting >>> geometry_msgs [ make ]
[rosmake-1] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-1] Starting >>> sensor_msgs [ make ]
[rosmake-1] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-1] Starting >>> cv_bridge [ make ]
[rosmake-1] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-1] Starting >>> rbx1_vision [ make ]
[ rosmake ] All 21 linesbx1_speech: 0.5 sec ] [ r... [ 2 Active 28/68 Complete ]
{-------------------------------------------------------------------------------
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/groovy/share/ros/core/rosbuild/rostoolchain.cmake ..
[rosbuild] Building package rbx1_speech
Failed to invoke /opt/ros/groovy/bin/rospack deps-manifests rbx1_speech
[rospack] Error: package/stack 'rbx1_speech' depends on non-existent package 'pocketsphinx' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/groovy/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'rbx1_speech'.
Look above for errors from rospack itself. Aborting. Please fix the
broken dependency!
Call Stack (most recent call first):
/opt/ros/groovy/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 rbx1_speech written to:
[ rosmake ] /home/yanglan/.ros/rosmake/rosmake_output-20140412-113116/rbx1_speech/build_output.log
[rosmake-0] Finished <<< rbx1_speech [FAIL] [ 0.52 seconds ]
[ rosmake ] Halting due to failure in package rbx1_speech.
[ rosmake ] Waiting for other threads to complete.
[rosmake-1] Finished <<< rbx1_vision [PASS] [ 2.80 seconds ]
[ rosmake ] Results:
[ rosmake ] Built 30 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/yanglan/.ros/rosmake/rosmake_output-20140412-113116
thank you in advance!
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-11
Post score: 0
|
navigation is actually a stack under the directory:/opt/ros/groovy/stacks/,it exits.
My command as follows:
rospack profile
rospack find navigation;
error occurs,[rospack] Error: stack/package navigation not found;
whatever package or stack I rospack find,the results are as above, how can I solve it?
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-11
Post score: 0
|
I'm just trying to install hydro to the PR2. When I type sudo apt-get install ros-hydro-pr2-desktop I have the following error:
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-hydro-pr2-desktop
It's not able to locate the package. As explained in http://wiki.ros.org/Robots/PR2/hydro, the package source deb http://packages.ros.org/ros/ubuntu precise main is one of my source.d files, nonetheless it doesn't detect the package. Any ideas???
Originally posted by silgon on ROS Answers with karma: 649 on 2014-04-12
Post score: 0
Original comments
Comment by DevonW on 2014-12-09:
I recently apt-got it from http://packages.ros.org/ros/ubuntu. Could you retry? Check this http://packages.ros.org/ros/ubuntu/pool/main/r/ros-hydro-pr2-desktop/ to see if you are also able to see the debs.
Comment by silgon on 2014-12-11:
sorry, I won't be able to test it with the robot until mid-January :/
|
I tried to use auto and lambda functions, but it isn't working by default.
And I wasn't able to find how to set compiler option -std=c++11.
Is there a way to do it?
Originally posted by INait on ROS Answers with karma: 220 on 2014-04-12
Post score: 19
Original comments
Comment by Thomas on 2014-04-14:
This is a very bad idea to use C++11 in ROS linked modules. There is no guarantee that C++03 and C++11 will stay ABI-compatible! It may break at anytime without prior notice because it only works ""by chance"" currently! http://stackoverflow.com/questions/12637699/c03-library-with-c11-source-code
Comment by jespestana on 2014-09-25:
I have had problems with C++11 and ROS in the past. If you have a robot with Ubuntu 12.04 preinstalled you are going to have a bad time using C++11, because the boost version in 12.04 is not compatible with C++11. I recommend using C++03 which is the standard: http://www.ros.org/reps/rep-0003.html
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Hi!
I want to use a rosbuild package as dependency of my catkin package. But I'm getting some some errors... seems that catkin doesn't recognize the rosbuild package. Is there a way I can include that rosbuild package without converting it to a catkin package?
Thanks in advance,
Lucas
Originally posted by lucascoelho on ROS Answers with karma: 497 on 2014-04-12
Post score: 1
|
I wrote a code to convert from laserscan points to sonar scan point from the following link
wiki.ros.org/laser_geometry
where they provide the following code
Laser_geometry::LaserProjection projector_;
tf::TransformListener listener_;
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
if(!listener_.waitForTransform(
scan_in->header.frame_id,
"/base_link",
scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment),
ros::Duration(1.0))){
return;
}
sensor_msgs::PointCloud cloud;
projector_.transformLaserScanToPointCloud("/base_link",*scan_in,
cloud,listener_);
// Do something with cloud.
}
This what I added only
Laser_geometry::LaserProjection projector_;
tf::TransformListener listener_;
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
if(!listener_.waitForTransform(
scan_in->header.frame_id,
"/base_link",
scan_in->header.stamp + ros::Duration().fromSec(scan_in->ranges.size()*scan_in->time_increment),
ros::Duration(1.0))){
return;
}
sensor_msgs::PointCloud cloud;
projector_.transformLaserScanToPointCloud("/base_link",*scan_in,
cloud,listener_);
// Do something with cloud.
// this what I added it
for(int i=0; i< cloud->points.size(); ++i)
{
Eigen::Vector3d data(cloud->points[i].x,cloud->points[i].y,0.0);
}
}
I got the following error
base operand of ‘->’ has non-pointer type ‘sensor_msgs::PointCloud’
how can I solve it ?
Originally posted by RSA on ROS Answers with karma: 100 on 2014-04-12
Post score: 0
|
###Hi,every earnest fork##
In the past of couples weeks, I have been tuning robot's navigation. But it still have some troubles when going to nav goals even with a static map.
One of those question is control loop always lose its desire rate. When I use my own notebook on the robot, I set control frequency = 8Hz, and it runs good, but when I use another computer, the warning always jump onto screen. I know the reason is either the latter computer sucked or some parameter was not properly set.
Here it is the key configuration about the latter computer
Intel Atom D2550 1.86GHz
2G RAM
and base_local_planner parameter
controller_frequency: 8
recovery_behavior_enabled: true
clearing_rotation_allowed: true
TrajectoryPlannerROS:
max_vel_x: 0.55
min_vel_x: 0.25
max_vel_theta: 1.2
min_vel_theta: -1.2
min_in_place_vel_theta: 0.9
escape_vel: -0.4
acc_lim_x: 2.0
acc_lim_y: 2.0
acc_lim_theta: 2.5
holonomic_robot: false
yaw_goal_tolerance: 0.3 # about 18 degrees
xy_goal_tolerance: 0.2 # 10 cm
latch_xy_goal_tolerance: true
pdist_scale: 0.8
gdist_scale: 0.4
meter_scoring: true
heading_lookahead: 0.5
heading_scoring: true
heading_scoring_timestep: 0.8
occdist_scale: 0.3
oscillation_reset_dist: 0.1
publish_cost_grid_pc: true
prune_plan: true
sim_time: 2.0
sim_granularity: 0.04
angular_sim_granularity: 0.025
vx_samples: 18
vtheta_samples: 30
dwa: true
simple_attractor: false
Originally posted by zsbhaha on ROS Answers with karma: 63 on 2014-04-12
Post score: 0
|
Hey,
I have a few questions regarding PCL and ros:
What's the difference between toPCL and fromPCLPointCloud2 commands?
What's the opposite command to fromPCLPointCloud2?
Why can I subscribe to a topic of type sensor_msgs::PointCloud2 with callback of type pcl::PCLPontCloud2ConstPtr?
Is there any source that explains extensively the changes that has been made in hydro version regarding to pcl? All I have found until now was outdated or poorly explained.
Thanks in advance.
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2014-04-13
Post score: 1
|
I am working in corverting the laserscan data to sonar data. In this task I had I have the same problem as in this question "http://answers.ros.org/question/31968/compiler-cant-find-transformlaserscantopointcloud-function/"
The answer in this question is to first download the laser_generator package.
I downloaded it using "sudo apt-get install ros-hydro-laser_geometry"
Second add the package to the dependence in the manifest file..
I dont have a manifest file, instead I have a package.xml file.
I added
<build_depend>laser_geometry</build_depend>
and
<run_depend>laser_geometry</run_depend>
but still didnt work and I have the error:
undefined reference to `laser_geometry::LaserProjection::~LaserProjection()'
Originally posted by RSA on ROS Answers with karma: 100 on 2014-04-13
Post score: 1
|
I'm using groovy on ubuntu 12.04. rbx_vol_1 is a package I downloaded through svn checkout http://ros-by-example.googlecode.com/svn/trunk/rbx_vol_1 ,then I rosmake it ,there is no failures existing. In order to ensure that the package can be visible in my ROS package path,I run rospack profile after rosmake rbx_vol_1. then I launch the note :roslaunch rbx1_bringup fake_pi_robot.launch ,error occurs,[fake_pi_robot.launch] is neither a launch file in package [rbx1_bringup] nor is [rbx1_bringup] a launch file name.
Please help me ,thank you in advance!
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-13
Post score: 0
Original comments
Comment by dornhege on 2014-04-13:
rospack profile does NOT add packages to the ROS package path. As the build succeeded I'm assuming that you already did that. Given that: Is fake_pi_robot.launch a launch file in package rbx1_bringup? What do you get for rospack find rbx1_bringup?
Comment by lyshello123 on 2017-04-25:
I met the problem that is the same with you.Please ask you how to solve this problem.Please help me ,thank you in advance!
|
In this code there is a function to get the type of a Service "get_service_type()": http://ros-win32.servicerobotics.eu/trunk/cturtle/tools/rosservice/src/rosservice.py
How can I do that from C++?
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-04-13
Post score: 0
Original comments
Comment by ahendrix on 2014-04-13:
What are you trying to achieve with this? Are you just trying to get the name of the service type, or will you try to call it after you've retrieved the type?
Comment by Bastbeat on 2014-04-13:
I want to create a Parameter with the information of each Service. Name, Type, Request and Response. To be able to call a service from another computer with rosbridge without having to look at the service from Ros
|
We're maintaining our custom made ros client library (http://wiki.ros.org/roseus). We'd like to create new package that holds all messages files that compiled into eus language, so that uses do not need to generate on their local machine. How do I create such a packages or how do I tell ros build firm to do that.
Originally posted by Kei Okada on ROS Answers with karma: 1186 on 2014-04-13
Post score: 1
|
http://wiki.ros.org/Distributions/Timeline#End_of_Life
ROS releases will be supported on the associated Ubuntu platforms while the Ubuntu platform remains supported.
This sounds to me that Groovy will survive until April 2017 when Ubuntu Precise will become EOL. Is that the plan?
(And regarding Precise I'm assuming that fuerte was already terminated because it was released before REP-3 (or related) was updated.)
Personally from my experience, Groovy is where the mixture of 2 build systems was officially introduced and build-release work needs additional care and chores for some packages. So I doubt if it's worth keeping it so long (but on the other hand I'm strongly in favor of the idea of LTS. I just feel Groovy might not have to be it).
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-04-13
Post score: 1
|
I'm working on integrating a robot model consisting of 1 DOF revolute and prismatic joints with moveit and have made a simplified example to make it easier to break down the problems: https://github.com/st3am/KDL-Test (roslaunch kdl_test demol.launch)
I think I'm seeing issues with the KDL kinematics solver. When I have my arm in a configuration of just 2 DOF I can not move the interactive marker. This makes perfect sense to me because the end effector point can not be moved in any direction without increasing the radius from the origin and the chances that I release the marker on the thin spherical shell (.005 thickness defined in the kinematics.yaml) are very low.
The problem occurs when I add the prismatic joint at the end of this arm. The solver can find solutions if I pull the joint out in the axis that is collinear with the axis of the prismatic joint (I manipulate this with the interactive marker on the end effector link), but no solutions are found when I try moving it perpendicular to this radial axis. The sphere of possible solutions is much larger in this case; extending the length between the prismatic joints.
When I add a revolute joint at the end of the prismatic joint and make it the new end effector I can get radial motion perpendicular to the revolute axis because the pose of the end effector does not have to change. By changing the pose and radial position with in steps with the marker I can get the arm to revolve all the way around on a single plane. When I add a second revolute joint perpendicular to the first and make it the new end effector I can move it in either axis, but the first one I move it in subsequently locks the second one. When I try to set a move group goal with all 5 DOF using moveit::planning_interface::MoveGroup.setPositionTarget(), moveit cant find a kinematic solution and times out.
Can anyone tell me if this is a limitation of KDL or if it looks like I'm doing something incorrectly? It seems like in this case the KDL can't find the orientation for a pose either because I'm not giving it what its expecting or because the limited number of DOF's along the prismatic joints somehow cause its root finding algorithms to run into a sort of gimal lock.
Originally posted by St3am on ROS Answers with karma: 170 on 2014-04-13
Post score: 1
|
Kobuki_soft has two parts: Kobuk_softapps and kobuki_softnode. Is this pakage only used for simulation of Kokuki in gazebo? or can it be used for controlling real Kobuki robots?
Originally posted by scopus on ROS Answers with karma: 279 on 2014-04-13
Post score: 0
|
Hello,
I used the "Writing a tf listener (C++)" tutorial and Publishing Sensor Streams Over ROS tutorial and I created a sensor_msgs/pointcloud msg after listening to tfs... and the my code is shown bellow:
#include <ros/ros.h>
#include <tf/transform_listener.h>
//#include <turtlesim/Velocity.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>
#include "sensor_msgs/PointCloud.h"
#include "tf/message_filter.h"
#include "laser_geometry/laser_geometry.h"
int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_listener");
ros::NodeHandle node;
//ros::service::waitForService("spawn");// ##
//ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("spawn"); //##
//turtlesim::Spawn srv; // ##
//add_turtle.call(srv); // ##
ros::Publisher cloud_pub = node.advertise<sensor_msgs::PointCloud>("cloud", 50);
unsigned int num_points = 100;
tf::TransformListener listener;
int count = 0;
ros::Rate rate(10.0);
sensor_msgs::PointCloud cloud;
while (node.ok()){
tf::StampedTransform transform;
try{
listener.lookupTransform("/obstacle/right_up_corner", "/base_link",ros::Time(0), transform);
cloud.header.stamp = ros::Time::now();
cloud.header.frame_id = "sensor_frame";
cloud.points.resize(num_points);
//we'll also add an intensity channel to the cloud
cloud.channels.resize(1);
cloud.channels[0].name = "intensities";
cloud.channels[0].values.resize(num_points);
//cloud.points.x = transform.getOrigin.x();
//cloud.points.y = transform.getOrigin.y();
//cloud.points.z = transform.getOrigin.z();
// generate some fake data for our point cloud
for(unsigned int i = 0; i < num_points; ++i){
cloud.points[i].x =transform.getOrigin.x();// 1 + count;
cloud.points[i].y =transform.getOrigin.y();// 2 + count;
cloud.points[i].z =transform.getOrigin.z();// 3 + count;
cloud.channels[0].values[i] = 100 + count;//#
}
cloud_pub.publish(cloud);
++count;
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
}
rate.sleep();
}
return 0;
};
I got the following error
transform.tf::Transform::getOrigin’ does not have class type
What is the error in this code ?
Originally posted by RSA on ROS Answers with karma: 100 on 2014-04-13
Post score: 0
|
Hi,
I want to synchronize messages without headers. I know synchronization can be done with message_filters when they have timestamps, but these messages are the simple std_msgs/Float32 kind. Can this be done?
My goal is to receive two angle positions from two motors that actuate the same joint, in order to send a sensor_msgs/JointState message regarding the entire joint.
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2014-04-14
Post score: 0
|
I am learning turtlebot_simulator. I run turtlebot_gazebo. Then I subscriber the topic "camera/depth/image_raw" using Python.
but How can I know the exact distance of each point from the depth image?
I can print the information of the image.Like:
frame_id: camera_depth_optical_frame
height 480
weight 640
encoding 32FC1
I have seen some similar problems, but have not solved my problem.
Originally posted by Consider1001 on ROS Answers with karma: 15 on 2014-04-14
Post score: 1
|
Hellow,
I have a template class Main. I'm trying to use one of the function of this class as a callBack for a subscriber but I can't compile my code.
If I put a value in the template :
/home/ros/catkin_ws/src/Tobot/stalker/src/Stalker.cpp:27: undefined reference to `Main<pcl::PointXYZRGBA>::doWork(boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const> const&)'
If I don't :
/home/ros/catkin_ws/src/Tobot/stalker/src/Stalker.cpp:27:86: erreur: ‘template<class T> class Main’ used without template parameters
make[2]: *** [Tobot/stalker/CMakeFiles/stalker_node.dir/src/Stalker.cpp.o] Erreur 1
The code for those errors would be respectively :
pointcloud_sub = my_node.subscribe<sensor_msgs::PointCloud2> ("cloud_filtered", 1, &Main<pcl::PointXYZRGBA>::doWork, &main);
pointcloud_sub = my_node.subscribe<sensor_msgs::PointCloud2> ("cloud_filtered", 1, &Main::doWork, &main);
Any help to get this working would be appreciated.
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-14
Post score: 1
|
Hi, I am desperately trying to install ROS Hydro on OSX 10.8 with Xcode 5.0.2. While compiling the packages, I get the following error, compiling the Orocos_kdl package and I did not find any plausible solution on the answers for this error. I donot have enough karma to gist this error.
247aIn file included from : /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/segment.hpp25default:: 26 :
argument musterror : be /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hppa: 247definition:friend25
:declaration specifying errora: default argument must be frienda declarationdefinition specifying
a default argument must be a definition
inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
^
^
inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:247:25: error: friend declaration specifying a default argument must be a definition
inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:697:25: error: friend declaration specifying a default argument must be a definition
inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:697:25: error/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp: :697:friend25 :declaration specifying errora : ^default
argumentfriend mustdeclaration bespecifying aa definitiondefault
argument must be a definition
inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
^
inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:697:25: error: friend declaration specifying a default argument must be a definition
inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:772:25: error: friend declaration specifying/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp :a772 :default25 :argument must errorbe: a frienddefinition declaration
specifying a default argument must be a definition
inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
^
inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
Some part of it shows this :
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.inl:1037:14: error: friend declaration specifying a default argument must be the only declaration
IMETHOD bool Equal(const Wrench& a,const Wrench& b,double eps) {
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:935:25: note: previous declaration is here
inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon);
^
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chaindynparam.cpp:22:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chaindynparam.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chainidsolver.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chain.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/segment.hpp:26:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:1252:
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:1043:14: note: implicitly declared private here
double s,c;
^
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chaindynparam.cpp:22:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chaindynparam.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chainidsolver.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/chain.hpp:25:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/segment.hpp:26:
In file included from /Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:1252:
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.inl:1053:26: error: 'c' is a private member of 'KDL::Rotation2'
return ( Equal(a.c,b.c,eps) && Equal(a.s,b.s,eps) );
^
/Users/Siva/ros_catkin_ws/src/orocos_kinematics_dynamics/orocos_kdl/src/frames.hpp:1043:14: note: implicitly declared private here
double s,c;
^
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.
make[2]: *** [src/CMakeFiles/orocos-kdl.dir/chain.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
20 errors generated.
make[2]: *** [src/CMakeFiles/orocos-kdl.dir/chainfksolverpos_recursive.cpp.o] Error 1
20 errors generated.
make[2]: *** [src/CMakeFiles/orocos-kdl.dir/chaindynparam.cpp.o] Error 1
20 errors generated.
make[2]: *** [src/CMakeFiles/orocos-kdl.dir/articulatedbodyinertia.cpp.o] Error 1
make[1]: *** [src/CMakeFiles/orocos-kdl.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'orocos_kdl':
Kindly let me know on how to solve this. Regards
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-14
Post score: 1
|
So I would like to run the PCL People Detection Code for the Kinect of my TurtleBot. However I want to do most of the 'work' on my (more capable) workstation, rather than the TurtleBot's netbook, to speed up things considerably.
So how do I run openni_launch/openni.launch (or rgdb_launch/kinect_frames.launch?) such that it does no processing, but just publishes raw data? I have looked into the launch files and noticed that a lot of processing args are set to true by default like here and here for example. So do I just set the ones that I don't need to false?
Having set the above args to false, and desiring to move the task of processing to my workstation, now I assume I have to, from my workstation, subscribe to this 'raw topic' (published to by the Kinect), retrieve the raw data, and do the processing (whatever the above args do) on the workstation. How would I go about doing that? I can't find the source code where these args are defined (in functions or whatever) and used!
Thank you.
EDIT:
Based on my research this is what I now run:
rosrun openni_launch openni.launch with all processing modules turned off. The following are the relevant (not all) camera topics active.
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/rgb/camera_info
/camera/rgb/image_raw
ROS_NAMESPACE=camera/rgb rosrun image_proc image_proc
ROS_NAMESPACE=camera/depth_registered rosrun image_proc image_proc
The above two, according to this, should give me the required topics - rgb/image_rect_color and depth_registered/image_rect - I need for converting to rgb pointclouds according to this.
Before converting to pointcloud though, I convert to metric by rosrun nodelet nodelet load depth_image_proc/convert_metric camera/camera_nodelet_manager --no-bond
Finally, I run rosrun nodelet nodelet load depth_image_proc/point_cloud_xyzrgb camera/camera_nodelet_manager --no-bond.
Now here's the problem: I do get the required /camera/depth_registered/points topic active, but I do NOT have any information on it, as evinced by a rostopic echo. Am I converting incorrectly?
EDIT 2 I have realized that running image_proc for camera/rgb 'works' because the topics it publishes to actually have infomation being published onto it; however, for camera/depth_registered, the topic being published to i.e. /camera/depth_registered/image_rect, has no information on it. As a result, the next step i.e. running depth_image_proc/point_cloud_xyzrgb would not work as it subscribes to an empty topic.
P.S. @bhaskara I know you are familiar with this (https://gist.github.com/bhaskara/2400165) so could you help me? @derekjchow you too please :)
Thanks guys!
Originally posted by oswinium on ROS Answers with karma: 105 on 2014-04-14
Post score: 1
|
This question has relation to my former question ( http://answers.ros.org/question/152196/about-a-way-to-change-default-global-planner/ ). I want to confirm which planner is selected. I selected the eband_local_planner and carrot_planner in Rviz and added the definition of eband_local_planner param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" and param name="base_global_planner" value="carrot_planner/CarrotPlanner"to move_base.launch.xml , but following is displayed on a terminal.
ken@ken:~$ rostopic echo /move_base/parameter_descriptions
dflt:
bools:
-
name: recovery_behavior_enabled
value: True
-
name: clearing_rotation_allowed
value: True
-
name: shutdown_costmaps
value: False
-
name: restore_defaults
value: False
ints: []
strs:
-
name: base_global_planner
value: navfn/NavfnROS
-
name: base_local_planner
value: base_local_planner/TrajectoryPlannerROS
Could anybody tell me the way to check which planner is selected if I'm wrong?
I think that a dflt means initial value.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-14
Post score: 0
|
Hello, I would like to test detecting AR Tag with ar_track_alvar launch using IndividualMarkersNoKinect with my IP Camera. Since I published my own image_raw topic and camera_info topic, I have no ideas where to put the output_frame for that ar_track package..
Can you guys help me?
thanks!
Originally posted by Dipta on ROS Answers with karma: 3 on 2014-04-14
Post score: 0
|
when i enter rosrun rviz rviz in terminal the following appears
[ INFO] : rviz version 1.10.14
[ INFO]: compiled against OGRE version 1.7.4 (Cthugha)
I use amd radeon HD 8***M series
I tried to uninstall OGRE 1.7.4; the uninstall of it contain the uninstall of rviz hydro, the install of hydro rviz contain the install of OGRE 1.7.4. how could I solve such a problem. How could I use hydro rviz
Anyone knows how to solve such a problem? thank you!!!!
Originally posted by Crystal on ROS Answers with karma: 1 on 2014-04-14
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-04-14:
Could you tell us why you are uninstalling OGRE 1.7.4?
Comment by Crystal on 2014-04-15:
cause i came across some problems when i run rviz and i tried some method to solve them. when i tried this one, I find such a thing and I wonder the reason for that.
Comment by Ken_in_JAPAN on 2014-04-15:
@Crystal: Did you have same error that is described on this page ( http://answers.ros.org/question/150801/segmentation-fault-at-rosrun-rviz-rviz/ )? If so, I gave up and reinstalled both ROS and Ubuntu. Sorry!! If you want to ask the question, you should post it again. Question is changed.
Comment by Crystal on 2014-04-15:
oh....more or less the same...sometimes I can use some times not....thank you for your advice! But I have reinstalled both of them 2 times....I think it is the problem of my graphic card driver. I will try some other methods, if they will not work. I think I should reinstall them again...thank you~
|
Hi,
I'm trying to run ros on my local network. (2 machines communicating each other) However, sometimes tf lookuptransform gives me timeout errors. I've read that it is caused of time asynchronization between machines. I tried to synchronize them by using NTP but no luck.. I thought maybe if i don't use my router and connect those machines directly over ad-hoc, i can get better results?
Is ad-hoc can be used with ROS? is there any different instructions do i have to follow besides http://wiki.ros.org/ROS/Tutorials/MultipleMachines
Originally posted by lvntbkdmr on ROS Answers with karma: 23 on 2014-04-14
Post score: 0
|
(ROS GROOVY)
Hi,
has anybody the plotting library MathGl included into the CMake process?
Under https://groups.google.com/forum/#!topic/mathgl/3MFOIqTsyKE I found a FindMathGL.cmake which I evoked in cmakelist.txt:
##MH Include a custom cmake file for MathGl
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
find_package(MathGL REQUIRED)
It stops with:
CMake Error at function/safety_trajectoryplanning_conti/ros/cmake/FindMathGL.cmake:67 (MESSAGE):
Cannot determine MathGL version: mgl2/config.h parse error
-- Configuring incomplete, errors occurred!
whereby the path mgl2/config.h was not found.
MathGL was installed in /usr/local/lib and include. I put a symlink to /usr/include - lib, which was not working.
MathGL can be found here:
http://mathgl.sourceforge.net/doc_en/Main.html
thanks
Originally posted by MartinHummel on ROS Answers with karma: 156 on 2014-04-14
Post score: 0
|
Hello everyone, I am using the explore stage(wiki.ros.org/explore) and motified it with multi-robots.
(1)When I run it I always find that when the robot's goal is very far and behand the robot ,I will not move.
(2)Also, the robot always goes into the inflation area and do not move for the goal, I have read the navigation guide but maybe I can't understand some of them ,So I want to find some help here for the reason why it do not move
this is the details: docs.google.com/drawings/d/17D6umDL43akGIcRJbAAy27SnUKy9LlGorETI3w04nWY/edit?usp=sharing
controller_frequency: 10.0
TrajectoryPlannerROS:
transform_tolerance: 0.3
world_model: costmap
acc_lim_x: 0.5
acc_lim_y: 0.5
acc_lim_th: 1.0
max_vel_x: 0.65
min_vel_x: 0.10
max_rotational_vel: 2.5
min_in_place_rotational_vel: 0.001
escape_vel: -0.1
holonomic_robot: false
#y_vels: [-0.3, -0.1, 0.1, 0.3]
yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.15
latch_xy_goal_tolerance: false
sim_time: 2.7
sim_granularity: 0.05
vx_samples: 8
vtheta_samples: 20
meter_scoring: true
occdist_scale: 0.01
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
dwa: true
oscillation_reset_dist: 0.1
goal_distance_bias: 0.05 #0.4
path_distance_bias: 0.07 #0.3
escape_reset_dist: 0.15
escape_reset_theta: 0.30
simple_attractor: false`
and the costmap_common
map_type: costmap
transform_tolerance: 0.3
obstacle_range: 7.9
max_obstacle_height: 2.0
raytrace_range: 7.9
robot_radius: 0.15 #0.10
inflation_radius: 0.5 #0.12
cost_scaling_factor: 15.0
lethal_cost_threshold: 100
track_unknown_space: true
Thank you very much!
Originally posted by physicsex on ROS Answers with karma: 11 on 2014-04-14
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-04-15:
@physicsex; Did you execute roslaunch explore_stage explore_slam.launch? As this launch file includes gmapping, robot seems to make a map of a world. As explore.launch doesn't include a kind of like amcl, the robot doesn't know where it is. I think so.
Comment by physicsex on 2014-04-17:
Thank you! But I think it knows where it is because it can go for a goal sometimes but if the goal is a little far away I can't go for it and just stand there ,also sometimes it just go around. I don't know why.
|
Hello,
I am trying to install ROS Hydro on OS X 10.8. I am strictly following the tutorial to install ROS through homebrew. I am on xcode 5.0.2 now. I am working behind a proxy. After I tap the formulae, I setup the environment with the following commands.
export PATH=/usr/local/bin:$PATH
$ source ~/.bash_profile
$ mkdir -p ~/Library/Python/2.7/lib/python/site-packages
$ echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
Installed pip and successfully ran the following as well :
sudo pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx
Successfully initialized rosdep, created the workspace and populated it with packages with the following :
$ rosinstall_generator desktop_full --rosdistro hydro --deps --wet-only --tar > hydro-desktop-full-wet.rosinstall
$ wstool init -j8 src hydro-desktop-full-wet.rosinstall
Everything went fine till here as far as i know.
Next when I need execute this :
$ rosdep install --from-paths src --ignore-src --rosdistro hydro -y
I get the following error :
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
smach_ros: No definition of [python-mock] for OS [osx]
rospack: No definition of [python-coverage] for OS [osx]
roslisp: No definition of [python-coverage] for OS [osx]
rosgraph: No definition of [python-mock] for OS [osx]
I am not really sure on how to handle this. Please help.
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-15
Post score: 1
|
Hello,everybody,I want to know if there is a windows version of SLAM. If there is no ,my next task may be transplanting the code from linux to windows ,which would be a huge work for me ! Thank you.
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-15
Post score: -1
Original comments
Comment by Ken_in_JAPAN on 2014-04-15:
I think that you can choose Mobile Robot Programming Toolkit ( http://en.wikipedia.org/wiki/Mobile_Robot_Programming_Toolkit ) if your task is a research of SLAM. MRPT works on Windows.
Comment by danmianjing_00 on 2014-04-16:
MRPT is a cross-platform and open source C++ library ,if I develop a Graphical interface about robot in Visual Studio 2010,I can use MRPT as a libary directly,so there is no need to transplant the code in ROS from linux to windows. Can I understand like that?
Comment by Ken_in_JAPAN on 2014-04-16:
@danmianjing_00: Exactly!
Comment by danmianjing_00 on 2014-04-16:
Thank you. Something else, that is to say,the packages in ROS are generated by buliding a framework with using MRPT libraries,then wrapper packages.So I can use MRPT in VS2010 to wrapper my package to achieve a certain function,such as gmapping package. Am I right?
|
Hi,
I do sometimes get the error code -11 while building my ros package. I am using groovy.
Has someone found a list describing error codes? That would help debugging.
Thanks in advance,
Daniel
Originally posted by dneuhold on ROS Answers with karma: 205 on 2014-04-15
Post score: 0
Original comments
Comment by dornhege on 2014-04-15:
Do you get that while building or executing? If it's really during the build, which step/program causes this? What output is there? 11 is usually a segfault. This seems unlikely to be caused by a build.
|
Hi Guys,
I am following rviz tutorial below
http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes
I have downloaded the C++ Codes and use catkin to make it as a ros-package. Then I have runned
roscore
rosrun rviz rviz
rosrun using_markers basic_shapes
But I still not able to find any markers and shapes in rviz.
After I did rosrun using_markers basic_shapes, no information showed in the terminal. Can anyone help me this problem?
Originally posted by Sendoh on ROS Answers with karma: 85 on 2014-04-15
Post score: 1
|
Hi, all. I am learnning the ROCON project of Hydro. I studied the code of the package concert_orchestra. I am sorry, I can't understand it at all. This partly is because I am a newcomer of Python.
However, I can't understand why a compatibility tree is constructed and used, what the branches and leaves mean. It seem that a compatibility tree may be with redundancy, so sometimes it needed to be pruned? What the solution in the code "orchestration.py " actually is ?
I also studied the concert_msgs which contains Linknode, Linkgraph and so on. What does the "min" , "max“ in Linknode mean? The comment for "min" "max" " Constraints on how many of these nodes may exist", In what case the constraint is needed? In the struct of "concert_msgs", what is the relationship between the compatibility tree and Linkgraph in Implementation? Why are there two LinkConnection: topics and actions?
Looking forward to your help.
Originally posted by scopus on ROS Answers with karma: 279 on 2014-04-15
Post score: 0
Original comments
Comment by jihoonl on 2014-04-16:
Sorry I have got too many things to handle at the moment. I will follow up this soon.
Comment by scopus on 2014-04-17:
Thank you , looking forward to your reply. I am still confused about it.
|
Hello, I am wishing to create a depth-image from my velodyne data. I would like to use a degree paramater (from 0 to 360), the height (y-coordinate) and the depth from the velodyne. I was wondering if you can return what 'degree' the point corresponds to. I've heard that the Velodyne stack is not yet able to return this kind of data.
Thanks!
Originally posted by Gariben on ROS Answers with karma: 5 on 2014-04-15
Post score: 0
|
Hi guys, I want to develop and debug packages in ROS with Netbeans. I followed the Instructions at link text but I have some questions:
catkin_make is creating all his stuff inside my myworkspace/build/mypackage (caktin, catkin_generated, MakeFile, etc.) and the executable in myworkspace/devel/lib/mypackage
but if I do it with Netbeans, all this stuff is inside myworkspace/src/mypackage.
Is this a problem (e.g., ambiguity during compiling/running)?
When I compile with Netbeans and then with catkin_make rosrun says that there are two executables and I have to choose. Is there a way to do something clean (e.g., putting all catkin/cmake/make stuff in a separate folder and the executable in a folder like mypackage/bin even if I call catkin_make on the workspace? Why catkin is forcing us to have one place to compile all the packages in a folder far from them?
EDIT:
After losing so much time I ended with this solution (I hope will be appreciated):
File -> New Project -> New Project with existing source
Next
In the folder with existing source myworkspace/src/mypackage
Custom
Next
configure script: myworkspace/src/CMakeLists.txt This is the GLOBAL cmakefile of ROS, not the package one
configure arguments: -DCATKIN_DEVEL_PREFIX=myworkspace/devel WITH ABSOLUTE PATH
run the configure script in subfolder: ../build so that he's pointing to the global build space
Next until the end
This is the best I could. If anybody knows a CLEAN method to specify programmatically where to put Build Space, Devel Space and Install space inside the project CMakeLists.txt, please tell me
Originally posted by mark_vision on ROS Answers with karma: 275 on 2014-04-16
Post score: 1
|
Hi all,
I want to set the initial joint positions of a robot in gazebo simulator starting with paused physics. I used the following in the launch file.
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model ps -param robot_description -J joint1 1.5 -J joint2 0.75 -J joint3 -0.5"/>
also I tried,
<node pkg="rosservice" type="rosservice" name="resetter"
args="call --wait /gazebo/set_model_configuration '{model_name: ps, urdf_param_name: robot_description, joint_names: [joint1, joint2, joint3], joint_positions: [1.5, 0.75, -0.5]}'" />
without the -J option in urdf_spawner. Neither seems to work. Currently I have not implemented any controllers for the joints. Therefore, disabling controllers as in this need not be considered for the time being. I could see the following messages but still the joint angles have not changed.
[INFO] [WallTime: 1397641007.444278] [0.000000] Waiting for service /gazebo/set_model_configuration
[INFO] [WallTime: 1397641007.445439] [0.000000] Calling service /gazebo/set_model_configuration
[INFO] [WallTime: 1397641007.446698] [0.000000] Set model configuration status: SetModelConfiguration: success
The only way I could get it to work is by calling:
rosservice call /gazebo/set_model_configuration '{model_name: ps, urdf_param_name: robot_description, joint_names: [joint1, joint2, joint3], joint_positions: [1.5, 0.75, -0.5]}'
separately before I unpause physics.
I use ROS-Hydro with Gazebo 1.9
Any help would be really appreciated. Thanks
Originally posted by ChickenSoup on ROS Answers with karma: 387 on 2014-04-16
Post score: 1
|
Hello , every earnest folk
The question what headline states has confused me a long time . I can't understand that parameter's meaning. I have seen introduction from here many times ,But it still puzzles me .In my opinion ,sim_granularity and vx_sample have decided the distance should be forward_simulated .So ,what does the sim_time mean ?
Originally posted by zsbhaha on ROS Answers with karma: 63 on 2014-04-16
Post score: 1
|
Hi,
There seems to be conflicting info about how to start and use gscam. http://wiki.ros.org/gscam states to go to the bin/ directory but http://answers.ros.org/question/91676/how-to-install-gscam/ mentions something entirely different. Also, when trying, I find that ~/.ros/camera_info doesn't exist. Shouldn't this be installed with gscam ?
Thanks
Originally posted by hvn on ROS Answers with karma: 72 on 2014-04-16
Post score: 0
Original comments
Comment by RosFaceNoob on 2014-04-16:
Hi,
it doesn't matter if you don't have your bin or the camera_info folder. Did you tried something and get errors?
Comment by hvn on 2014-04-16:
Yes, I did. I exported GSCAM_CONFIG, started "rosrun gscam gscam". Got the messages that it can't open the camera calibration file and that camera.yaml isn't found. It does start the stream but "rostopic list" doesn't show any /gscam topics.
|
Hi,
i want to use BeagleBoard Black in an R/C-Car to control the steering and braking servo. Is it useful to use ROS? Or is it "too much"? Which means that this task could be solved by using standard OS like Angström or Ubuntu without having more (programming) work to do.
Thanks.
Originally posted by ROSler93 on ROS Answers with karma: 21 on 2014-04-16
Post score: 2
Original comments
Comment by Ken_in_JAPAN on 2014-04-16:
If you just want to control a R/C-Car, I recommend you Arduino and Processing (http://www.instructables.com/id/Processing-Controls-RC-Car-with-XBee-modules/). Actually, I also tried it. As I wanna move an autonomous robot, I use ROS.
|
Hi everyone,
I have some problem to understand how to convert images with cvbridge. I red the tutorial : http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages .
But I can't find a way to convert a openCV images to ROS images message. I succed to convert from ROS to openCV.
I wanted to use the function toImageMsg() but it returns a sensor_msgs::Image but I want a sensor_msgs::ImageConstPtr.
Can somebody help me please?
Thank you.
Originally posted by RosFaceNoob on ROS Answers with karma: 42 on 2014-04-16
Post score: 0
|
According to this video, the localization in amcl compares the laserscan of its surroundings to the pre-saved map_file that is now loaded onto map_server as in this tutorial.
However, how does the turtlebot know if something new is just a local costmap addition or that the turtlebot pose estimate, as on rviz, is incorrect based on said comparison?
I find my robot jumping around on rviz as a result of this incorrect pose estimation.
Originally posted by oswinium on ROS Answers with karma: 105 on 2014-04-16
Post score: 1
|
Has anyone tested the urg_node to see if it works with Hokuyo's new UST-10LX?
https://www.hokuyo-aut.co.jp/02sensor/07scanner/ust_10lx_20lx.html
Thanks!
Originally posted by bk on ROS Answers with karma: 25 on 2014-04-16
Post score: 0
|
Trying to setup a USB stick with ROS for a student. Get to the following command and I get this error:
ubuntu@ubuntu:~$ sudo apt-get install ros-hydro-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-hydro-desktop-full : Depends: ros-hydro-desktop but it is not going to be installed
Depends: ros-hydro-mobile but it is not going to be installed
Depends: ros-hydro-perception but it is not going to be installed
Depends: ros-hydro-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
ubuntu@ubuntu:~$
Am using UBUNTU 12.04 Live and UNETBOOTIN loader.
Was wondering how to proceed to fix it?
Thanks
Originally posted by billtecteacher on ROS Answers with karma: 101 on 2014-04-16
Post score: 0
|
Hello everyone, turtlebot-description package has a CMakeLists as below:
cmake_minimum_required(VERSION 2.8.3)
project(turtlebot_description)
find_package(catkin REQUIRED COMPONENTS urdf xacro)
catkin_package(
CATKIN_DEPENDS urdf xacro
)
install(DIRECTORY robots
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY meshes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY test
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
catkin_add_gtest(${PROJECT_NAME}_test_urdf test/test_urdf.cpp)
During the build, I get an error message as below:
| CMake Error at /media/Build/next/build/tmp/sysroots/duovero/usr/share/catkin/cmake/test/tests.cmake:17 (message):
| catkin_add_gtest() is not available when tests are not enabled. The CMake
| code should only use it inside a conditional block which checks that
| testing is enabled:
|
| if(CATKIN_ENABLE_TESTING)
|
| catkin_add_gtest(...)
|
| endif()
It's obvious that the unit test should be only called when testing is enabled. However, the last commit on this code was 7 months ago. I am sure some would have caught the error by now. So I began looking for the correct use case for this macro, and the ROS doc doesn't mention much about it. Can someone verify that it indeed needs to check whether testing is enabled?
Originally posted by Adam YH Lee on ROS Answers with karma: 53 on 2014-04-16
Post score: 2
|
I don't know how to execute an example in pcl tutorial( http://wiki.ros.org/pcl/Tutorials ). This question is same as this page ( http://answers.ros.org/question/48583/pcl_tutorial-how-to-show-the-point-cloud/ ), but the result was't shown on the page. Could anyone tell me how to execute it?
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-16
Post score: 0
Original comments
Comment by Stefan Kohlbrecher on 2014-04-16:
This isn´t really a question asked to the community, but a question that gets answered immediately (?) It makes more sense to post an answer to the question you link above or edit the corresponding wiki page you link above with the additional info you provide.
Comment by Ken_in_JAPAN on 2014-04-17:
@Stefan Kohlbrecher: Thank you for your comments. Your comments is correct. If I answer your question, I gets an answer immediately and nobody check an article in 2012. Because some people post their question without checking same question. By the way, I may edit the corresponding wiki page?
Comment by Stefan Kohlbrecher on 2014-04-17:
Yes, after logging in you're free to edit the wiki page. Also, if someone finds the question from 2012
through search, you posting an answer to another place doesn't really help.
Comment by Ken_in_JAPAN on 2014-04-17:
Your comment is also right! I'll try to edit the wiki page. Thanks, @Stefan Kohlbrecher!
Comment by 130s on 2014-04-17:
Speaking of raising an attention upon editing wiki, what I also like to do in order to get reviewed is to edit wiki, get a link for the diff (from info page on the particular wiki page), and post on issue tracker of the corresponding repository.
Comment by Ken_in_JAPAN on 2014-04-17:
Thanks, @IsaacSaito!
|
Hello ROSian's....
Is there any way to download the source code for ROS Hydro or any other distribution of ROS. I have referred the sites mentioned below for obtaining the ROS source code, but I can't download them. I want them as a whole source code in a single package.
wiki.ros.org/Source%20code
code.ros.org/svn/ros/stacks/ros/tags/
I want the source codes in order to cross-compile the ROS for ARM processors.
Please anybody help me to get out of this juggle.....
Thanks
Originally posted by sonny on ROS Answers with karma: 33 on 2014-04-16
Post score: 0
|
Im now using the ardrone_autonomy(instead ardrone sdk)
now i want to create a new node to publish topic and make the ardrone node to subscribe, and the topic will be some command that make drone to hover or something like pid control. ardrone_autonomy read me file only mentioned the commands to ardrone which is :
" The drone will take off,land or emergency stop/reset by publishing an Empty ROS messages to the following topics: ardrone/takeoff, ardrone/land and ardrone/reset repectively. in order to fly the drone after takeoff, you can publish a message of type geometry_msgs::Twist to the cmd_vel topic." . And those topic only allow me to control the drone with position control.
in general case, when controlling quadrotor, we may have 4 inputs like u1,u2,u3,u4, those straightly control the degree of each angles.
Didn't I find the right input to control ardrone? if i did , plz tell me where those variables are, and how to change them to control ardrone's attitude.
Thanks!
Originally posted by ad26kr on ROS Answers with karma: 16 on 2014-04-16
Post score: 0
|
When I compile my package with catkin_make I see this error:
prima@prima-UX32VD:~/catkin_ws$ catkin_make
Base path: /home/prima/catkin_ws
Source space: /home/prima/catkin_ws/src
Build space: /home/prima/catkin_ws/build
Devel space: /home/prima/catkin_ws/devel
Install space: /home/prima/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/prima/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/prima/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/prima/catkin_ws/devel;/opt/ros/hydro
-- This workspace overlays: /home/prima/catkin_ws/devel;/opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/prima/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - ompl_planner
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'ompl_planner'
-- ==> add_subdirectory(ompl_planner)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a package configuration file provided by "ompl" with any of
the following names:
omplConfig.cmake
ompl-config.cmake
Add the installation prefix of "ompl" to CMAKE_PREFIX_PATH or set
"ompl_DIR" to a directory containing one of the above files. If "ompl"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
ompl_planner/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Errore 1
Invoking "make cmake_check_build_system" failed
but in my ompl package in /opt/ros/hydro/share/ompl/ there is the correct ompl-config.cmake file.
this is my CmakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(ompl_planner)
find_package(catkin REQUIRED COMPONENTS
roscpp
costmap_2d
geometry_msgs
nav_core
nav_msgs
pluginlib
tf
angles
ompl
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ompl_planner
CATKIN_DEPENDS roscpp nav_core pluginlib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(ompl_planner
src/ompl_planner.cpp
)
install(TARGETS ompl_planner
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/ompl_planner/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(FILES
bgp_plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
What can I do?
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2014-04-16
Post score: 0
Original comments
Comment by joq on 2014-04-17:
Most likely your workspace environment is wrong. Did you remember to source /opt/ros/hydro/setup.bash before first running catkin_make? Did you later source ~/catkin_ws/devel/setup.bash?
Comment by Stefano Primatesta on 2014-04-17:
I always do it. The problem is only with OMPL package, but not with other packages.
|
Hey,
I have a library which uses premake4 for generating the makefiles. Is there a way to combine this in catkin, without writing the CMake files for the library? Worst case I can make the CMake files myself but I'd rather keep the library as-is.
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2014-04-17
Post score: 0
|
Turtlebot2, Groovy, turtlebot_arm-groovy-devel package:
After roslaunching turtlebot_arm_bringup simple_arm_server.launch:
[simple_arm_server.launch] is neither a launch file in package [turtlebot_arm_bringup] nor is [turtlebot_arm_bringup] a launch file name
Can anyone tell me how to fix it? Thanks so much!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-17
Post score: 0
|
I would like to know if there exist any person/people detection ROS package(s) that uses 2D image data as an input. What I'm aware of, lots of ROS packages available for are meant for the use with Kinect or any 3D-based camera.
Thanks in advance.
Originally posted by alfa_80 on ROS Answers with karma: 1053 on 2014-04-17
Post score: 2
|
It sounds horrid, and that is exactly what it looks like :p
I have a visual robot model, now only consisting of a base and a head. Both are separate links and they have their separate mesh. The head is attached through continuous joints in the neck. If I now drive with the robot, the base will move seemingly smooth, however the head will detach from its link occasionally and drag behind a bit. See the picture for more information.
If I change the joints to fixed joints, this does not happen. If I decrease the refresh rate of the joint publisher node, it gets worse, if I increase the rate it gets better, but you still notice some detachments on occasion. Is there anything I can do about this?
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2014-04-17
Post score: 0
|
Hello guys,
I'am following this tutorial about ROS Integration on Gazebo 1.9 (http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo).
My issue is:
As example I consider RRBot, when I type these commands:
roslaunch rrbot_gazebo rrbot_world.launch
to start simulation, and
roslaunch rrbot_control rrbot_control.launch
to load controllers, it gives me these errors:
[INFO] [WallTime: 1397731938.843439] [11.566000] Loading controller: joint_state_controller
[ERROR] [WallTime: 1397731939.851478] [12.570000] Failed to load joint_state_controller
[INFO] [WallTime: 1397731939.852413] [12.571000] Loading controller: joint1_position_controller
[ERROR] [WallTime: 1397731940.860462] [13.576000] Failed to load joint1_position_controller
[INFO] [WallTime: 1397731940.861270] [13.576000] Loading controller: joint2_position_controller
[ERROR] [WallTime: 1397731941.869383] [14.581000] Failed to load joint2_position_controller
[INFO] [WallTime: 1397731941.870228] [14.581000] Controller Spawner: Loaded controllers:
[INFO] [WallTime: 1397731941.876315] [14.588000] Started controllers:
Then, if I type:
rosservice call controller_manager/list_controller_types
it gives me this error:
ERROR: Service [/controller_manager/list_controller_types] is not available.
How can I resolve?
Thanks
Originally posted by Il_Voza on ROS Answers with karma: 56 on 2014-04-17
Post score: 4
|
In tutorials of face_recognition http://wiki.ros.org/face_recognition
I downloaded the face_recognition package from Github https://github.com/procrob/procrob_functional
but when I build the package using the command rosmake face_recognition ,I had the following error .
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['face_recognition']
[ rosmake ] Logging to directory /home/smart-engineers/.ros/rosmake/rosmake_output-20140417-150308
[ rosmake ] Expanded args ['face_recognition'] to:
['face_recognition']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-3] Starting >>> console_bridge [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-3] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-1] Starting >>> genpy [ make ]
[rosmake-2] Starting >>> gencpp [ make ]
[rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-3] Starting >>> rostime [ make ]
[rosmake-1] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-2] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-1] Starting >>> message_generation [ make ]
[rosmake-2] Starting >>> roslang [ make ]
[rosmake-3] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-3] Starting >>> roscpp_traits [ make ]
[rosmake-1] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-2] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-2] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosgraph [ make ]
[rosmake-2] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-1] Starting >>> rosclean [ make ]
[rosmake-2] Starting >>> opencv2 [ make ]
[rosmake-3] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-3] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-2] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-2] Starting >>> rosmaster [ make ]
[rosmake-0] Starting >>> rosparam [ make ]
[rosmake-3] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-3] Starting >>> message_runtime [ make ]
[rosmake-1] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-0] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-1] Starting >>> class_loader [ make ]
[rosmake-3] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-2] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-3] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-1] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-3] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-1] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-1] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-3] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-1] Starting >>> pluginlib [ make ]
[rosmake-2] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-2] Starting >>> cv_bridge [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> rosout [ make ]
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-1] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-2] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-0] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-0] Starting >>> actionlib [ make ]
[rosmake-3] Starting >>> message_filters [ make ]
[rosmake-0] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-3] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-3] Starting >>> image_transport [ make ]
[rosmake-3] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-3] Starting >>> face_recognition [ make ]
[ rosmake ] All 2 linesface_recognition: 0.0 sec ] [ 1 Active 40/41 Complete ]
{-------------------------------------------------------------------------------
mkdir: cannot create directory `build': Permission denied
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package face_recognition written to:
[ rosmake ] /home/smart-engineers/.ros/rosmake/rosmake_output-20140417-150308/face_recognition/build_output.log
[rosmake-3] Finished <<< face_recognition [FAIL] [ 0.07 seconds ]
[ rosmake ] Halting due to failure in package face_recognition.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 41 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/smart-engineers/.ros/rosmake/rosmake_output-20140417-150308
What is the cause of this error??
How can I solve it??
Is there any command to install this
package via terminal ??
my distribution is Hydro. I use ubuntu 12.04.
Any help,please??
Originally posted by Eman on ROS Answers with karma: 164 on 2014-04-17
Post score: 1
Original comments
Comment by BennyRe on 2014-04-17:
rosmake says you the cause of the error: It hasn't the permissions to create the 'build' directory. Where did you create your rosmake workspace? What are the permissions of the face_recognition package? face_recognition is currently not in the debians, so you can't install it with apt-get atm.
Comment by Eman on 2014-04-17:
The face_recognition package is in the src folder of catkin_WS . The catkin_WS is in the home.When I tried to type " rospack find face_recognition ", it returned the path of the package,so this mean that ROS can see the package.
Comment by BennyRe on 2014-04-17:
Ah ok, so you are using rosbuild inside the catkin workspace. I know some people do this. I personally always used rosbuild on groovy and late like this: http://wiki.ros.org/catkin/Tutorials/using_rosbuild_with_catkin
Comment by Eman on 2014-04-17:
Excuse me, when I transfered this package to the file system/opt/ros/hydro/share using the command " sudo cp -r " , it has been transferred successfully to /opt/ros/hydro/share. but when I tried to build it using " rosmake face_recognition " , I had the same error
Comment by Eman on 2014-04-17:
Using the command " sudo apt-get install " to install packages, it downloaded the packages in filesystem/opt/ros/hydro/share,
So, I tried the same concept using the command " sudo cp-r ", so what is the error ??
Comment by Ken_in_JAPAN on 2014-04-17:
Hello @Eman, Do you look for this page ( http://wiki.ros.org/people )? I have never used this package people, but this page includes face_detector package. Do you try to install it with sudo apt-get install ros-***-people ? If you don't need it, please remove it.
Comment by Eman on 2014-04-21:
@BennyRe Thanks a lot for your help.
Comment by Eman on 2014-04-21:
@Ken_in_JAPAN
Thanks a lot for your help.
|
Hellow,
I'm trying to install the package here perception_pcl to use the object recognition of pcl in ros Groovy. For now I have pcl installed in groovy (pcl 1.6) and I can't figure how to install this repo in my catkin workspace.
I tried cloning it and then catkin_make or cmake then make pcl then catkin_make while isolating the pcl folder but I have tons of dependency error then.
Can someone give me a "how to do it" explanation please ? There is no README so I'm lost ><
I tried follow this link as well but there is no cmake_find_ros anymore...
For example I just ran catkin_make after downloading the package and I have that kind of errors :
In file included from /home/ros/catkin_ws/src/perception_pcl-groovy-unstable-devel/pcl_ros/src/pcl_ros/features/feature.cpp:51:0:
/home/ros/catkin_ws/src/perception_pcl-groovy-unstable-devel/pcl_ros/include/pcl_ros/features/feature.h:43:35: erreur fatale: pcl_msgs/PointIndices.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from /home/ros/catkin_ws/src/perception_pcl-groovy-unstable-devel/pcl_ros/tools/pcd_to_pointcloud.cpp:53:0:
/home/ros/catkin_ws/src/perception
_pcl-groovy-unstable-devel/pcl_ros/include/pcl_ros/publisher.h:50:29: erreur fatale: pcl/conversions.h : Aucun fichier ou dossier de ce type
compilation terminée.
Here is the output of dkpg -l |grep perception
ros@ros-K56CM:~$ dpkg -l |grep perception
ii ros-groovy-perception 1.0.0-s1391975666~precise Meta package for perception variant of ROS.
ii ros-groovy-perception-pcl 1.0.36-0precise-20131016-0534-+0000 PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.
Here are my includes in my program :
#include <pcl/recognition/cg/hough_3d.h>
#include <pcl/recognition/cg/geometric_consistency.h>
And here is the output of catkin_make :
ros@ros-K56CM:~/catkin_ws$ catkin_make --pkg stalker
Base path: /home/ros/catkin_ws
Source space: /home/ros/catkin_ws/src
Build space: /home/ros/catkin_ws/build
Devel space: /home/ros/catkin_ws/devel
Install space: /home/ros/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/ros/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/ros/catkin_ws/build/Tobot/stalker"
####
[ 20%] Built target basic
[ 20%] Built target gui
[ 20%] [ 40%] Building CXX object Tobot/stalker/CMakeFiles/3Dreckon.dir/include/stalker/reckon_pipeline/Main.cpp.o
Building CXX object Tobot/stalker/CMakeFiles/3Dreckon.dir/include/stalker/reckon_pipeline/CorrespGrouping.cpp.o
In file included from /home/ros/catkin_ws/src/Tobot/stalker/include/stalker/reckon_pipeline/Main.hpp:9:0,
from /home/ros/catkin_ws/src/Tobot/stalker/include/stalker/reckon_pipeline/Main.cpp:1:
/home/ros/catkin_ws/src/Tobot/stalker/include/stalker/reckon_pipeline/CorrespGrouping.hpp:8:41: erreur fatale: pcl/recognition/cg/hough_3d.h : Aucun fichier ou dossier de ce type
compilation terminée.
In file included from /home/ros/catkin_ws/src/Tobot/stalker/include/stalker/reckon_pipeline/CorrespGrouping.cpp:1:0:
/home/ros/catkin_ws/src/Tobot/stalker/include/stalker/reckon_pipeline/CorrespGrouping.hpp:8:41: erreur fatale: pcl/recognition/cg/hough_3d.h : Aucun fichier ou dossier de ce type
compilation terminée.
make[2]: *** [Tobot/stalker/CMakeFiles/3Dreckon.dir/include/stalker/reckon_pipeline/Main.cpp.o] Erreur 1
make[2]: *** Attente des tâches non terminées....
make[2]: *** [Tobot/stalker/CMakeFiles/3Dreckon.dir/include/stalker/reckon_pipeline/CorrespGrouping.cpp.o] Erreur 1
make[1]: *** [Tobot/stalker/CMakeFiles/3Dreckon.dir/all] Erreur 2
make: *** [all] Erreur 2
Invoking "make" failed
I assume I don't have the library so I tried to install that github package.
Any help will be appreciated
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-17
Post score: 0
Original comments
Comment by ahendrix on 2014-04-17:
Are you on Ubuntu? Have you tried installing perception-pcl from debs?
Comment by Maya on 2014-04-17:
I'm on Ubuntu. I have perception-pcl install from the debs. But when I try to use pcl/recognition/Something.h there is no such file. I'm going to add some information to the question.
Comment by demmeln on 2014-04-18:
Can you add your package.xml and CMakeLists.txt?
|
I have a system library, such as OpenCV 3.0.0 (for example), installed on my computer in the directory /opt/OpenCV3.
I want to wrap the dependencies on OpenCV in my own package, opencv3. This way I can use catkin like this:
find_package(catkin REQUIRED COMPONENTS
opencv3
)
So I went ahead and created the opencv3 package. I'm able to find the system library's external .cmake file and build. Here are the important parts of opencv3's CMakeLists.txt :
cmake_minimum_required(VERSION 2.8.3)
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} "/opt/OpenCV3")
...
find_package(catkin REQUIRED)
find_package(OpenCV 3.0.0 EXACT)
...
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES opencv3
# CATKIN_DEPENDS
DEPENDS OpenCV
)
Now when I include opencv3, my custom package, in other packages as a dependency, the other packages cannot find the OpenCV libraries, and thus they cannot link/build! The OpenCV include directories do transfer over to other packages, however. So when I have this in my CMakeLists.txt of other packages which use opencv3:
message(STATUS ${opencv3_INCLUDE_DIRS})
I get the output:
/opt/OpenCV3/include
Which is correct. I just can't find out how the DEPENDS field of catkin_package(...) makes the system dependency libraries transfer to new packages. catkin_LIBRARIES and opencv3_LIBRARIES did not have the OpenCV libraries in them either...
Edit for Dirk Thomas :
The OpenCV_LIBS variable doesn't contain the full absolute filepath to the OpenCV libraries. Doing:
message(STATUS ${OpenCV_LIBS} )
yields
opencv_videostabopencv_videoopencv_superresopencv_stitchingopencv_softcascadeopencv_shapeopencv_photoopencv_optimopencv_oclopencv_objdetectopencv_nonfreeopencv_mlopencv_legacyopencv_imgprocopencv_highguiopencv_flannopencv_features2dopencv_cudawarpingopencv_cudastereoopencv_cudaoptflowopencv_cudaimgprocopencv_cudafiltersopencv_cudafeatures2dopencv_cudacodecopencv_cudabgsegmopencv_cudaarithmopencv_cudaopencv_coreopencv_contribopencv_calib3d
So when I do as you say here:
catkin_package(
INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS}
LIBRARIES ${OpenCV_LIBS}
)
I get linker errors. My own custom variable works however, which is:
set(exec_prefix ${OpenCV_INSTALL_PATH})
catkin_package(
INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS}
LIBRARIES ${exec_prefix}/lib/libopencv_calib3d.so ${exec_prefix}/lib/libopencv_contrib.so ${exec_prefix}/lib/libopencv_core.so ${exec_prefix}/lib/libopencv_cuda.so ${exec_prefix}/lib/libopencv_cudaarithm.so ${exec_prefix}/lib/libopencv_cudabgsegm.so ${exec_prefix}/lib/libopencv_cudacodec.so ${exec_prefix}/lib/libopencv_cudafeatures2d.so ${exec_prefix}/lib/libopencv_cudafilters.so ${exec_prefix}/lib/libopencv_cudaimgproc.so ${exec_prefix}/lib/libopencv_cudaoptflow.so ${exec_prefix}/lib/libopencv_cudastereo.so ${exec_prefix}/lib/libopencv_cudawarping.so ${exec_prefix}/lib/libopencv_features2d.so ${exec_prefix}/lib/libopencv_flann.so ${exec_prefix}/lib/libopencv_highgui.so ${exec_prefix}/lib/libopencv_imgproc.so ${exec_prefix}/lib/libopencv_legacy.so ${exec_prefix}/lib/libopencv_ml.so ${exec_prefix}/lib/libopencv_nonfree.so ${exec_prefix}/lib/libopencv_objdetect.so ${exec_prefix}/lib/libopencv_ocl.so ${exec_prefix}/lib/libopencv_optim.so ${exec_prefix}/lib/libopencv_photo.so ${exec_prefix}/lib/libopencv_shape.so ${exec_prefix}/lib/libopencv_softcascade.so ${exec_prefix}/lib/libopencv_stitching.so ${exec_prefix}/lib/libopencv_superres.so ${exec_prefix}/lib/libopencv_ts.a ${exec_prefix}/lib/libopencv_video.so ${exec_prefix}/lib/libopencv_videostab.so tbb /usr/lib/x86_64-linux-gnu/libXext.so /usr/lib/x86_64-linux-gnu/libX11.so /usr/lib/x86_64-linux-gnu/libICE.so /usr/lib/x86_64-linux-gnu/libSM.so /usr/lib/x86_64-linux-gnu/libGL.so /usr/lib/x86_64-linux-gnu/libGLU.so rt pthread m dl
)
Which is incredibly ugly, but at least the ugliness is captured in a single package opencv3 and not distributed to other packages.
Originally posted by trianta2 on ROS Answers with karma: 293 on 2014-04-17
Post score: 0
|
Hi, I am using Hector_Slam for mapping.And I use hector_geotiff to save maps.But what should I do to mark victims on maps ?Any advice will be appreciated !Thank you very much!
Originally posted by Yuichi Chu on ROS Answers with karma: 148 on 2014-04-17
Post score: 0
|
Hi there,
In a few packages, especially when porting third-party software to catkin, I encounter the problem of auto-generated headers. In a single-package scenario, it is pretty easy to handle, as I just have to play with include_directories() and the matter is settled.
As for the install space, an appropriate install() rule easily takes care of it.
Things get more complicated when dealing with devel space. For example, I would like my fooConfig.cmake to contain a link to the devel space include folder, that would contain the header generated from a template with configure_file(), for example. The same goes with pkg-config files.
I looked around and could not find any documentation or best practices on the matter.
So far, I have tested adding a cmake/foo-extras.cmake.in file like the following:
if(@DEVELSPACE@)
list(APPEND @PROJECT_NAME@_INCLUDE_DIRS @CATKIN_DEVEL_PREFIX@/include)
endif()
and then in my CMakeLists.txt I have something akin to this:
catkin_package(
CFG_EXTRAS foo-extras.cmake
)
set(devel_pkg_inc ${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME})
configure_file(foo.h.in ${devel_pkg_inc}/foo.h)
install(FILES ${devel_pkg_inc}/foo.h DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
It does the job for me, but it looks a bit clunky.
Is there any catkin-ish way of doing this?
Am I missing anything obvious?
Originally posted by po1 on ROS Answers with karma: 411 on 2014-04-17
Post score: 4
Original comments
Comment by demmeln on 2014-04-18:
cc @Dirk Thomas
|
Hi. I'm trying to use NAO laser head with urg_node, but there is connection problem. I'm trying to connect with Ehternet and always have same problem
[FATAL] [1397748302.090283298]: Could not open network Hokuyo:
192.168.0.10:10940
could not open ethernet port.
Also i used different ip-diapason address: default, 192.168.0.0/24, 192.168.1.0/24 there is no connection to laser. (to connect laser use NAO ip, default ip (192.168.0.10) as said here) What i'm doing wrong?
Originally posted by antongepard on ROS Answers with karma: 3 on 2014-04-17
Post score: 0
|
I cannot decide between the various Ubuntu versions to install ROS. I have Ubuntu 13.10 but it is not supported. I didn't use other versions before so i want the one that will not crash often and will run smoothly with ROS & programming languages like jave etc.
I am dual booting so i want the version which provides all packages etc of ROS.
So any suggestions which one to install?
UBUNTU 12.04 ? 12.10? 13.04?
P.S. I am a beginner on both.
Originally posted by Abdul on ROS Answers with karma: 27 on 2014-04-17
Post score: 1
|
Hello,
I am trying to use hector_pose_estimation package for a real quadcopter. I have published information from IMU, barometer using sensor_msgs/Imu, hector_uav_msgs/Altimeter and pressure height messages using geometry_msgs/PointStamped message (just like hector_quadrotor package does in simulator).
When I visualise pose estimate using rviz I see changes in orientation and height, but it doesn't move sideways, it's stuck in center and only height and orientation changes.
Am I missing something out or hector_pose_estimation package doesn't calculate movement on XY axes? Using this package with simulator works fine, but with my real data from sensors - pose stuck in center.
Originally posted by rock-ass on ROS Answers with karma: 55 on 2014-04-17
Post score: 1
Original comments
Comment by ahendrix on 2014-04-17:
Does you IMU data include accelerometer and gyroscope data, or only gyro data?
Comment by rock-ass on 2014-04-17:
IMU does include all data from acc and gyroscopes. Double checked data standard in sensor_data, also compared with data provided from gazebo simulator.
|
Hello,
I am trying to use hector_uav_msgs/Altimeter for barometer sensor data publishing, but I cant figure out what does qnh attribute stand for? Is it possible it's pressure difference?
I understand this is a RTFM-like question, but I can't find any documentation regarding this stack. Any links to documentation would be greatly appreciated.
Thanks in advance
Originally posted by rock-ass on ROS Answers with karma: 55 on 2014-04-17
Post score: 0
|
I am using Fuerte to extract images from my bag file, here's my bag file info:
version: 2.0
duration: 7:29s (449s)
start: Feb 21 2014 10:38:13.79 (1392975493.79)
end: Feb 21 2014 10:45:43.62 (1392975943.62)
size: 3.5 GB
messages: 2218096
compression: none [4404/4404 chunks]
types: audio_common_msgs/AudioData [f43a8e1b362b75baa741461b46adc7e0]
geometry_msgs/Wrench [4f539cf138b23283b520fd271b567936]
qualisys2ros/RigidBody [90b4bc390e2e3e76d923053ba82e3a88]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
std_msgs/Float64MultiArray [4b7d974086d4060e7db4613a7e6c3ba4]
topics:
/FT_palpation_probe 444831 msgs : geometry_msgs/Wrench
/FT_ultrasonic_probe 444892 msgs : geometry_msgs/Wrench
/ReMeDi_cam/image_raw/compressed 6725 msgs : sensor_msgs/CompressedImaege
/camera/depth/camera_info 13467 msgs : sensor_msgs/CameraInfo
/camera/depth/image/compressedDepth 11862 msgs : sensor_msgs/CompressedImage
/camera/projector/camera_info 13467 msgs : sensor_msgs/CameraInfo
/camera2/rgb/image_color/compressed 13511 msgs : sensor_msgs/CompressedImage
/doctor_glove_left 449822 msgs : std_msgs/Float64MultiArray
/doctor_glove_right 449821 msgs : std_msgs/Float64MultiArray
I followed the tutorial and wrote my launch file as following:
<launch>
<node pkg="rosbag" type="play" name="rosbag" args="-d 2 /home/marce/Documents/Recordings/exp_21_02_1st_doc/ultra_back.bag"/>
<node name="extract" pkg="image_view" type="extract_images" respawn="false" output="screen" cwd="ROS_HOME">
<remap from="image" to="/ReMeDi_cam/image_raw/compressed"/>
</node>
</launch>
When I run my launch file, I get
[ WARN] [1397778148.269447449]: [image_transport] It looks like you are trying to subscribe directly to a transport-specific image topic '/ReMeDi_cam/image_raw/compressed', in which case you will likely get a connection error. Try subscribing to the base topic '/ReMeDi_cam/image_raw' instead with parameter ~image_transport set to 'compressed' (on the command line, _image_transport:=compressed).
[ERROR] [1397778149.812592149]: Client [/extract] wants topic /ReMeDi_cam/image_raw/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection.
I searched on internet and they say it's about image_transport, but I am quite new to ROS, so there are some questions I did not understand:
1. I should extract image sequences from the bag file, but I do not know which topic I should extract, as you can see, there are RAW,COLOR,DEPTH 3 types of compressed images, should I export them all?
2. My launch file is to extract RAW image from bagfile and I do not know how to fix the error, it's about conversion between compressed image and image, so how should I revise my launch file?
Thank you guys!
Originally posted by zy66669 on ROS Answers with karma: 23 on 2014-04-17
Post score: 2
|
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