instruction
stringlengths 40
28.9k
|
|---|
I'm trying to build a little package which sends commands from the keyboard to turtlesim. The examples are rosbuild based and I'm trying to do it in hydro/catkin.
I've got it building and putting a binary in catkin_ws/install/lib/PROJECTNAME/ How do I specify in the .launch file that ROS should look in /install/lib/PROJECTNAME ?? If I copy the binary from /build/PROJECTNAME to /src/PROJECTNAME it runs. Should I just copy it over every time? There must be a better way!
Thanks
Originally posted by blakeh on ROS Answers with karma: 17 on 2014-04-17
Post score: 2
|
Hi,
I am implementing a simple algorithm to move the robot towards an assumed goal position in the willow-erratic world map in stage_ros package.
I want to calculate the degree quantity that the robot should turn to face the goal.
I am using the following equation but it seems that there is a problem with the code since when the robot is turning the quantity doesn't change. Also, when I manually place the robot in a location(1.5, 8) where it should turn 180 degrees to face the goal (3.5, 8), the equation below yields an output of -79.38 which is incorrect.
Someone told me I can do this task using quaternions. How can I do that? robotPose.pose.orientation.z is equal to 1 now. How can I use that to find out the degree quantity that the robot need to turn to face the goal?
angle = (math.atan2(goalY - robotPose.pose.position.y, goalX - robotPose.pose.position.x) - math.atan2(robotPose.pose.position.y, robotPose.pose.position.x)) * 180/math.pi
What am I doing wrong?
Thank you
Originally posted by Warrior on ROS Answers with karma: 61 on 2014-04-17
Post score: 0
|
Hi all,
According to this all active efforts applied to the same joint are cumulative.
However, why don't I see the effort field of joint_states message, which is published by controller_manager, gets accumulated ? It only shows the last applied effort.
I use the following command.
rosservice call /gazebo/apply_joint_effort '{joint_name: "joint1", effort: 1.0, start_time: 0, duration: -1}'
I use ROS Hydro with Gazebo 1.9
Thank you
Originally posted by ChickenSoup on ROS Answers with karma: 387 on 2014-04-17
Post score: 0
|
I wanted that the following class protected by an #ifdef appears in the generated class list:
#ifdef HAVE_MY_LIBRARY
class myClass {
public;
myClass(){};
};
#endif
With doxygen this could be achieved by putting PREDEFINED="HAVE_MY_LIBRARY" in the config file.
I haven't see how to do the same with rosdoc_lite ?
Regards
Fabien
Originally posted by Fabien Spindler on ROS Answers with karma: 126 on 2014-04-17
Post score: 1
|
Can anyone tell me
<origin xyz="${x_loc} ${y_loc} ${z_loc}" ...>
means what? In my view it is number like 0,1 that should be after xyz=, but not the ${x_loc} thing.
Additionally, I'm trying to mount an arm on turtlebot in URDF, is it OK to add turtlebot pan's origin parameter to origin parameter of arm base link? Or there exist other ways?
Thanks so much!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-18
Post score: 0
|
Commands from the robot to the robot are working, but command from the computer to the robot are not.
Take for example the following command to move the head.
rostopic pub -1 /head_traj_controller/command trajectory_msgs/JointTrajectory '{joint_names: ["head_pan_joint", "head_tilt_joint"], points: [ { positions: [0,0], velocities: [0,0], time_from_start: [2,0] } ]}'
rostopic pub -1 /head_traj_controller/command trajectory_msgs/JointTrajectory '{joint_names: ["head_pan_joint", "head_tilt_joint"], points: [ { positions: [1,0], velocities: [0,0], time_from_start: [2,0] } ]}'
When I run this command on the robot (connected through ssh), the head of the robot moves. But when I do it with my computer, it doesn't work. I can see and read all the topics though from my computer. I need to be able to control the robot from my computer in order to use for example rviz.
Any thoughts ?
Originally posted by silgon on ROS Answers with karma: 649 on 2014-04-18
Post score: 0
|
Hey,
So I wanted to go ahead of time and install indigo on ubuntu trusty (14.04), but found out the binaries are incomplete? ros-indigo-desktop* doesn't exist at least. Many binaries do seem to exist, I thought maybe I could install all of them and have a working ROS, but alas, no catkin_make even.
Is this a matter of waiting? Or can I do something? (preferably without going towards installing from source)
Best regards,
Hans
edit: Just tried to build from source as well, the rosinstall_generator fails with :
The following not released packages/stacks will be ignored: desktop-full
No packages/stacks left after ignoring not released
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2014-04-18
Post score: 1
Original comments
Comment by ros_geller on 2015-09-11:
Hi.
Did you manage to sort out this problem?
It is now well past may, and i still can't get this installed on ubuntu 14.04.03.
Cheers
Comment by tfoote on 2015-09-11:
You have a different problem and are not running 14.04.3 but 15.04: http://answers.ros.org/question/217485/ros-indigo-on-ubuntu-140403-e-unable-to-locate-package-ros-indigo-desktop-full/
|
I am trying to build a URDF model that comprises different components with different colors. However, I don't necessarily want every component to be its own link; I'm just aiming for a higher level of visual fidelity. I saw here that it's possible to have multiple <visual> tags within a given <link>:
http://answers.ros.org/question/10913/multiple-visual-entries-in-urdf/
...and indeed, this works. However, subsequent <visual> tags appear to have their tags ignored, and instead get painted the color of the first <visual> tag. In other words, if I do this:
<link name="link1">
<visual>
<geometry>
<cylinder length="4" radius="1"/>
</geometry>
<material name="black_metal">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<visual>
<geometry>
<cylinder length="2" radius="5"/>
</geometry>
<material name="gold">
<color rgba="1 0.549 0 1"/>
</material>
</visual>
</link>
...then BOTH my cylinders end up getting colored as the "black_metal" material. Is this a bug, or am I simply using URDF in a manner which was not intended?
EDIT: I'm using Hydro.
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-04-18
Post score: 3
|
Hi Everyone,
I have tried to run two turtlebots independently on the same simulation and I just use the model from the tutlebot simulator (hydro) to create two copies using different namespaces, robot1 and robot2. I spawned two and can input velocities independently using the rostopic pub[] command but the problem is that i just got one odom(nav_msgs/Odometry) topic no separate by namespace. Some people posted the solution for this problem by changing the "gazebo_ros_create.cpp" file. I searched for this file in my PC but I couldn't find it. Please can somebody tell where I can find this source file in my PC?
I am using Hydro version with turtlebot simulator files.
Thanks alot
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-18
Post score: 0
|
Hi everyone,
I want to turn my robot x degrees to face a desired coordinate(goal). The robot must turn about 100 degrees (1.745 radians), but when I set the angular velocity to 1.745 since the program is running in a loop it doesn't execute the command completely and I don't know how to stop the program at that time to let the turn complete. I thought maybe the robot is not capable of turning at 1.745 radians when received the command, so I thought maybe I should divide 1.745 by, say, 5 and turn the robot 5 times. But I don't know how I can MAKE SURE that the robot has executed the 5 commands I publish.
Thank you
Originally posted by Warrior on ROS Answers with karma: 61 on 2014-04-18
Post score: 0
|
Hi everybody.
I am facing a difficulty designing a dynamic reconfigure node.
My package's configuration consists of three nodes, each one with a dynamic reconfigure of its own.
I would like to have parameters common to all three nodes, which are changed in all of them by accessing and modifying some kind of "global" dynamic reconfigure parameter regime.
Is something like this possible?
Thank you in advance.
Originally posted by li9i on ROS Answers with karma: 21 on 2014-04-18
Post score: 2
|
Hi we've been writting some code to subscribe to the /joint_states topic produced by the husky simulator.
However we found that even though all the arrays in /joint_states should be the same length, we are getting an empty array for velocity at random intervals. Which causes a seg fault as there appears to be no way to detect it. (checking if msg->velocity == NULL won't compile).
So two questions, is there a way to stop these invalid messages? And if there isn't what is the best way to detect the empty array (gdb says its a boost shared vector).
Thanks,
Harry
Originally posted by hjed on ROS Answers with karma: 3 on 2014-04-18
Post score: 0
|
Hi,
I am following the moveit tutorial to load pr2.urdf.xacro in MoveIt Setup Assistant.
As I click on Load Files I get the following symbol lookup error:
[librospack]: error while executing command /opt/ros/hydro/lib/moveit_setup_assistant/moveit_setup_assistant: symbol lookup error: /opt/ros/hydro/lib/libmoveit_setup_assistant_widgets.so: undefined symbol: _ZN3ros7console5printEPNS0_10FilterBaseEPvNS0_6levels5LevelEPKciS7_S7_z
Any suggestions on fixing this ?
Originally posted by adreno on ROS Answers with karma: 253 on 2014-04-18
Post score: 0
|
Hello everybody!
I am trying to implement the move_base node. However, I am not using a map. If I start the move_base node, it loads all the config files, but keeps waiting for a map. Is there a way to start the node without a map? If I use my odometry frame as fixed frame it should work as far as I know. I followed the navigation stack tutorial to set up my robot, I have a laser source, the correct transformation from base_link to laser and an odometry node which provides the transformation from odom to base_link.
The following shows my config files:
costmap_common_params.yaml
obstacle_range: 0.5
raytrace_range: 3.0
#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
robot_radius: 0.18
inflation_radius: 0.25
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
global_costmap_params.yaml
global_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 5.0
static_map: false
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
base_local_planner_params.yaml
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: true
move_base.launch
<launch>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find dm_navigation)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find dm_navigation)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find dm_navigation)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find dm_navigation)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find dm_navigation)/base_local_planner_params.yaml" command="load" />
</node>
</launch>
My tf-tree shows odom->base_link->laser
I had a look at the parameters of move_base, but could not find any parameter to turn map on/off. Additionally, the topics for the robot footprint, enlarged obstacles are not published and the robot does not react to navigation commands. This tells me, that the move base node is not ready yet.
If anyone of you knows a trick to use move_base without map, or sees any error in my config files, any help would be appreciated.
Thank you in advance for your help!
Regards, steve
Originally posted by optimus on ROS Answers with karma: 51 on 2014-04-19
Post score: 5
Original comments
Comment by Moda on 2014-07-28:
Did you succeed to solve your issue? I got the same
|
i am using hydro ,ubuntu 12.04
I have never run rviz successfully,every time when I type"rosrun rviz rviz" it returns:
[ INFO] [1397919988.047184404]: rviz version 1.10.14
[ INFO] [1397919988.047294194]: compiled against OGRE version 1.7.4 (Cthugha)
段错误 (核心已转储)#chinese ,it means segfault core dump
and
she@she-desktop:~$ rosrun rviz rviz -l
[ INFO] [1397920912.301563836]: rviz version 1.10.14
[ INFO] [1397920912.301678934]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1397920912.479470524]: Creating resource group General
[ INFO] [1397920912.479584226]: Creating resource group Internal
[ INFO] [1397920912.479630042]: Creating resource group Autodetect
[ INFO] [1397920912.479745699]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [1397920912.480002435]: Registering ResourceManager for type Material
[ INFO] [1397920912.480059426]: Registering ResourceManager for type Mesh
[ INFO] [1397920912.480108873]: Registering ResourceManager for type Skeleton
[ INFO] [1397920912.480183743]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [1397920912.480265039]: OverlayElementFactory for type Panel registered.
[ INFO] [1397920912.480310296]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [1397920912.480354715]: OverlayElementFactory for type TextArea registered.
[ INFO] [1397920912.480406397]: Registering ResourceManager for type Font
[ INFO] [1397920912.480486296]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [1397920912.480536023]: ArchiveFactory for archive type Zip registered.
[ INFO] [1397920912.480580442]: DDS codec registering
[ INFO] [1397920912.480639108]: FreeImage version: 3.15.1
[ INFO] [1397920912.480681851]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See ttp://freeimage.sourceforge.net for details
[ INFO] [1397920912.480931324]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,sti
[ INFO] [1397920912.480993623]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [1397920912.481083578]: Registering ResourceManager for type Compositor
[ INFO] [1397920912.481423007]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [1397920912.481478321]: MovableObjectFactory for type 'Light' registered.
[ INFO] [1397920912.481526931]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [1397920912.481571908]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [1397920912.481618842]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [1397920912.481663261]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [1397920912.481783946]: *-*-* OGRE Initialising
[ INFO] [1397920912.481826130]: *-*-* Version 1.7.4 (Cthugha)
[ INFO] [1397920912.481879210]: Loading library /usr/lib/i386-linux-gnu/OGRE-1.7.4/RenderSystem_GL
[ INFO] [1397920912.484669229]: Installing plugin: GL RenderSystem
[ INFO] [1397920912.484846626]: OpenGL Rendering Subsystem created.
段错误 (核心已转储)
I have search on the Internet ,but i found that I can't solve the problem ,so please help me,thanks!
Originally posted by zhaochu on ROS Answers with karma: 11 on 2014-04-19
Post score: 1
Original comments
Comment by putuotingchan on 2014-04-22:
I meet the problem either,
|
Does anyone know a way to update the map that map_server uses? AFAIK, the map is set to the contents of an image file as soon as the node is launched, then remains static for the life of the node.
My situation is as follows: I have two nodes this job mapper and map_server. Mapper records ultrasonic range measurements into a png file, and has a service for saving updated versions of the map. How can I push updates of the map to my map_server node??
Will I have to relaunch the map_server node every time? Thanks
Originally posted by TimboInSpace on ROS Answers with karma: 141 on 2014-04-19
Post score: 0
|
I have 3 questions:
First, what is the .urdf.xacro file?
Second, how convert .urdf.xacro to .urdf, which can be visualized in Rviz?
Third, whether there is other ways to visualize .urdf.xacro file?
Thanks!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-19
Post score: 1
|
Hi
I am using the tabletop object detector to determine some object on point cloud database.
http://www.ros.org/wiki/tabletop_object_detector
I was wondering if I would able to somehow also extract color information about the objects. I want to know that can I use color information or RGB image by tabletop library? If not ,does anybody know of a tool that does anything similar???
Originally posted by ghazaleh on ROS Answers with karma: 15 on 2014-04-19
Post score: 0
|
NOTE: I am running Ubuntu 14.04 LTS.
I followed the instructions on the wiki page pertaining to the installation of Indigo until part 1.4, but when I type in sudo apt-get install ros-indigo-desktop-full, I get this:
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-indigo-desktop-full
The same thing happens with the other default packages, and the results apt-cache search ros-indigo do not contain any of them, either. I ran sudo apt-get update, set up my keys, ran the software updater, restarted and everything, but the problem hasn't been resolved. What am I supposed to do?
Originally posted by MekBoy on ROS Answers with karma: 3 on 2014-04-19
Post score: 0
Original comments
Comment by dornhege on 2014-04-20:
The reason is that it is probably not released, yet.
Comment by MekBoy on 2014-04-20:
Then why do they have installation instructions on the wiki? Also, "apt-cache search ros-indigo" returns a large amount of packages related to the release, just none of the defaults.
Comment by dornhege on 2014-04-20:
I guess once it's released, the desktop-full packages will be there. If you want an actual answer as to why that is, wait for someone official. The Indigo website says: "This ROS distribution is under development and not yet released. Please use the latest officially released distribution: Hydro."
|
I am trying to set the environment setup after installing the ROS full package using terminal. I get the following message:
kadir@kadir:~$ echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
kadir@kadir:~$ source ~/.bashrc
bash: /opt/ros/cturtle/setup.bash: No such file or directory
what am i doing wrong?
P.S beginner
Originally posted by Abdul on ROS Answers with karma: 27 on 2014-04-20
Post score: 0
|
Hi All,
I'm trying to use the ROS-Matlab I/O package to publish and subscribe to topics from a roscore on a networked machine. I have gone through the network setup, and this is the current state of the whole system:
Machine A (running ROS)
The /etc/hosts file lists
127.0.0.1 localhost
127.0.1.1 The-Master
192.168.2.7 The-Doctor
The relevant (as far as I know) environment variables are:
$ROS_MASTER_URI=http://The-Master:11311/
$ROS_HOSTNAME=The-Master
Machine B (running Matlab)
The /etc/hosts file lists
127.0.0.1 localhost
127.0.1.1 The-Doctor
192.168.2.3 The-Master
The relevant environment variables are:
$ROS_MASTER_URI=http://The-Master:11311/
$ROS_HOSTNAME=The-Doctor
.
.
I can ping the between the two machines, both by IP and by name. I can netcat between both of them just fine. Using rosmatlab, I can create a node on The-Doctor which is seen by The-Master. I can create a publisher which is also seen by The-Master. The-Doctor can publish data to The-Master and it shows up just fine when I do a "rostopic echo" on The-Master.
The problem is: when The-Doctor tries to subscribe to a topic from The-Master, the callback function defined in the Matlab code never gets called. Just to make sure that I wasn't making any major mistakes, I ran the rosmatlab_basic.m example included with ROS-Matlab I/O, and the subscribers in that example don't work either (even though the publishers do).
Any idea on what might be wrong? I'm running Matlab R2013b, but I have tested this with multiple versions, both Windows and Ubuntu. I see the same problem which leads me to believe that somewhere along the line I'm doing something wrong in the network setup and am too dumb to know what.
Please help :\
Originally posted by Jari on ROS Answers with karma: 112 on 2014-04-20
Post score: 1
|
I want to publish a gazebo_msgs ( topic) NOT service using .cpp code as a node
I wrote the code, but I dont know what to add in the Cmakelist in these sections:
find_package(catkin REQUIRED COMPONENTS
nav_msgs
roscpp
...../// what should I write here
}
// second
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES rosaria_nav
CATKIN_DEPENDS message_runtime nav_msgs roscpp sensor_msgs ***gazebo_msgs***
// is it right ?????
# DEPENDS system_lib
)
// third
generate_messages(
DEPENDENCIES
geometry_msgs sensor_msgs nav_msgs visualization_msgs gazebo_msgs
)
// forth
I added the following
add_executable(SetModelState src/SetModelState.cpp)
add_dependencies(SetModelState ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(SetModelState
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
//fifth
in the .cpp file ( the node ), I added the following library
#include <gazebo_msgs/SetModelState.h>
Originally posted by RSA on ROS Answers with karma: 100 on 2014-04-20
Post score: 0
|
Hello,
I am using ROS fuerte version and the simulator is USARSim.
::AIM:: Now, I try to use the velocity multiplexer (sudo apt-get
install ros-fuerte-yujin-ocs) designed by YujinRobot(http://wiki.ros.org/cmd_vel_mux) for multiplexing between teleoperation and autonomous navigation. I use rviz for setting the goal for autonomous navigation.
::ACTION TAKEN:: I have used following command to bring nodelet_manager and velocity_multiplexer:
roslaunch cmd_vel_mux standalone.launch
and following is the example_cfg.yaml
subscribers:
• name: "Teleoperation"
topic: "teleop_cmd_vel"
timeout: 180
priority: 10
• name: "Navigation"
topic: "cmd_vel"
timeout: 0.1
priority: 0
TASK 1 I want to give more priority to teleoperation. Before declaring the /teleop_cmd_vel to be inactive topic for multiplexing, I want the timeout period to be more.
TASK 2 I don't want the autonomous navigator of ROS snatch away the driving control. But, I am not getting the proper behavior that I am expecting. The autonomous controller snatch away the control before the 180 second (even if both topics are active) from teleoperation.
Question:What may be the reason that the robot is not following exactly the example_cfg.yaml?
If it goes like this then adding dynamic reconfigure server will not be fruitful for my experiment.
ALL The Nodes Launched Properly.
RESULT
1.TOPICS DON"T FOLLOW PRIORITY CONFIG FILE?
timeout for "teleop_cmd_vel" is 180 seconds, but as you can see in the following screenshot, two no new messages should not deliver the control to "cmd_vel" i.e autonomous navigator; but surprisingly it is happening.
PLZ REPLY :-)
Who will be the publisher of output topic /cmd_vel
As the velocity multiplexer don't publish to /cmd_vel (output topic of config file), should I modify the code?
RAW Config File
Config File.jpg
Modified Config File
M_Config.jpg
Originally posted by RB on ROS Answers with karma: 229 on 2014-04-20
Post score: 1
Original comments
Comment by dornhege on 2014-04-20:
The config looks correct to me. You can debug the individual input and output topics via rostopic echo to verify that this is really the source of the problem.
Comment by RB on 2014-04-20:
@dornhege, I have added two screenshots; so whenever I stop pressing keys in teleoperation, no new messages in that topic. So, the topic becomes inactive although it should wait for 180 seconds according to config file....Again avg publishing rate slowly increases in case of teleopearation, that's why the robot don't want to listen to teleope controller, I think? Does the package has some other criteria like it only works for Kobuki?
Comment by ahendrix on 2014-04-20:
You should spend some time formatting your question properly, and perhaps include a screenshot of the node graph from a tool like RQT graph.
Comment by RB on 2014-04-20:
@ahendrix, I will definitely add the screenshot. But currently I have added the rxgraph output. The problem is AVG. PUBLISHING RATE DON'T OBEY THE PRIORITY CONFIG FILE.
Comment by dornhege on 2014-04-21:
Do you even have multiplexing between the two commands? Just to verify that the topics are all set up correctly. Please paste the complete raw configuration file in here.
Comment by RB on 2014-04-21:
@dornhege, I have updated the question with "RAW Config File Config File.jpg". By your comment, what I get is that I should write "/teleop_cmd_vel" instead of "teleop_cmd_vel"?
|
I found gazebo when I was roaming around and trying to learn how ROS runs. I came across gazebo and it seemed pretty cool. I want to learn if it is a good simulator or can you suggest any other?
Can i use gazebo for drones such as AR.Drone2.0? Or do you suggest anyother simulators or programs?
P.S:Beginner
Originally posted by Abdul on ROS Answers with karma: 27 on 2014-04-20
Post score: 1
|
Hello everyone! I'm trying to describe my question clearly. Now I'm working on a project based on ros to develop a graphical robot platform that can simulate behavior of a robot,such as obstacle avoidance,navigation and so on.First I want to solve the simulate question about sensors,because we know that sensors are necessary to avoid obstacle.Are there packages or libraries about sensors,for example laser,which can be useful for me to accomplish the simulation?Or similarly,if you understand what I need,are there any useful links? PS:I have no physical devices,just want to simulate the behavior.
Originally posted by ran95yu on ROS Answers with karma: 3 on 2014-04-20
Post score: 0
Original comments
Comment by Mike Charikov on 2014-04-20:
But ROS is in fact consumer of device data, not provider. You want to simulate something, using ROS?
|
/usr/bin/ld: CMakeFiles/linedetect.dir/src/linedetect.cpp.o: undefined reference to symbol 'tf::TransformListener::~TransformListener()'
/usr/bin/ld: note: 'tf::TransformListener::~TransformListener()' is defined in DSO /opt/ros/hydro/lib/libtf.so so try adding it to the linker command line
/opt/ros/hydro/lib/libtf.so: could not read symbols: Invalid operation
collect2: ld returned 1 exit status
make[2]: *** [/home/sihanwan/catkin_ws/devel/lib/lab2/linedetect] Error 1
make[1]: *** [lab2/CMakeFiles/linedetect.dir/all] Error 2
make: *** [all] Error 2
this is my class
**class Change
{
public:
laser_geometry::LaserProjection projector;
ros::NodeHandle n;
ros::Publisher pub;
ros::Subscriber sub;
Change();
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_in);
private:
tf::TransformListener listener;
};**
any help appreciated!
Originally posted by ushergod on ROS Answers with karma: 1 on 2014-04-20
Post score: 0
|
While trying to build dvo_ros package for dense visual SLAM, i was given
'TransformTFToEigen' is not a member of 'tf'
error for the line
tf::TransformTFToEigen(tmp, result);
I have been trying to search around the documentations for tf package but could not find anything on the above function. Have the function been removed? If so was there a replace for the above function?
Thanks
Originally posted by zenifed on ROS Answers with karma: 93 on 2014-04-20
Post score: 0
|
[Ubuntu 13.10, ROS Hydro-Desktop-Full (built from source)]
I am getting an error I can't find a resolution to when using catkin_make for a project of mine.
For some reason, it fails on a line in a header file which turns dispatch_release() on/off based on CLANG's __has_feature(objc_arc) feature test macro.
[100%] Building CXX object gwbrb/CMakeFiles/gwbrb_node.dir/src/gwbrb.cpp.o
In file included from /home/user/projects/gWRb/src/gwbrb/src/gwbrb.h:5:0,
from /home/user/projects/gWRb/src/gwbrb/src/gwbrb.cpp:16:
/home/user/projects/gswb/gwbw.h:110:19: error: missing binary operator before token "("
#if !__has_feature(objc_arc)
^
make[2]: *** [gwbrb/CMakeFiles/gwbrb_node.dir/src/gwbrb.cpp.o] Error 1
make[1]: *** [gwbrb/CMakeFiles/gwbrb_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Does catkin switch to Obj-c when it needs to, or do I have to tell it manually? Can someone please assist with instructions?
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-04-21
Post score: 0
|
Hellow,
I may have just search really bad but I didn't find this information. I'm used to Makefile but how do I use the otion "-g" and "-Wall" in Cmake with catkin ? I try writing a really dumb program with a memory leak and to run it with valgrind but I have the following
==20197== 4 bytes in 1 blocks are definitely lost in loss record 1 of 1
==20197== at 0x4C2B1C7: operator new(unsigned long) (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==20197== by 0x400845: main (in /home/ros/groovy_ws/catkin_ws/devel/lib/stalker/debug)
And so no line numbers...
Thanks a lot !
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-21
Post score: 2
|
Hi Everybody,
I need to run multiple turtlebots and get access of the Gazebo source code so that I can control the turtlebots. Currently I have installed both hydro ROS and 1.9 Gazebo from pre-compiled binaries. To get access the Gazebo source code I need to reinstall Gazebo from the source. My question are: Do I need to reinstall both ROS and Gazebo from the source in order to keep them working properly? or Do I just need to reinstall Gazebo from the source.
Thank you in advance for any help you can provide.
Robert
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-21
Post score: 0
|
I am attempting to spawn controllers but interactions with controller_manager seem to hang.
when I attempt to launch my controllers I see the following after a timeout:
[INFO] [WallTime: 1398097365.560001] Controller Spawner: Waiting for service controller_manager/load_controller
[WARN] [WallTime: 1398097395.567543] Controller Spawner couldn't find the expected controller_manager ROS interface.
[gripper/controller_spawner-1] process has finished cleanly
log file: /home/user/.ros/log/57c14baa-c96f-11e3-b22a-c81f6621927d/gripper-controller_spawner-1*.log
Subsequently, if I attempt to merely list controllers/types the call hangs until I kill the process:
rosrun controller_manager controller_manager list
Anyone have any tips on what I am doing wrong? I have confirmed that ros_control and ros_controllers are installed.
Thanks in advance.
Originally posted by b3l33 on ROS Answers with karma: 113 on 2014-04-21
Post score: 0
Original comments
Comment by ahendrix on 2014-04-21:
Do you have a control process running? Can you see the controller_manager service with rosservice list ?
Comment by b3l33 on 2014-04-21:
No, it does not appear in the list of services....
|
I'm probably missing something obvious here so a push in the right direction would be a great help. I've a new computer, some of the hardware was not supported until Ubuntu Trusty, hence I've been stuck in windoze land for a month and a half. Now I've got Trusty installed, everything works great, but when I try to install ROS, no joy. It would appear that I'm stuck in the no mans land in between releases. Hydro installation instructions only go up to 13.10, Indigo won't be available until May.
Is it just a matter of adding the 12.04 sources to my sources list?
Originally posted by richkappler on ROS Answers with karma: 106 on 2014-04-21
Post score: 1
Original comments
Comment by richkappler on 2014-04-21:
ADDITIONAL INFO: Tried doing the install using 12.04 sources, got the following:
sudo apt-get install ros-hydro-desktop
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 : Depends: ros-hydro-common-tutorials but it is not going to be installed
Depends: ros-hydro-geometry-tutorials but it is not going to be installed
Depends: ros-hydro-robot but it is not going to be installed
Depends: ros-hydro-ros-full but it is not going to be installed
Depends: ros-hydro-ros-tutorials but it is not going to be inst
|
when installing face_recognition package in fuerte the following errors appear : 1 _ make[3]: * [../bin/Fserver] Error 1 2_ make[2]: [CMakeFiles/Fserver.dir/all] Error 2 3_ make[1]: ** [all] Error 2 the package name is procrob_functional-master ,,, the following command i wrote in the terminal is : rosmake procrob_functional-master i am using ubuntu 12.04 please i need an urgent help to successfully built the face recognition package
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-21
Post score: 0
|
when installing face_recognition package in fuerte the following errors appear : 1 _ make[3]: * [../bin/Fserver] Error 1 2_ make[2]: [CMakeFiles/Fserver.dir/all] Error 2 3_ make[1]: ** [all] Error 2 the package name is procrob_functional-master ,,, the following command i wrote in the terminal is : rosmake procrob_functional-master i am using ubuntu 12.04 please i need an urgent help to successfully built the face recognition package
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-21
Post score: 0
|
Hi everyone, I have a turtlebot2, Groovy, Phantomx Pincher arm. I mounted the pincher arm on turtlebot by rewriting file "turtlebot_description/urdf/graveyard/turtlebot.urdf.xacro". But firstly I don't know how to visualise my model(by Rviz), and secondly to grasp things I need to publish TF based on this new model urdf. But after reading turtlebot bringup's minimal.launch I'm confused in how to do it? I didn't found such sentence like , which is beyond my imagine. I appreciate your help if you can teach me how to change the minimal.launch file(or other methods that can get the same outcomes)!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-21
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-04-21:
I have added hokuyo sensor to turtlebot2 model and have changed position of kinect to on the top plate. In my case, I edited minimal.launch, hexagon.urdf.xacro in /turtlebot_description/urdf/stacks and so on.
Comment by Yantian_Zha on 2014-04-21:
Thanks so much. I know the way to editing .urdf.xacro of certain components, such as your hexagon, but in researching minimal.launch I still don't know where should I edit? Note that the second "include file" points to _robot.launch, should I edit _robot.launch? _robot.launch still confused me.
|
when i type this command in the terminal rosws init ~/fuerte_workspace /opt/ros/fuerte
the result is
smart-engineers@smartengineers-HP-Pavilion-g6-Notebook-PC:~$ rosws init ~/fuerte_workspace /opt/ros/fuerte
Traceback (most recent call last):
File "/usr/local/bin/rosws", line 52, in <module>
import rosinstall.rosws_cli
File "/usr/local/lib/python2.7/dist-packages/rosinstall/__init__.py", line 33, in <module>
import wstool.helpers
File "/usr/local/lib/python2.7/dist-packages/wstool/helpers.py", line 37, in <module>
from wstool.config_elements import SetupConfigElement
File "/usr/local/lib/python2.7/dist-packages/wstool/config_elements.py", line 38, in <module>
from vcstools.vcs_abstraction import get_vcs_client
File "/usr/local/lib/python2.7/dist-packages/vcstools/__init__.py", line 44, in <module>
from vcstools.svn import SvnClient
File "/usr/local/lib/python2.7/dist-packages/vcstools/svn.py", line 44, in <module>
import dateutil.parser # For parsing date strings
File "/usr/local/lib/python2.7/dist-packages/dateutil/parser.py", line 24, in <module>
from six import text_type, binary_type, integer_types
ImportError: No module named six
plz need an urgent help to get rid of this error???
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-21
Post score: 0
|
what is rosinstall ? how can i install it?
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-21
Post score: 0
|
Groovy, Turtlebot2, Phantomx Pincher arm
rosrun simple_arm_actions reset_arm_server.py:
Traceback (most recent call last):
File "/home/turtlebot/exp1_ws/src/simple_arms/simple_arm_actions/bin/reset_arm_server.py", line 74, in
ResetArmServer()
File "/home/turtlebot/exp1_ws/src/simple_arms/simple_arm_actions/bin/reset_arm_server.py", line 44, in init
self.joints = rospy.get_param("/simple_arms/joints")
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/client.py", line 452, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/msproxy.py", line 117, in getitem
raise KeyError(key)
KeyError: '/simple_arms/joints'
Can anyone give me some ideas? Thanks!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-21
Post score: 0
|
Hi, I am trying to learn and run multimaster in ROCON with two turtlebots.
I launched amcl in two turtlebots, and try to flip amcl_pose to a server computer TTBA. But several lines with "Couldn't find an AF_INET address for [TTBA]" comes out in some terminals of turtelbots such as the termianl running amcl_demo.launch and the terminal flipping amcl_pose topic to sever TTBA.
I thought it was the wireless network problem. But I did ping from turtlebot two server TTBA. The results was normal.
So has anyone met this problem, or it is just a transient break of wireless link?
Originally posted by scopus on ROS Answers with karma: 279 on 2014-04-21
Post score: 2
Original comments
Comment by Cyril Jourdan on 2014-10-20:
I also have the same problem. I have one machine running roscore linked via ethernet to a router. A laptop connects to that router via wifi, and has ROS_MASTER_URI defined. Both machines can ping each other. Laptop publish on /chatter, the other one sees it but can't echo and display that same error
|
Hi
I am trying to use Voxelized Shape and Color Histograms (VOSCH) in order to recognize an object, I follow this link http://wiki.ros.org/vosch ,but when I run :
rosrun vosch example_vosch rospack find vosch/data/sample_cone_green.pcd
I got the Error that
Couldn't find executable named example_vosch below /opt/ros/fuerte/stacks/mapping/vosch
can anyone help me to fix it?
Originally posted by ghazaleh on ROS Answers with karma: 15 on 2014-04-21
Post score: 0
|
i am doing a project of robot dicking station. This program is for three infrared receivers and three infrared emitters, i don't know why it happened. Could anybody help me ?
#include <IRremote.h>
#include <IRremoteInt.h>
#include <ros.h>
#include <std_msgs/String.h>
ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher st("state", &str_msg);
char state[10] = "cent-left";
char state_1[11] = "cent-right";
char state_2[10] = "cent-cent";
char state_3[11] = "right-left";
char state_4[12] = "right-right";
char state_5[11] = "right-cent";
char state_6[10] = "left-left";
char state_7[11] = "left-right";
char state_8[10] = "left-cent";
int RECV_PIN = 11;
int RECV_PIN_2= 9;
int RECV_PIN_1= 13;
IRrecv irrecv(RECV_PIN);
IRrecv irrecv1(RECV_PIN_1);
IRrecv irrecv2(RECV_PIN_2);
decode_results results;
void setup()
{
irrecv.enableIRIn();
irrecv1.enableIRIn();
irrecv2.enableIRIn();
nh.initNode();
nh.advertise(st);
}
void loop()
{
long Right=0xEF1F1509;
long left=0xCC36FF5E;
if (irrecv.decode(&results))
{
long val2= results.value;
if(val2==0xEF1F1509)
{
str_msg.data = state;
} else if(val2==0xCC36FF5E)
{
str_msg.data = state_1;
}
else {
str_msg.data = state_2;
}
st.publish( &str_msg );
}
if (irrecv1.decode(&results))
{
long val=results.value;
if (val==0xEF1F1509)
{
str_msg.data=state_3;
} else
if (val==0xCC36FF5E)
{
str_msg.data=state_4;
}else
{
str_msg.data=state_5;
}
st.publish(&str_msg);
}
if (irrecv2.decode(&results))
{
long val1=results.value;
if (val1==0xEF1F1509)
{
str_msg.data=state_6;
} else
if (val1==0xCC36FF5E)
{
str_msg.data=state_7;
}else
{
str_msg.data=state_8;
}
st.publish(&str_msg);
}
nh.spinOnce();
delay(1500);
}
Console:
[INFO] [WallTime: 1398132348.674181] ROS Serial Python Node
[INFO] [WallTime: 1398132348.682297] Connecting to /dev/ttyACM0 at 57600 baud
[ERROR] [WallTime: 1398132365.792995] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
Originally posted by noel on ROS Answers with karma: 1 on 2014-04-21
Post score: 0
|
I'm writing a test program about actionlib. Referencing the wiki document of SimpleActionServer. However, I makes a error because of this instruction.
Server server(n, "do_dishes", boost::bind(&execute, _1, &server), false);
The variable server is used before it's allocated as server. Is that possible? At least, my visual studio 2010 compiler doesn't understand that style of code. Please help me.
Originally posted by Younghyo on ROS Answers with karma: 15 on 2014-04-21
Post score: 0
|
when i type this """rosinstall_generator desktop_full --rosdistro fuerte --deps > fuerte-desktop-full.rosinstall""" in the terminal the output is "" bash: fuerte-desktop-full.rosinstall: Permission denied """ How can this be solved ????
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-22
Post score: 0
|
Hi, I have a project that I'm trying to adapt to ROS. Using catkin_make, it compiles ok, with clang++, but it fails on linking.
It needs to be linked with a series of object files (*.o) that are part of another (non-catkin) project.
I'm not sure how to add these dependencies to the target in CMakeLists.txt, and I don't know how to specify the equivalent CMake parameters in the catkin_make command. There are a few other parameters I would like to pass as well.
In my CMakeLists.txt, I've added all the include_directories() and target_link_libraries().
I pass -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=/usr/bin/clang -DCMAKE_CXX_COMPILER=/usr/bin/clang++ on the command line to catkin_make. So far so good.
I would also like to pass the following compile parameters (or put them in my CMakeLists.txt file) but don't know how:
-fobjc-arc
-fPIC
-std=c++11 -stdlib=libstdc++
-Weverything -Wno-undef -Wno-long-long -Wno-c++98-compat-pedantic -Wno-sign-conversion -Wno-disabled-macro-expansion -Wno-weak-vtables -Wno-padded -Wno-unknown-pragmas -Wno-pedantic -Werror
and the following link parameters, but also don't know how:
-rdynamic
-stdlib=libstdc++
(a series of object files to link together) Do I need to move the source files into my catkin_ws?
-L/usr/lib/x86_64-linux-gnu
-R/usr/lib/x86_64-linux-gnu
The reason for all these parameters is that they are part of the clang++ command line when building the project using make (outside of catkin).
Any help would be appreciated.
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-04-22
Post score: 0
|
Hi, I am a beginner in using ROS. I want to ask is it possible to run rviz for 3 kobuki robot in a laptop?
Thank you.
Originally posted by girl on ROS Answers with karma: 11 on 2014-04-22
Post score: 0
Original comments
Comment by Hamid Didari on 2014-04-22:
can you explain more about your problem such as what do you want to see in rviz ? do you have problem in network between three robot or something else ....
Comment by girl on 2014-04-23:
I am thinking, can I run rviz for 3 robot in one laptop? Is it possible? I haven't test it yet..
Is there anyone that have try it?
|
Hi all,
I initially had one C++ class broadcasting and listening to tf:Transforms successfuly. The structure of my class was something like:
class TF_Listening_OK {
private:
tf::TransformBroadcaster _transf_bdcst;
tf::TransformListener _transf_lsten;
public:
void spin() {
Rate r(25);
while(ros::ok()) {
tf::Transform transform = blablabla...;
_transf_bdcst.sendTransform(tf::StampedTransform(transform,
Time::now(),
"world",
"myframe"));
ros::spinOnce();
}
}
void someCallback() {
try {
PoseStamped pstdin, pstdout;
pstdin.header.frame_id = "world";
pstdin.pose = some_pose_in_world;
_transf_lsten.transformPose("myframe", pstdin, pstdout);
}
catch() we don't care...
}
The code hereabove works great! My issue comes in the next step.
Then I've created a TF_Listening_Failure class which does not broadcast any frame but which listen to some tf broadcasted by TF_Listening_OK. It's code is in the same node and same thread and is executed when a callback is received. Something like:
class TF_Listening_Failure {
private:
tf::TransformListener _transf_lsten;
public:
void someCallback() {
try {
PoseStamped pstdin, pstdout;
pstdin.header.frame_id = "myframe";
pstdin.pose = some_pose_in_myframe;
_transf_lsten.transformPose("world", pstdin, pstdout);
}
catch() we don't care...
}
But it fails with code:
terminate called after throwing an instance of 'tf::LookupException'
what(): Frame id /myframe does not exist! Frames (1):
Aborted (core dumped)
I am 400% sure that "myframe" is actually broadcasted with respect to "world". I can draw the tf tree seeing myframe published as a child of world at 25Hz.
Not only the world frame does exist (I've also replaced world by other frames in the transformPose but it always fails) but also it's not even able to list available frames (= this aborted error, I figured out with gdb that it occured during spinOnce()).
The awful solution I've found for the moment is creating a PoseStamped TF_Listening_OK::performTFListening(PoseStamped pstdin). Calling this method from TF_Listening_Failure works well but this is SO UGLY.
I'm not sure whether the portion of code I've posted is useful, but I'm so lost with this issue that I don't know what is relevant. Any idea of what could be wrong? Can we have only one declared tf listener of something like this? Thank you by advance for your help.
Originally posted by courrier on ROS Answers with karma: 454 on 2014-04-22
Post score: 0
|
I am trying to retrieve some values from a published topic, and using that data in my main function. I can almost make it work with global variables, but I believe that is poor programming etiquette? Before I continue debugging my global variable solution, I would like to know if there is a simpler, more efficient way. Here is the callback function:
void chatterCallback(const sensor_msgs::JointState msg)
{
for (int i=0;i<NUMBER_OF_JOINTS;i++)
{
std::cout << "The " << msg.name.at(i) << " is now at " << msg.position.at(i);
std::cout << " moving with velocity " << msg.velocity.at(i) << "\n";
}
}
I want to pass the data contained in the sensor_msgs::JointState to my main function, in order to start the program by ascertaining the robot's joint values. Also, I'm not sure the subscriber callback function is allowed to use sensor_msgs::JointState, rather than ConstPtr. The code works like this, though.
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-04-22
Post score: 0
|
Hellow,
I'm using the rosrpm for fedora version of ROS and I have two problem.
First : each time I'm trying to compile a package using pcl, catkin_make hang at some point and just never stop and I have to close everything. I don't know why it does that and it's very annoying as I want to use a Xtion. Thus I don't know what information to give but if someone is willing to help me with that, I will be happy to give any kind of information.
Second : I'm trying to compile a very small project named randomly bouboum the thing is when I catkin_make bouboum, the only executable I'm asking is not made.
Here are the CMakeList, and the program :
CMakeListe :
cmake_minimum_required(VERSION 2.8.3)
project(bouboum)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
pcl_conversions
roscpp
)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
catkin_package(
INCLUDE_DIRS include
LIBRARIES bouboum
CATKIN_DEPENDS pcl_conversions roscpp
DEPENDS system_lib
)
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp executable
add_executable(test src/test.cpp)
target_link_libraries(test ${catkin_LIBRARIES} ${PCL_LIBRARIES})
And my program :
#include "ros/ros.h"
#include <pcl/point_types.h>
int main(int argc, char **argv){
ros::init(argc, argv, "Stalker");
ros::NodeHandle my_node;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
}
Nothing very complicated it was just to test the hanging problem named above.
The thing is it find the good test.cpp file since if I change the name in the add_executable command, catkin_make complain about it. I just have nothing happening and I can't understand why.
I created my package using catkin_make_pkg bouboum pcl_conversions roscpp
Any help on the matter will be more than appreciated !!
Thanks a lot !
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-22
Post score: 0
Original comments
Comment by ahendrix on 2014-04-22:
Are you sure it isn't placing your test executable somewhere in the build or devel directories?
Comment by Maya on 2014-04-22:
I looked in /devel/lib because it's usually paced there and I didn't even found a bouboum folder. I'll check better tonight.
Comment by ahendrix on 2014-04-23:
The catkin_make output should have a line for each cpp file and binary that it compiles; you should make sure that you test executable is included there. You may have to touch your test.cpp file to trigger a rebuild.
Comment by Maya on 2014-04-23:
There is no line printed by catkin_make for any executable even if I change test.cpp. I guess I did something wrong in the makefile or during the package creation. All the other ones works now so must be my fault there.
|
I've been using ethzasl_icp_mapper to perform SLAM on some odometry free velodyne data. Until a few weeks ago all of my scripts were working perfectly. Then they started throwing a "Field normals not found" error. I cannot figure out why this began occurring as neither the velodyne_pointcloud package or the ethzasl_icp_mapper package were updated. Looking through the code it appears that it occurs in DataPoints.cpp of the libpointmatcher library. However my attempts to use GDB end up pointing me to ros::spin() instead of any of the ethzasl_icp code.
I think it has to do with the available fields in my PointClouds2 message but as I mentioned earlier I have no clue what could have happened between March 25th and April 1st that could have changed the behavior of the code.
Originally posted by flashedarling on ROS Answers with karma: 36 on 2014-04-22
Post score: 0
|
Hi,
I installed ros on ubuntu 14.04 with sudo apt-get install ros-indigo*
How can I install ros_comm from github.com/ros/ros_comm/tree/indigo-devel ?
Thanks
Originally posted by goupil35000 on ROS Answers with karma: 113 on 2014-04-22
Post score: 0
|
I upgraded a Ubuntu 13.10 system that had Hydro built from source to Ubuntu 14.04, and encountered the following issues:
rosdep
$ rosdep install --from-paths src --ignore-src --rosdistro hydro -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
roslaunch: No definition of [python-paramiko] for OS version [trusty]
qt_dotgraph: No definition of [python-pydot] for OS version [trusty]
rosgraph: No definition of [python-mock] for OS version [trusty]
rosdoc_lite: No definition of [python-sphinx] for OS version [trusty]
opencv2: No definition of [python-support] for OS version [trusty]
rqt_plot: No definition of [python-qt-bindings-qwt5] for OS version [trusty]
ps3joy: No definition of [python-bluez] for OS version [trusty]
wiimote: No definition of [python-cwiid] for OS version [trusty]
rqt_top: No definition of [python-psutil] for OS version [trusty]
roswtf: No definition of [python-paramiko] for OS version [trusty]
rqt_pose_view: No definition of [python-qt-bindings-gl] for OS version [trusty]
python_orocos_kdl: No definition of [python-sip] for OS version [trusty]
rviz: No definition of [libogre-dev] for OS version [trusty]
I think because all the dependencies were still lying around and installed from when rosdep worked fully in 13.10, I was able to skip over this.
Gazebo
It was (obvious in retrospect) necessary to rebuild gazebo, which I had built from source earlier, not doing this produced an error saying protobuf header files needed to be regenerated with protoc
catkin_make
I attempted to run the catkin_make command after that in the same workspace as had been used when the system was 13.10, but encountered difficulties with libqhull, libyaml-cpp, and libprotobuf- I think they all had version upticks for 14.04 which move the .so symlink to /usr/lib/x86_64-linux-gnu/ from /usr/lib, but the old .so.x.y libs were still there in /usr/lib.
Errors produced were of the sort:
/include/gazebo-2.2/gazebo/msgs/axis.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
#error regenerate this file with a newer version of protoc.
...
undefined reference to `YAML::Node::Node()'
Maybe I should have run a catkin_make clean or similar but I ended up just starting over in a new catkin workspace, which built fine.
I haven't tested the built result much, and I'm pretty sure the build process would fail on a fresh 14.04 install due to the rosdep issue at the top here, but I'll try that eventually unless someone else documents it first.
Ogre
/usr/include/CEGUI/RendererModules/Ogre/CEGUIOgreRenderer.h:57:7: error: using typedef-name ‘Ogre::TexturePtr’ after ‘class’
class TexturePtr;
This has the workaround:
http://cegui.org.uk/forum/viewtopic.php?f=10&t=6555#p30834
in /usr/include/CEGUI/RendererModules/Ogre/CEGUIOgreRenderer.h replace
class TexturePtr
with
class Texture;
template<typename T> class SharedPtr;
typedef SharedPtr<Texture> TexturePtr;
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-04-22
Post score: 1
|
Hi all,
I have turtlebot2, groovy, turtlebot arm. In reading the tutorial Using urdf with robot_state_publisher, I'm confused in its launch file.
Why there are two "state_publishers" ?
one is "robot_state_publisher", and the other is "state_publisher")
By saying "need a method for specifying what state the robot is in" the tutorial points out the function of "state_publisher",
But in checking robot_state_publisher package we can see the function of robot_state_publisher is "allows you to publish the state of a robot to tf", which seems similar to the function of "state_publisher".
My goal is to broadcaster TF info, so my turtlebot arm can do grasping based on it(which have tf listening function). I have a URDF of turtlebot with arm.
Thanks for your help!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-22
Post score: 0
|
hello ; i have a problem during executing this command in the terminal """ rosws init ~/fuerte_workspace /opt/ros/fuerte """ the output is
Traceback (most recent call last): File "/usr/local/bin/rosws", line 52, in <module> import rosinstall.rosws_cli File "/usr/local/lib/python2.7/dist-packages/rosinstall/__init__.py", line 33, in <module> import wstool.helpers File "/usr/local/lib/python2.7/dist-packages/wstool/helpers.py", line 37, in <module> from wstool.config_elements import SetupConfigElement File "/usr/local/lib/python2.7/dist-packages/wstool/config_elements.py", line 38, in <module> from vcstools.vcs_abstraction import get_vcs_client File "/usr/local/lib/python2.7/dist-packages/vcstools/__init__.py", line 44, in <module> from vcstools.svn import SvnClient File "/usr/local/lib/python2.7/dist-packages/vcstools/svn.py", line 44, in <module> import dateutil.parser # For parsing date strings File "/usr/local/lib/python2.7/dist-packages/dateutil/parser.py", line 24, in <module> from six import text_type, binary_type, integer_types ImportError: No module named six
plz ; how can i fix this error ????
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-22
Post score: -1
|
EDIT I've worked out how to set the CMAKE flags and thus have been able to capture the link statement that fails. Its shown it at the bottom of this post.
I am doing an assignment at Uni whereby I need to build a package that incorporates code that was developed outside of ROS. I'm adding ROS functionality to it. I'm not bringing the source files into my project folder, but rather, including their normal locations in my CMakeLists.txt. (Don't want two versions floating around.)
I've now been able to make the original program run as a ROS Node using rosrun mypackage mypackage_node.
The problem I'm having is that as soon as I include a statement in my code that uses ROS functionality, the catkin_make build fails during linking with the following error:
CMakeFiles/gwbrb_node.dir/src/gwbrb.cpp.o: In function `GUMonitor::callback(guWb::wb_types, gsw_simple_message*)':
/home/user/src/MPL/Gao/posix/guWbR/src/gwbrb/src/gwbrb.cpp:123: undefined reference to `ros::NodeHandle::NodeHandle(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::less<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > >, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > > const&)'
clang: error: linker command failed with exit code 1 (use -v to see invocation)
I have included "ros/ros.h", and the statement that causes the error is ros::NodeHandle nForWNb; With this statement commented out, it works as stated above.
Because I suspected the ROS libraries were not being located, I decided to print the value of ${catkin_LIBRARIES} in my CMakeList.txt file, and have found that it evaluates to NULL. This is not right, since I am executing `source ~/ros_catkin_ws/install_isolated/setup.bash` when I open my shell.</strike> That is the wrong place to print its value...
Now, when I print the value of ${catkin_LIBRARIES}, just before the target_link_libraries() clause, it holds the value:
/home/user/ros_catkin_ws/install_isolated/lib/libroscpp.so;/usr/lib/x86_64-linux-gnu/libboost_signals.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/home/user/ros_catkin_ws/install_isolated/lib/librosconsole.so;/home/user/ros_catkin_ws/install_isolated/lib/librosconsole_log4cxx.so;/home/user/ros_catkin_ws/install_isolated/lib/librosconsole_backend_interface.so;/usr/lib/liblog4cxx.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/home/user/ros_catkin_ws/install_isolated/lib/libxmlrpcpp.so;/home/user/ros_catkin_ws/install_isolated/lib/libroscpp_serialization.so;/home/user/ros_catkin_ws/install_isolated/lib/librostime.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/home/user/ros_catkin_ws/install_isolated/lib/libcpp_common.so;/home/user/ros_catkin_ws/install_isolated/lib/libconsole_bridge.so
I think something in my CMakeLists.txt file is causing this problem, but I don't know where, or how to discover the problem. I've included my CMakeList.txt & package.xml listings below:
package.xml
...
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<!-- <build_depend>ncurses</build_depend> -->
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<!-- <run_depend>ncurses</run_depend> -->
...
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(gwbrb)
set(MPL_DIR $ENV{MPL_DIR})
#set(LOCAL_LINK ${MPL_DIR}/Gao/posix/gWbRb/src/gwbrb/src/build.host/)
message(STATUS "MPL_DIR is ${MPL_DIR}")
message(STATUS "ROS Link libraries @ ${catkin_LIBRARIES}")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
find_package(Threads REQUIRED COMPONENTS system)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Needs clang++
find_program(CLANGPP clang++ HINTS /usr/local/bin /usr/bin /opt/local/bin)
if(${CLANGPP} MATCHES "clang")
set(CXX ${CLANGPP})
message(STATUS "CXX = ${CXX}")
endif(${CLANGPP} MATCHES "clang")
## Needs clang
find_program(CLANG clang HINTS /usr/local/bin /usr/bin /opt/local/bin)
if(${CLANG} MATCHES "clang")
set(CC ${CLANG})
message(STATUS "CC = ${CC}")
endif(${CLANG} MATCHES "clang")
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS ${MPL_DIR}/Gao/posix/gswb ${MPL_DIR}/Gao/Common
# LIBRARIES
CATKIN_DEPENDS roscpp rospy std_msgs
DEPENDS system_lib
)
###########
## Build ##
###########
set(CMAKE_C_FLAGS "-std=c99")
set(CMAKE_CXX_FLAGS "-std=c++11 -stdlib=libc++")
set(CMAKE_SHARED_LINKER_FLAGS "-stdlib=libstdc++ -Wl,-rpath -Wl,/usr/local/lib")
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${MPL_DIR}/Gao/posix/gswb
${MPL_DIR}/Gao/Common
${MPL_DIR}/Gao/posix/gswb/typeClassDefs
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
add_library(gwbrb
${MPL_DIR}/Gao/posix/gswb/ggwbo.cpp
${MPL_DIR}/Gao/posix/gswb/gswb.c
${MPL_DIR}/Gao/posix/gswb/gtiwbo.cpp
${MPL_DIR}/Gao/Common/gu_util.cpp
${MPL_DIR}/Gao/posix/gswb/gwbg.cpp
${MPL_DIR}/Gao/posix/gswb/gwbp.cpp
${MPL_DIR}/Gao/posix/gswb/gwbtl_c_typestrings_generated.c
${MPL_DIR}/Gao/posix/gswb/Wb.cc
)
## Declare a cpp executable
add_executable(gwbrb_node
src/gwbrb.cpp
${MPL_DIR}/Gao/posix/gswb/ggwbo.cpp
${MPL_DIR}/Gao/posix/gswb/gswb.c
${MPL_DIR}/Gao/posix/gswb/gtiwbo.cpp
${MPL_DIR}/Gao/Common/gu_util.cpp
${MPL_DIR}/Gao/posix/gswb/gwbg.cpp
${MPL_DIR}/Gao/posix/gswb/gwbp.cpp
${MPL_DIR}/Gao/posix/gswb/gwbtl_c_typestrings_generated.c
${MPL_DIR}/Gao/posix/gswb/Wb.cc
)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
#add_dependencies(gwbrb_node ${LOCAL_LINK}gwbp.o)
## Specify libraries to link a library or executable target against
target_link_libraries(gwbrb_node
${catkin_LIBRARIES}
gswb
dispatch
# rt
# BlocksRuntime
# pthread_workqueue
# kqueue
# pthread
# ncurses
)
Has anyone experienced this problem? What could be causing the linker to not know where the ROS libraries are at, and what can I do about it? (Set a variable manually?)
LINK STATEMENT and ERROR (I have given each argument, after the first series of switches, a line of its own to make it easier to read.)
Ubuntu clang version 3.4-1ubuntu1 (trunk) (based on LLVM 3.4)
Target: x86_64-pc-linux-gnu
Thread model: posix
"/usr/bin/ld" -export-dynamic -z relro --hash-style=gnu --build-id --eh-frame-hdr -m elf_x86_64 -dynamic-linker /lib64/ld-linux-x86-64.so.2 -o
/home/user/src/MPL/Gao/posix/gWRb/devel/lib/gwrb/gwrb_node
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crt1.o
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o
/usr/lib/gcc/x86_64-linux-gnu/4.8/crtbegin.o
-L/usr/lib/gcc/x86_64-linux-gnu/4.8
-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu
-L/lib/x86_64-linux-gnu
-L/lib/../lib64
-L/usr/lib/x86_64-linux-gnu
-L/usr/lib/gcc/x86_64-linux-gnu/4.8/../../..
-L/lib
-L/usr/lib
CMakeFiles/gwrb_node.dir/src/gwrb.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/ggwbo.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/gswb.c.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/gtiwbo.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/Common/gu_util.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/gwbg.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/gwbp.cpp.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/gwbtl_c_typestrings_generated.c.o
CMakeFiles/gwrb_node.dir/home/user/src/MPL/Gao/posix/gswb/Whiteboard.cc.o
/home/user/ros_catkin_ws/install_isolated/lib/libroscpp.so
-lboost_signals
-lboost_filesystem
/home/user/ros_catkin_ws/install_isolated/lib/librosconsole.so
/home/user/ros_catkin_ws/install_isolated/lib/librosconsole_log4cxx.so
/home/user/ros_catkin_ws/install_isolated/lib/librosconsole_backend_interface.so
-llog4cxx
-lboost_regex
/home/user/ros_catkin_ws/install_isolated/lib/libxmlrpcpp.so
/home/user/ros_catkin_ws/install_isolated/lib/libroscpp_serialization.so
/home/user/ros_catkin_ws/install_isolated/lib/librostime.so
-lboost_date_time
-lboost_system
-lboost_thread
-lpthread
/home/user/ros_catkin_ws/install_isolated/lib/libcpp_common.so
/home/user/ros_catkin_ws/install_isolated/lib/libconsole_bridge.so
-lgswb
-ldispatch
-rpath
/home/user/ros_catkin_ws/install_isolated/lib
-lc++
-lm
-lgcc_s
-lgcc
-lc
-lgcc_s
-lgcc
/usr/lib/gcc/x86_64-linux-gnu/4.8/crtend.o
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crtn.o
ERROR:
CMakeFiles/gwrb_node.dir/src/gwrb.cpp.o: In function `GUMonitor::callback(guWb::wb_types, gsw_simple_message*)':
/home/user/src/MPL/Gao/posix/gWRb/src/gwrb/src/gwrb.cpp:124: undefined reference to `ros::NodeHandle::NodeHandle(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> >, std::__1::less<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > >, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > > > > const&)'
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-04-22
Post score: 1
Original comments
Comment by Nap on 2014-04-23:
Since I've worked out how to use the '-v invocation', I am able to see the command given for each compile and link step. Using this info, I'm going to compare a working catkin package build with the build steps of the original project, and this build. Between the three, I hope I can figure it out.
|
While I am trying to install ROS on my Mac with OS X 10.8, XCode 5.0.2, The package "Stage" fails to compile in the process. It says the following : (stream gisted at https://gist.github.com/karthikkovalam/11205070)
-- checking for one of the modules 'playercore>=2.1.0'
-- * Player not detected. If Player is installed but not detected, check your PKG_CONFIG_PATH.
I am not sure on how to handle this. I tried to install PlayerStage on my machine with "brew install player" and it failed with the following error stream. (Gisted at https://gist.github.com/karthikkovalam/11205137)
Please help in this regards. Thanks in advance.
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-22
Post score: 0
Original comments
Comment by William on 2014-04-23:
I'll take a look soon.
Comment by Hansg91 on 2014-04-23:
For the record, Iam using stage on 10.9 just fine, no problems as far as I could remember.
|
Hellow,
When I was using openni2_launch in groovy I had a topic camera/depth/points_xyzrgba. Or now I have only camera/depth/points. Is there any reason for that ? How can I recover the color of the Point Cloud now ?
Thanks
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-04-22
Post score: 0
|
Hi, I am learnig ROCON which is an exellent example of multi-robot system. I am trying to run multinav_concert in ROCON's Hydro repository. As the multinav.concert file says, firstly a rviz interface without map is launched by running concert.launch file in a terminal, secondly, map is loaded into rviz by running multinav_database_client.launch in another terminal which communicates with the first terminal.
Here is my question, How the map is loaded into rviz? As the multinav.rapps shows map_sever is wrapped into a rapp " map_sharing", The rapp "map_sharing" includes map_sharing.launch which launchs node /map and related topics.
However, to my understandings, by tracing the process of running multinav_database_client.launch, concert_client.launch, paired_private.launch, then _app_manger_gateway.xml, _app_manger.xml are launched one by one, so the rapp "map_sharing" is managed by _app_manger.xml which utilizes rocon_app_manager package. The rocon_app_manger contains rapp_manager.py and other .py files
To understand this process, I added print function in _init, _process_start_app, _process_stop_app in rapp_mangaer.py to show some infomation about the process, but nothing is output on the screen. It seems that rocon_app_manager doesn't do anything for the process of loading map sucessfully.
I once modified the rapp "nav_demo" to be "nav_test" by trying to launch amcl node( adding amcl_demo.launch) but failed to launch amcl node(please see this question on ros answer)
So I wonder why the rapp runnig map server is loaded sucessfully but another rapp with amcl can't be launched.
I am very confused and don't know how to solve this. Any guidance will be appreciated.
Originally posted by scopus on ROS Answers with karma: 279 on 2014-04-22
Post score: 0
Original comments
Comment by scopus on 2014-04-22:
Ok, I found that If I add --screen when launch multinav_database_client.launch，all information from rospy.logwarn, rospy.loginfo including the manually added print function are shown in the screen. How this comes? How to make these information from rospy.logxxx in the code hidden or open without inputing ‘--screen’ in the command line?
|
I can't to start work with hector_qrcode_detection. I edited this launch file I only change this sector
<remap from="openni/image" to="/image_raw" />
<remap from="openni/image_percept" to="worldmodel/image_percept" />
<remap from="openni/image/qrcode" to="image/qrcode" />
<remap from="openni/image/camera_info" to="/camera_info" />
Because I use uvc_camera for testing, but I going to use this package with kinect. So when I start this launch file, I didn't see that any topic supsribes to image_raw. Where is problem? What I'm doing wrong?
rostopic info /image_raw
Type: sensor_msgs/Image
Publishers:
* /uvc_camera (http://turtle-comp:34051/)
Subscribers: None
rostopic list | grep image
/image_raw
/image_raw/compressed
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates
rosnode list
/qrcode_detection_kinect
/qrcode_detection_pseye_left
/qrcode_detection_pseye_right
/rosout
/uvc_camera
rosnode info /qrcode_detection_kinect
Node [/qrcode_detection_]
Publications: None
Subscriptions: None
Services: None
Originally posted by Kirill_Sokolov on ROS Answers with karma: 11 on 2014-04-23
Post score: 0
|
Hi,
I run a Kinect sensor and evaluate depth and camera information to track positions of small robots. The idea is to use the pointcloud to identify all robots (2.5m < z < 3m). I used a pcl/passthrough filter for this purpose. Now I want to mask out all parts of the corresponding image which are not part of this cloud.
From my point of view I have to implement the following steps:
Filter the point cloud (already available in pcl)
Transfer the point cloud into an binary image (?)
Mask the image (opencv?)
Other ideas?
Thanks for your help.
Sebastian
Originally posted by Poseidonius on ROS Answers with karma: 427 on 2014-04-23
Post score: 1
|
Hi guys,
I am using a subscriber with a callback. It works fine for a while but then the program suddenly stops. My process does not die but stops/freezes.
This is what I do ...
sub = nh.subscribe("topic_name",
10000, &Callback, this);
ros::spinOnce();
I operate two robots with the same code and most of the time one stops receiving data from the callback. The other one proceeds as suggested. I realized that the subscribing works but the process freezes during the spinOnce().
Does anyone have an idea?
Originally posted by dneuhold on ROS Answers with karma: 205 on 2014-04-23
Post score: 0
|
Hi all, in robot.launch, I'm confused in a sentence: ".../robots/$(arg base)_$(arg stacks)$(arg 3d_sensor).urdf.xacro'" />". Can anyone give me a detailed explanation of this sentence? Thanks!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-23
Post score: 0
|
I am new to ROS. I have performed 20 online tutorials. But still not know how to start program naeto robot. Its vacuum cleaner but I want to control it. Kindly guide me
Originally posted by tonyParker on ROS Answers with karma: 377 on 2014-04-23
Post score: 0
|
here is the link to the tutorial
i get the following errors
surya@surya-Aspire-V5-571:~/catkin_ws$ catkin_make
Base path: /home/surya/catkin_ws
Source space: /home/surya/catkin_ws/src
Build space: /home/surya/catkin_ws/build
Devel space: /home/surya/catkin_ws/devel
Install space: /home/surya/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/surya/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/surya/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/surya/catkin_ws/devel;/opt/ros/hydro
-- This workspace overlays: /home/surya/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/surya/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:
-- ~~ - beginner_tututorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tututorials'
-- ==> add_subdirectory(beginner_tututorials)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package roscpy.
Set roscpy_DIR to the directory containing a CMake configuration file for
roscpy. The file will have one of the following names:
roscpyConfig.cmake
roscpy-config.cmake
Call Stack (most recent call first):
beginner_tututorials/CMakeLists.txt:7 (find_package)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package std_msg.
Set std_msg_DIR to the directory containing a CMake configuration file for
std_msg. The file will have one of the following names:
std_msgConfig.cmake
std_msg-config.cmake
Call Stack (most recent call first):
beginner_tututorials/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
surya@surya-Aspire-V5-571:~/catkin_ws$
Originally posted by Surya_Deopa on ROS Answers with karma: 1 on 2014-04-23
Post score: 0
|
Hello everyone. I have been doing experiments with ROS services and currently I have this:
"""services_node.py"""
#!/usr/bin/env python
import time
import rospy
from beginner_tutorials.srv import *
def handle_action_1(request):
print "doing action 1"
time.sleep(2)
return Action1Response()
def handle_action_2(request):
print "doing action 2"
return Action2Response()
if __name__ == "__main__":
rospy.init_node("services_node")
action_1 = rospy.Service("action_1", Action1, handle_action_1)
action_2 = rospy.Service("action_2", Action2, handle_action_2)
rospy.spin()
"""caller_1.py"""
#!/usr/bin/env python
import rospy
from beginner_tutorials.srv import *
rospy.wait_for_service("action_2")
action_2 = rospy.ServiceProxy('action_2', Action2)
i = 0
while True:
print "take %d" % i
print "calling for action_2"
action_2()
i = i + 1
"""caller_2.py"""
#!/usr/bin/env python
import rospy
from beginner_tutorials.srv import *
rospy.wait_for_service("action_1")
action_1 = rospy.ServiceProxy('action_1', Action1)
i = 0
while True:
print "take %d" % i
print "calling for action_1"
action_1()
i = i + 1
This nodes are basically a node that publishes two services, called "action_1" and "action_2", and two nodes that constantly call those services. By the way, the Action1 and Action2 services are empty services, with just a "---" in the .srv files.
The problem I see is that when I run these nodes, the caller_1 node shows the "calling for action_1" every two seconds, which makes sense for me. But, as far as I know, I would expect the caller_2 node to print its text every two seconds, since the services_node is "busy" with the callback for action_1. But what I see is that the caller_2 node works as if was alone, without waiting for the response.
Can you explain this please? I thought service callbacks were blocking, since it's just one node who is answering those services, but it seems the callbacks are not blocking in this case.
Originally posted by crpizarr on ROS Answers with karma: 229 on 2014-04-23
Post score: 1
|
Terminal output:
rviz
[ INFO] [1398274970.767543066]: rviz version 1.9.34
[ INFO] [1398274970.767625438]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1398274971.013525609]: OpenGl version: 3 (GLSL 1.3).
Segmentation fault (core dumped)
As soon as I add a laserscan in rviz. No matter what settings I chose, as soon as I enter the topic: /amigo/base_front_laser
then rviz seg faults.
In fuerte, it still works properly. How can I fix this?
Originally posted by maxbaeten on ROS Answers with karma: 11 on 2014-04-23
Post score: 0
Original comments
Comment by Angus on 2014-04-24:
Which ROS version? Which Rviz version (you can check by $rosrun rviz rviz)?
Comment by maxbaeten on 2014-04-25:
rviz version 1.9.34
ROS GROOVY
UBUNTU 12.04
amigo@maxbaeten:~$ rosrun rviz rviz
[ INFO] [1398427199.380737791]: rviz version 1.9.34
[ INFO] [1398427199.380829386]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1398427204.813868693]: OpenGl version: 3 (GLSL 1.3).
|
Hi ,
I am trying to make a face Recognition with kinect ...
i have fuerte ROS
working on ubuntu 12.04 ?? f
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-23
Post score: 0
|
I have a turtlebot arm, but instead of the ArtiboX board, I bought the OpenCM9.04-B, and I'm wondering how to use it to control the arm in ROS without doing all the work from scratch. To my knowledge, there's nothing like the arbotix stack for the OpenCM9.04. So to integrate it on ROS, I should somehow replicate the arbotix stack changing the arduino code to match the Robotis API, right? That's what I'm trying now, following a recommendation I received on trossen robotics forum, but its not easy for me, as I have few experience on microcontrolers.
Can someone think in a easier way, or is someone doing the same job? Thank you a lot
Originally posted by jorge on ROS Answers with karma: 2284 on 2014-04-23
Post score: 1
|
I'm looking for some sample code except for codes on the page( http://wiki.ros.org/pcl/Tutorials ) to get more knowledge about relationship between ROS and PCL. Could anybody tell me an information if knowing the web page that puts sample code? My goal is to build a people detection.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-23
Post score: 0
|
I understand that now tf is depreciated and the tf packages lib actually runs off tf2. I like to know if the tf_conversions package has any equivalent in tf2? I am trying to build a package which was built for fuerte and uses
TransformTFToEigen
Currently i am given
TransformTFToEigen is not a member of tf
error
Originally posted by zenifed on ROS Answers with karma: 93 on 2014-04-23
Post score: 2
|
I created a catkin workspace folder ~/catkin-ws, and downloaded usb_cam (http://wiki.ros.org/usb_cam) source into ~/catkin-ws/src. I called catkin_make and ~/catkin-ws/devel/lib/usb_cam/usb_cam_node is created.
But when I type rosrun usb[TAB Key], nothing happened.
I think this is because usb_cam not registered to ros system yet, since there is no usb_cam in /opt/ros/hydro/lib(I am using hydro). so I tried this:
sudo cp -r ~/catkin-ws/devel/lib/* /opt/ros/hydro/lib/
still not working. how to get a catkin complied package recognized by rosrun?
by the way, running "~/catkin-ws/devel/lib/usb_cam/usb_cam_node" directly does work. is that the correct way?
Originally posted by vdonkey on ROS Answers with karma: 51 on 2014-04-23
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-04-23:
There are some articles about usb_cam in ROS Q&A.
For example, check it out (http://answers.ros.org/question/42906/issue-with-usb_cam-cant-open-camera/) .
Comment by vdonkey on 2014-04-23:
Thanks, Ken. It works, you are great. I know cp and run node directly without rosrun can hardly be a good answer, but I just cannot find the correct one after reading tutorials and ppt courses by myself.
|
While trying to install ROS on OS X 10.8, with XCode 5.0.2, the package geometric_shapes is unable to build. It give the following error.
==> Processing catkin package: 'geometric_shapes'
==> Building with env: '/Users/Siva/ros_catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/Users/Siva/ros_catkin_ws/build_isolated/geometric_shapes'
==> make -j4 -l4 in '/Users/Siva/ros_catkin_ws/build_isolated/geometric_shapes'
[ 20%] Building CXX object CMakeFiles/geometric_shapes.dir/src/mesh_operations.cpp.o
/Users/Siva/ros_catkin_ws/src/geometric_shapes/src/mesh_operations.cpp:54:10: fatal error: 'assimp/aiScene.h' file not found
#include <assimp/aiScene.h>
^
1 error generated.
make[2]: *** [CMakeFiles/geometric_shapes.dir/src/mesh_operations.cpp.o] Error 1
make[1]: *** [CMakeFiles/geometric_shapes.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'geometric_shapes':
Command '/Users/Siva/ros_catkin_ws/install_isolated/env.sh make -j4 -l4' returned non-zero exit status 2
I have installed assimp in my machine through
brew install assimp
Output of brew info assimp
assimp: stable 3.0.1270, HEAD
http://assimp.sourceforge.net/
/usr/local/Cellar/assimp/3.0.1270 (52 files, 8.0M) *
Built from source
From: https://github.com/Homebrew/homebrew/commits/master/Library/Formula/assimp.rb
==> Dependencies
Build: cmake ✔
Required: boost ✔
Geometric_shapes version as specified in hydro-desktop-full-wet.rosinstall :
local-name: geometric_shapes
uri: https://github.com/ros-gbp/geometric_shapes-release/archive/release/hydro/geometric_shapes/0.3.6-0.tar.gz
version: geometric_shapes-release-release-hydro-geometric_shapes-0.3.6-0
I am trying to build Hydro on OS X 10.8 with XCode 5.0.2
But even then the error persists. I am not sure on how to proceed, Kindly help.
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-23
Post score: 1
Original comments
Comment by William on 2014-04-23:
Can you post the output of brew info assimp? Also what version of ROS are you building? Even better what version of geometric_shapes?
Comment by karthik_ms on 2014-04-23:
@william Edited the question as you have asked.
Comment by mikepurvis on 2014-08-07:
I'm getting this same error now, building Indigo on Mavericks. assimp version is 3.1.1.
|
Hello,
We're just getting started using the AMCL package for this robot. We're publishing odometry as described here, and so far, so good. I'm confused about something though: in the code, we're broadcasting nav_msgs/Odometry messages without setting the covariances (i.e. they're all zeros).
My question: is this a problem?
Thanks in advance,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-04-23
Post score: 0
|
[Ubuntu 13.10, ROS Hydro-Desktop-Full (built from source)]
rosnode list shows it in a console but not the Process Monitor, even after refreshing.
The messages published by the missing node are included in the Topic Monitor.
I'm creating the node using ros::init( argc, argv, "myNode"); in the main method of my executable.
This is strange. Can anyone explain?
Originally posted by Nap on ROS Answers with karma: 302 on 2014-04-24
Post score: 0
Original comments
Comment by Nap on 2014-04-24:
It seems that rqt needs to be run after the nodes are up in order have the Process Monitor show them. When nodes are shutdown, the Process Monitor removes them as expected. But they don't come back if the original node is created again. This means you must quit rqt and run it again.
Comment by Dan Lazewatsky on 2014-05-01:
Is the node running on the same machine as rqt_top? It will ignore nodes running on remote machines.
Comment by Nap on 2014-05-04:
Yes, same machine.
|
I want to track the white section of the binary image. When the white section is detected (which is cuboid in my case) it should get the height and width and the value of left and top most pixel.
Then after getting the coordinates i want to assign them to ROI. so that i can then subscribe to /roi topic and perform a particular action.
Thanx
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-04-24
Post score: 0
|
I want to follow the video on navigation tutorials to set up rviz for the Navigation Stack,but I can not see the video,it is blank where the video should play.I Click the right mouse button，it shows "Movie not loaded".I have installed flash before. what's the problem ?Thanks in advance!
Originally posted by danmianjing_00 on ROS Answers with karma: 3 on 2014-04-24
Post score: 0
|
Hi Everyone,
I spawned multiple turtlebots for my gazebo simulation using the kobuki model from the turtlebot simulator.
I can input velocity commands for each individual turtlebot using different namespace like /robot1/vel_cmd, robot2/vel_cmd ..etc but I couldn't read my odometry topic on the same manner. In other words I just got one single topic “/odom” but I need to push down the “/odom” topic into its own namespace like /robot1/odom, robot2/odom...robot4/odom.
I installed hydro ROS, gazebo/gazebo_ros_pkg and turtlebot simulator from pre- built-debians and I read some posts where people recommend to install gazebo/gazeb_ros_pkg “from source” to have access to the source code then to solve this problem by changing the source. For this particular problem I read that I need to change the gazebo_ros_create.cpp file where the odom topic is declared like “/odom” as global name and I need to change it to “odom” as relative name to be able to push down the topic
I haven't tried it yet but I have my doubts about this option. Please any help regarding this matter. Thanks alot
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-24
Post score: 1
|
Hi Everyone,
I installed my hydro ROS from binaries and I need to install the Turtlebot from source (to access the source code for multiple turtlebot application)
Can Turtlebot from source installation run properly with hydro ROS from binaries, Debs installation? Do I have to install both from source ?
Thank you for any help in this matter.
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-24
Post score: 0
|
Hi, everyone.
I'd like to install pcl stand-alone.
Could you tell me how to do it ?
Since I've installed ros hydro through "desktop-full",
pcl(perception_pcl) has also being installed.
So I can see libpcl** under /usr/lib.
However, pcl/gpu is not found and I cannot try kinfu.
I gues that pcl installed with ros has a small part of full-pcl.
Then I'd like to install pcl stand-alone.
I'm afraid that I will have confliction between pcl installed stand-alone and pcl installed with ros.
How can I install pcl stand-alone ?
Thanks in advance.
Originally posted by moyashi on ROS Answers with karma: 721 on 2014-04-24
Post score: 0
|
Hello,
We're just getting started tuning the navigation stack for this robot. We're publishing odometry as described here, and so far, so good. I'm confused about something though: in the code, we're broadcasting nav_msgs/Odometry messages without setting the covariances (i.e. they're all zeros).
My question: is this the correct thing to do?
Thanks in advance,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-04-24
Post score: 0
|
I am trying to find some code examples for rviz plugins to be able to port an old plugin that broke after some changes in Groovy. I was able to find the headers in my Hydro installation at /opt/ros/hydro/include/rviz/default_plugin, but no idea where the sources are. Can anyone help me?
Originally posted by georgebrindeiro on ROS Answers with karma: 1264 on 2014-04-24
Post score: 1
|
I cannot get my cross compile to link to the boost libraries in my buildroot.
How can I get catkin/cmake to find the correct libraries (using the arm native libraries in my buildroot instead of the i386 system libraries)?
I have tried updating LD_LIBRARY_PATH, and CMAKE_PREFIX_PATH, but I still get linker errors:
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lPocoFoundation
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_signals-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_filesystem-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -llog4cxx
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_regex-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_date_time-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_system-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find -lboost_thread-mt
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find /lib/libpthread.so.0
/usr/lib/gcc/arm-linux-gnueabi/4.4.7/../../../../arm-linux-gnueabi/bin/ld: cannot find /usr/lib/libpthread_nonshared.a
I think this is because cmake does not like that there are multiple versions of this library on the system, even though I order them in the LD_LIBRARY_PATH!
-- catkin 0.5.86
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.49.0
-- Found the following Boost libraries:
-- system
-- thread
-- Configuring done
CMake Warning at CMakeLists.txt:109 (add_library):
Cannot generate a safe runtime search path for target gt_formation because
files in some directories may conflict with libraries in implicit
directories:
runtime library [libPocoFoundation.so.9] in /usr/lib may be hidden by files in:
/home/uav/rpi/rootfs/usr/lib
runtime library [liblog4cxx.so.10] in /usr/lib may be hidden by files in:
/home/uav/rpi/rootfs/usr/lib
Some of these libraries may not be found correctly.
Yes, cmake, I know. I "hid" them on purpose. Why is it ignoring the CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY setting?
So, what is the correct way of forcing cmake to use the libs in the buildroot?
Here is my toolchain.cmake file:
set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER arm-linux-gnueabi-gcc)
#$ENV{HOME}/rpi/tools/arm-bcm2708/arm-bcm2708-linux-gnueabi/arm-bcm2708-linux-gnueabi/bin/gcc)
set(CMAKE_CXX_COMPILER arm-linux-gnueabi-g++-4.4)
set(CMAKE_FIND_ROOT_PATH $ENV{HOME}/rpi/tools/arm-bcm2708/arm-bcm2708-linux-gnueabi/arm-bcm2708-linux-gnueabi/sysroot $ENV{HOME}/rpi/rootfs $ENV{HOME}/rpi/rootfs/e2fsprogs-1.42.9 $ENV{HOME}/rpi/rootfs/usr $ENV{HOME}/rpi/rootfs/usr/lib $ENV{HOME}/rpi/rootfs/usr/include $ENV{HOME}/rpi/ros_catkin_ws/install_isolated $ENV{HOME}/rpi/ros_catkin_ws/install_isolated/lib)
set(CMAKE_LIBRARY_PATH $ENV{HOME}/rpi/ros_catkin_ws/install_isolated $ENV{HOME}/rpi/ros_catkin_ws/install_isolated/lib)
set(BOOST_LIBRARYDIR /home/uav/rpi/rootfs/usr/lib)
set(Boost_LIBRARY_DIRS /home/uav/rpi/rootfs/usr/lib)
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM BOTH)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
Thanks in advance!
Originally posted by ceverett on ROS Answers with karma: 332 on 2014-04-24
Post score: 1
Original comments
Comment by Patrick K on 2014-06-11:
Same problem at my toolchain. Is there any solution?
|
I want to ask a next question to somebody who is familiar with PCL in ROS.
What does sensor_msgs::PointCloud2 mean?
On this page (http://wiki.ros.org/pcl/Tutorials), Wiki instructs Hydro users to use pcl::PCLPointCloud2 instead of sensor_msgs::PointCloud2 in a callback function.
Actually, I can't build execute file of example.cpp on /pcl/Tutorials if I use sensor_msgs::PointCloud2.
Is sensor_msgs::PointCloud2 never used on Hydro?
Thank you in advance!
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-24
Post score: 0
|
Can anyone tell me where I can get the ROS code for dynamixel pro?
Thanks in advance.
Originally posted by Jong H Kim on ROS Answers with karma: 17 on 2014-04-24
Post score: 0
|
I am using a Universal Robots UR5 mounted to a cylindrical post using fixed joints (one to world, the other to the UR5).
When I drive it in Gazebo using Moveit! the model shakes/wobbles. It eventually settles down....
I am wondering if there is something that I'm doing wrong to induce this? Or if there are things I need to adjust to eliminate this?
Originally posted by b3l33 on ROS Answers with karma: 113 on 2014-04-24
Post score: 3
Original comments
Comment by BennyRe on 2014-04-24:
Has the cylindrical post a mass?
Comment by b3l33 on 2014-04-25:
Yes. It has a mass of 50. I have since discovered that the manipulator exhibits the same behaviour if fixed directly to the ground as well. Please see the following youtube video for reference:
http://youtu.be/RVYIK4C_mgk
Any suggestions on what I may do to stabilize the robot's behaviour?
Thank you!
|
Hi Everyone,
I need to implement a multi-turtlebot application with Hydro ROS so that I installed the turtlebot from source using the instructions below:
mkdir ~/turtlebot
cd ~/turtlebot
wstool init src https/raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8
source /opt/ros/hydro/setup.bash
rosdep install --from-paths src -i -y
catkin_make
I spawned two turtlebots but I have problems with the “odom” topic that doesn’t resolve correctly. I am getting just one “/odom” topic instead of two like “robot1/odom” and “robot2/odom”
Since I have this problems, incorrect resolution of each robot prefix, I made some changes on the source file gazebo_ros_create.cpp located at HOME/turtlebot/src/turtlebot_create_desktop/create_gazebo_plugins/src
Then, I compiled the from ”/turtlebot” “folder” using “catkin_make” but I noticed that my changes didn’t take effect.
Am I doing something wrong? Or Do I need to do something else to see the effect of my changes?
Please any help would be very much appreciated!! Thanks
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-24
Post score: 0
|
I am trying navigation_stage package in Hydro, ubuntu 12.04. I am using move_base_multi_robot.lauch.
But navfn is planning through the walls. The map used in willow map which have small openinings. Navfn is not considering size of the robot.
EDIT 3:
The other problem is cost map is not accumulating the observed obstacles which were not part of map. What i understand is when rbot gets stucj, recovery behaviour is initiated and costmap is cleared. All previous observations are lost in cost map. Because of this, robot keep on oscillating from one small opening to next.Following is the configuration files:
There is also an extrapolation error reported : " lookup would require extrapolation into future. Requested time is 627.3 but the latest data is at 627.2 when looking up for transform from frame [robot1/odom] to frame [map]
local cost map params
local_costmap:
#We'll publish the voxel grid used by this costmap
publish_voxel_map: true
#Set the global and robot frames for the costmap
global_frame: odom
robot_base_frame: base_link
#Set the update and publish frequency of the costmap
update_frequency: 5.0
publish_frequency: 2.0
#We'll configure this costmap to be a rolling window... meaning it is always
#centered at the robot
static_map: false
rolling_window: true
width: 3.0
height: 3.0
resolution: 0.025
origin_x: -1.0
origin_y: -1.0
map_type: costmap
global cost map params
global_costmap:
#Set the global and robot frames for the costmap
global_frame: /map
robot_base_frame: base_link
#Set the update and publish frequency of the costmap
update_frequency: 5.0
publish_frequency: 0.0
#We'll use a map served by the map_server to initialize this costmap
static_map: true
rolling_window: false
footprint_padding: 0.02
map_type: costmap
move_base.xml
<launch>
<!--
Example move_base configuration. Descriptions of parameters, as well as a full list of all amcl parameters, can be found at http://www.ros.org/wiki/move_base.
-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<param name="footprint_padding" value="0.01" />
<param name="controller_frequency" value="10.0" />
<param name="controller_patience" value="3.0" />
<param name="oscillation_timeout" value="30.0" />
<param name="oscillation_distance" value="0.5" />
<!--
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
-->
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation_stage)/move_base_config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation_stage)/move_base_config/base_local_planner_params.yaml" command="load" />
<!--
<rosparam file="$(find navigation_stage)/move_base_config/dwa_local_planner_params.yaml" command="load" />
-->
</node>
</launch>
costmap_common_params.yaml
#For this example we'll configure the costmap in voxel-grid mode
map_type: voxel
#Voxel grid specific parameters
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0
#Set the tolerance we're willing to have for tf transforms
transform_tolerance: 0.3
#Obstacle marking parameters changed from 2.5 to 4.5 meters
obstacle_range: 14.5
max_obstacle_height: 2.0
#raytrace range changed from three to five meters
raytrace_range: 15.0
#The footprint of the robot and associated padding
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
footprint_padding: 0.2
#Cost function parameters
inflation_radius: 0.55
cost_scaling_factor: 10.0
#The cost at which a cell is considered an obstacle when a map is read from the map_server
lethal_cost_threshold: 100
#Configuration for the sensors that the costmap will use to update a map
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
edit 1:
It can be seen from sequence of these images that robot oscillates a lot.
The map visualised is from topic /robot/move base node/global costmap/costmsp
The console output is as follows
lization)
move_base_node (move_base/move_base)
auto-starting new master
process[master]: started with pid [5868]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 711d29f0-cc69-11e3-ae1a-00219b4712db
process[rosout-1]: started with pid [5881]
started core service [/rosout]
process[map_server-2]: started with pid [5895]
process[stageros-3]: started with pid [5915]
process[robot_0/move_base_node-4]: started with pid [5930]
process[robot_0/fake_localization-5]: started with pid [5945]
process[robot_1/move_base_node-6]: started with pid [6016]
process[robot_1/fake_localization-7]: started with pid [6055]
process[rviz-8]: started with pid [6094]
[ INFO] [1398423902.611603072, 0.400000000]: Loading from pre-hydro parameter style
[ INFO] [1398423902.613168796, 0.400000000]: Loading from pre-hydro parameter style
[ INFO] [1398423902.688667094, 0.400000000]: Using plugin "static_layer"
[ INFO] [1398423902.689555089, 0.400000000]: Using plugin "static_layer"
[ INFO] [1398423902.820690736, 0.600000000]: Requesting the map...
[ INFO] [1398423902.832775150, 0.600000000]: Requesting the map...
[ INFO] [1398423903.006369627, 0.800000000]: Resizing costmap to 584 X 526 at 0.100000 m/pix
[ INFO] [1398423903.006798763, 0.800000000]: Resizing costmap to 584 X 526 at 0.100000 m/pix
[ INFO] [1398423903.105284777, 0.900000000]: Received a 584 X 526 map at 0.100000 m/pix
[ INFO] [1398423903.106387280, 0.900000000]: Received a 584 X 526 map at 0.100000 m/pix
[ INFO] [1398423903.118228875, 0.900000000]: Using plugin "obstacle_layer"
[ INFO] [1398423903.120959682, 0.900000000]: Using plugin "obstacle_layer"
[ INFO] [1398423903.123606924, 0.900000000]: Subscribed to Topics: base_scan
[ INFO] [1398423903.126138122, 0.900000000]: Subscribed to Topics: base_scan
[ INFO] [1398423903.186841811, 0.900000000]: Using plugin "footprint_layer"
[ INFO] [1398423903.189624862, 0.900000000]: Using plugin "footprint_layer"
[ INFO] [1398423903.200209240, 0.900000000]: Using plugin "inflation_layer"
[ INFO] [1398423903.202976023, 0.900000000]: Using plugin "inflation_layer"
[ INFO] [1398423903.552735653, 1.300000000]: Loading from pre-hydro parameter style
[ INFO] [1398423903.584294897, 1.300000000]: Loading from pre-hydro parameter style
[ INFO] [1398423903.598261656, 1.300000000]: Using plugin "obstacle_layer"
[ INFO] [1398423903.628366041, 1.400000000]: Using plugin "obstacle_layer"
[ INFO] [1398423903.731914069, 1.500000000]: Subscribed to Topics: base_scan
[ INFO] [1398423903.764563298, 1.500000000]: Subscribed to Topics: base_scan
[ INFO] [1398423903.782795984, 1.500000000]: Using plugin "footprint_layer"
[ INFO] [1398423903.794150579, 1.500000000]: Using plugin "inflation_layer"
[ INFO] [1398423903.834527828, 1.600000000]: Using plugin "footprint_layer"
[ INFO] [1398423903.852023785, 1.600000000]: Using plugin "inflation_layer"
[ INFO] [1398423904.054029565, 1.800000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1398423904.073211549, 1.800000000]: Sim period is set to 0.10
[ INFO] [1398423904.081724909, 1.800000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ WARN] [1398423904.096906093, 1.800000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1398423904.117247230, 1.900000000]: Sim period is set to 0.10
[ WARN] [1398423904.140807836, 1.900000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ WARN] [1398423904.406322508
, 2.200000000]: The base_scan observation buffer has not been updated for 1.30 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.406358325, 2.200000000]: The base_scan observation buffer has not been updated for 1.30 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.407153907, 2.200000000]: The base_scan observation buffer has not been updated for 0.70 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.506219439, 2.300000000]: The base_scan observation buffer has not been updated for 0.80 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.607484888, 2.400000000]: The base_scan observation buffer has not been updated for 1.50 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.608102022, 2.400000000]: The base_scan observation buffer has not been updated for 1.50 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.608460212, 2.400000000]: The base_scan observation buffer has not been updated for 0.90 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.706686676, 2.500000000]: The base_scan observation buffer has not been updated for 1.00 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.808078116, 2.600000000]: The base_scan observation buffer has not been updated for 1.70 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.808900751, 2.600000000]: The base_scan observation buffer has not been updated for 1.10 seconds, and it should be updated every 0.40 seconds.
[ WARN] [1398423904.809313100, 2.600000000]: The base_scan observation buffer has not been updated for 1.70 seconds, and it should be updated every 0.40 seconds.
[ INFO] [1398423904.874431385, 2.600000000]: odom received!
[ WARN] [1398423904.906963957, 2.700000000]: The base_scan observation buffer has not been updated for 1.20 seconds, and it should be updated every 0.40 seconds.
[ INFO] [1398423904.933096013, 2.700000000]: odom received!
[ERROR] [1398423993.906444702, 91.700000000]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 91.700000000 but the latest data is at time 91.600000000, when looking up transform from frame [robot_1/odom] to frame [map]
[ERROR] [1398423993.906527544, 91.700000000]: Global Frame: robot_1/odom Plan Frame size 671: map
[ WARN] [1398423993.906584374, 91.700000000]: Could not transform the global plan to the frame of the controller
[ WARN] [1398424036.404220679, 134.200000000]: Clearing costmap to unstuck robot.
[ WARN] [1398424036.705563909, 134.500000000]: Rotate recovery behavior started.
[ERROR] [1398424036.705813136, 134.500000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1398424103.904794598, 201.700000000]: Clearing costmap to unstuck robot.
[ WARN] [1398424104.205285965, 202.000000000]: Rotate recovery behavior started.
[ERROR] [1398424104.205546115, 202.000000000]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1398424108.205809219, 206.000000000]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 206.000000000 but the latest data is at time 205.900000000, when looking up transform from frame [robot_1/odom] to frame [map]
[ERROR] [1398424108.205965998, 206.000000000]: Global Frame: robot_1/odom Plan Frame size 755: map
[ WARN] [1398424108.206052855, 206.000000000]: Could not transform the global plan to the frame of the controller
^C[rviz-8] killing on exit
Is this problem related to some configuration or navfn is not meant to consider robot size!
thnks
prince
Originally posted by prince on ROS Answers with karma: 660 on 2014-04-24
Post score: 0
|
when I roslaunch rgbdslam,I can get monochrome image and deth image in the GUI,but when i press space or enter,rgbdslam cannot work. the rgbdslam window on the top of GUI stuck as the vision of background of my desktop,and it doesn't change after i press space.sorry i don't get enough points to upload picture.
here're some errors ,not sure if they're related.
[ERROR] [1399345324.528618353]: No display list could be created
[ERROR] [1399345324.528881814]: No display list could be created
[ INFO] [1399345324.528998621]: Added Node, new graphsize: 251 nodes
[ WARN] [1399345324.529284001]: Loop Closures: 964, Sequential Edges: 747
[ WARN] [1399345324.529355183]: Starting Optimization
[ WARN] [1399345324.529587946]: 2793 Landmarks with mean of 22.56 observations
[ WARN] [1399345324.534588347]: Optimization with 251 cams, 251 nodes and 1711 edges in the graph
[ERROR] [1399346329.503819270]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1399346329.518612270]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1399346329.534237166]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ WARN] [1399346333.112845590]: Camera calibration file /home/kkoo/.ros/camera_info/rgb_A00364A02116109A.yaml not found.
[ WARN] [1399346333.113026292]: Using default parameters for RGB camera calibration.
[ WARN] [1399346333.113139337]: Camera calibration file /home/kkoo/.ros/camera_info/depth_A00364A02116109A.yaml not found.
[ WARN] [1399346333.113221533]: Using default parameters for IR camera calibration.
[ WARN] [1399346337.159410668]: First RGBD-Data Received
Originally posted by 360693047 on ROS Answers with karma: 1 on 2014-04-24
Post score: 0
Original comments
Comment by Felix Endres on 2014-04-28:
Could you be more specific? What happens? Any output on the console?
Comment by 360693047 on 2014-05-05:
I've updated my question ,please help me out.@Felix Endres
|
how to install and run the MTi-G Xsens device is a IMU device.
Pls help and reply me thx.
Originally posted by Rizwan on ROS Answers with karma: 3 on 2014-04-24
Post score: 0
|
I made an arm_navigation stack using the Planning Description Configuration Wizard. However, when I try to run forward kinematics on my robot, only a single link shows up in the GetKinematicSolverInfo service response.
[ INFO] [1398420068.098256875]: Joint: 0 shoulder_pan_joint
[ INFO] [1398420068.098394147]: Joint: 1 shoulder_lift_joint
[ INFO] [1398420068.098505827]: Joint: 2 elbow_joint
[ INFO] [1398420068.098577658]: Joint: 3 wrist_1_joint
[ INFO] [1398420068.098646898]: Joint: 4 wrist_2_joint
[ INFO] [1398420068.098723696]: Joint: 5 wrist_3_joint
[ INFO] [1398420068.098798122]:
[ INFO] [1398420068.098873428]: Link: 0 wrist_3_link
Did I make a mistake in the Planning Configuration Wizard, or must I look at the setup for my planner? There doesn't seem to be much precise information in the relevant tutorials.
EDIT: It could be that wrist_3_link is the only link that the solver will take as input, but if I try to solve for the forward kinematics for wrist_3_link, the kinematics server crasher. I assumed it was because I haven't specified the all the links, but that may not be the case. Perhaps there is a bug in the code, although I cannot find it.
#include <ros/ros.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionFK.h>
class ur5_listener_class
{
private:
sensor_msgs::JointState ur5_state;
public:
void returnJointState(const sensor_msgs::JointState msg)
{
// The callback function only passes on the data to the class
ur5_state = msg;
}
sensor_msgs::JointState applyJointState()
{
// if the joint_state data is needed in the main function, it will be returned here.
return ur5_state;
}
void debug()
{
for(int i=0;i<6;i++)
{
std::cout << "The " << ur5_state.name.at(i) << " is now at " << ur5_state.position.at(i);
std::cout << " moving with velocity " << ur5_state.velocity.at(i) << "\n";
}
}
};
int main(int argc, char **argv){
// Variable declaration
sensor_msgs::JointState ur5_state;
ros::init (argc, argv, "get_fk");
ros::NodeHandle rh;
// Before other business, connect to node, and retrieve joint state
ros::Subscriber sub;
ur5_listener_class ur5_listener;
sub = rh.subscribe("/joint_states", 1000, &ur5_listener_class::returnJointState, &ur5_listener);
// Wait for the connection to establish
ros::Rate r(10);
while (sub.getNumPublishers() == 0)
r.sleep();
// retrieve joint_state and use for JointGoal
ros::spinOnce();
ur5_state = ur5_listener.applyJointState();
ros::service::waitForService("ur5_UR5_chain_kinematics/get_fk_solver_info");
ros::service::waitForService("ur5_UR5_chain_kinematics/get_fk");
ros::ServiceClient query_client =
rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>
("ur5_UR5_chain_kinematics/get_fk_solver_info");
ros::ServiceClient fk_client = rh.serviceClient
<kinematics_msgs::GetPositionFK>("ur5_UR5_chain_kinematics/get_fk");
// define the service messages
kinematics_msgs::GetKinematicSolverInfo::Request request;
kinematics_msgs::GetKinematicSolverInfo::Response response;
if(query_client.call(request,response))
{
ROS_INFO("number of joints on service %i",
response.kinematic_solver_info.joint_names.size());
ROS_INFO("number of links on service %i",
response.kinematic_solver_info.link_names.size());
ROS_INFO("Link in question: %s",
response.kinematic_solver_info.link_names[0].c_str());
for(unsigned int i=0;
i< response.kinematic_solver_info.joint_names.size(); i++)
{
ROS_INFO("Joint: %d %s", i,
response.kinematic_solver_info.joint_names[i].c_str());
}
}
else
{
ROS_ERROR("Could not call query service");
ros::shutdown();
exit(1);
}
// define the service messages
kinematics_msgs::GetPositionFK::Request fk_request;
kinematics_msgs::GetPositionFK::Response fk_response;
fk_request.header.frame_id = "base_link";
fk_request.fk_link_names.resize(1);
fk_request.fk_link_names[0] = "wrist_3_link";
ROS_INFO("Forward request call made");
fk_request.robot_state.joint_state.position.resize
(response.kinematic_solver_info.joint_names.size());
// ROS_INFO("joint name resized");
fk_request.robot_state.joint_state.name =
response.kinematic_solver_info.joint_names;
// ROS_INFO("Joint names passed");
for(unsigned int i=0;
i< response.kinematic_solver_info.joint_names.size(); i++)
{
fk_request.robot_state.joint_state.position[i] = ur5_state.position.at(i);
ROS_INFO("Numbers passed to the solver: %i, %f", i, ur5_state.position.at(i));
}
sleep(1);
if(fk_client.call(fk_request, fk_response))
{
ROS_INFO("fk_client.call(fk_request, fk_response init");
if(fk_response.error_code.val == fk_response.error_code.SUCCESS)
{
for(unsigned int i=0; i < fk_response.pose_stamped.size(); i ++)
{
ROS_INFO_STREAM("Link : " << fk_response.fk_link_names[i].c_str());
ROS_INFO_STREAM("Position: " <<
fk_response.pose_stamped[i].pose.position.x << "," <<
fk_response.pose_stamped[i].pose.position.y << "," <<
fk_response.pose_stamped[i].pose.position.z);
ROS_INFO("Orientation: %f %f %f %f",
fk_response.pose_stamped[i].pose.orientation.x,
fk_response.pose_stamped[i].pose.orientation.y,
fk_response.pose_stamped[i].pose.orientation.z,
fk_response.pose_stamped[i].pose.orientation.w);
}
}
else
{
ROS_ERROR("Forward kinematics failed");
}
}
else
{
ROS_ERROR("Forward kinematics service call failed");
}
ros::shutdown();
}
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-04-25
Post score: 0
|
Hello, every earnest folk
background : Anyone successfully let robot running with gmapping ? I have made my robot run with amcl and a given map , and it did something very well ,such as going to the goal ,avoiding obstacle . In recent , I want to run my robot with gmapping , and I use old base_local_planner and costmap (including local & global) parameter .
gmapping params :
<param name="particles" value="50" />
<param name="maxUrange" value="200"/>
<param name="delta" value="0.05"/>
<param name="maxrang" value="220" />
<param name="srr" value="0.2" />
<param name="srt" value="0.4" />
<param name="str" value="0.2" />
<param name="stt" value="0.4" />
<param name="map_update_interval" value="0.3" />
<param name="transform_publish_period" value="0.5" />
<param name="linearUpdate" value="1" />
<param name="angularUpdate" value="0.5" />
</node>
problem: robot can't achieve the goal given by rviz or rqt plugin written by myself . When I set a goal ,robot always performs recovery behaviors ,but the area around robot don't have any obstacle ,and the map showed in rviz is clean .
question 1: Are there some parameters about move_base need to be modified ?
question 2: In theory robot can running with gmapping , But in practically ... ?
ps: ubuntu 12.04 & groovy
Originally posted by zsbhaha on ROS Answers with karma: 63 on 2014-04-25
Post score: 0
Original comments
Comment by dornhege on 2014-04-25:
Are the goals in unknwon space?
Comment by zsbhaha on 2014-04-25:
no, and I have set trace_unkown_spcae as true .
Comment by zsbhaha on 2014-04-25:
@dornhege can you run your robot with gmapping ?
|
Hi all, I have been running ROS core and other packages on one machine and subscribing to the topics on the other machine. Is there some way of limiting the amount of data received by the the subscriber machine? I notice that the master machine sends all topics over the connection even when the subscriber machine hasn't subscribed to those topics. Is there some way of limiting the number of topics that are being communicated? Thankyou.
Originally posted by AnuZam on ROS Answers with karma: 3 on 2014-04-25
Post score: 0
|
Hi folks,
got a problem with hector_slam here. For about a minute or so it's working like a charm. I can drive around with my robot seeing its estimated pose being sufficiently precize. But after a while hector_slam tends to drift away. The matcher just appears to stop matching.
Any idea what could be causing this behavior?
Thanks a lot!
Cheers,
Hendrik
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2014-04-25
Post score: 0
|
To control a robotic arm, I am computing a geometry_msgs::Pose to send to the setFromIK method in ROS control. The Pose has a position and a quaternion. What I am trying to do is control the pose in realtime using a spacenav controller, which has 3 positional and 3 rotational axes.
I am able to set the x, y, and z of the position part of the pose just fine. I am also able to set the quaternion just fine as well, but my current problem is that controlling the quaternion is extremely unintuitive, since rotation is not commutative. i.e., if I rotate 180 degrees about the x-axis, then the control of the rotation about the z-axis gets inverted.
Is there any way that I can control the rotation from a sort of "global reference frame," if that makes any sense? I would like it so that if I twist the joystick clockwise about z, the pose will rotate accordingly, instead of "sometimes rotating clockwise, sometimes rotating counterclockwise."
Here is what I'm currently doing (I've removed everything not related to the quaternion):
while (true) {
// ... Calculate position ...
double roll = joy_axes[3];
double pitch = joy_axes[4];
double yaw = -joy_axes[5];
current_quaternion = last_quaternion * tf::createQuaternionFromRPY(roll, pitch, yaw);
tf::quaternionTFToMsg(current_quaternion, current_pose.orientation);
// ... Compute inverse kinematics; convert pose to PoseStamped, publish resulting pose if a solution was found ...
}
By the way, I am converting the pose to a PoseStamped, with frame_id of "base_link." This may or may not have anything to do with how the quaternion is controlled.
Originally posted by duffany1 on ROS Answers with karma: 173 on 2014-04-25
Post score: 0
|
I've built gazebo 1.9 from source followed by hydro desktop full from source in Ubuntu 13.10 following the instructions but I'm getting these errors when trying to use my xacro/urdf files
Error [Plugin.hh:138] Failed to load plugin libgazebo_ros_control.so: libgazebo_ros_control.so: cannot open shared object file: No such file or directory
A few months ago I was able to do the same source install process and despite getting an error about apt: command [sudo apt-get install -y gazebo2] failed at the rosdep stage, the gazebo dependent packages built because I had correctly installed gazebo and pointed the right environmental variables at it. And all that .so was there (or was it?), everything worked fine (even without it?).
I git cloned ros_control, realtime_tools, and control_toolbox but still no success at generating the so. I'm not sure if those are actually needed here, but it some cursory research suggested they were, though on the earlier installs I never had to manually clone them (maybe rosdep did?).
Is there some other manual steps I need to do to get libgazebo_ros_control.so?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-04-25
Post score: 2
|
Hi folks,
short:
just a short question: are the SLAM algorithms available to ROS (gmapping, amcl, hector_slam) capable of handling moving objects within the map?
longer description:
Consider having a "map" that is only defined by six cubes of 8x8x8cm placed in fixed positions around a rectangular area of 3x2m (three objects on each short side). However on the height of the laser scanner that creates that map there are up to three moving objects of about the same size of the six fixed cubes. They can screen (i.e. get in between) the fixed cubes from the laser scanner but most of the time hopefully will not.
I'll add details later if necessary...
Thanks a lot!
Cheers,
Hendrik
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2014-04-25
Post score: 1
|
Hi all, I have Groovy, a pincher arm, and turtlebot.
I got success in "rosrun tf tf_echo base_link gripper_link", which shown TF data. But these data never change in accordance with time, though I changed the pose of gripper sometimes. Is it problematic? In my guess TF data should change and tell me the real-time pose of gripper. I don't know whether it's problem in URDF model issue(maybe URDF fails to connect with arm?).
Thanks so much!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-25
Post score: 0
|
Hi,
I am using ROS fuerte version and the simulator is USARSim. I use the ** velocity multiplexer (sudo apt-get install ros-fuerte-yujin-ocs)** designed by YujinRobot(http://wiki.ros.org/cmd_vel_mux).
I modify the one header file and one cpp file, to incorporate one more subscriber (so that nodelet manager subscribes to amcl_pose topic). But when I compile the code following error appears.
make output
NOW ABOVE ERROR IS SOLVED BY FOLLOWING THE ANSWER
Problem OCCURS When I run FOLLOWING COMMAND
roslaunch cmd_vel_mux standalone.launch
http://pastebin.com/XnUkXRCZ
nodelet_manager and velocity_multiplexer nodes don't get initialized
You can view the highlighted portion of the header file here
http://pastebin.com/0aJzRS2x
Please help..LOOK in the above TWO LINKS
Originally posted by RB on ROS Answers with karma: 229 on 2014-04-25
Post score: 0
Original comments
Comment by McMurdo on 2014-07-07:
As an aside, logging in as root and performing operations is not considered good practice. Everything you need can be accomplished using the 'normal' user.
|
Hi all, I want to use actionlib to send gripping control cmd to gripper_controller(arbotix package), but after compiling I ran my node, and get strange info: "terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Using ~ names with NodeHandle methods is not allowed. If you want to use private names with the NodeHandle interface, construct a NodeHandle using a private name as its namespace. e.g. ros::NodeHandle nh("~"); nh.getParam("my_private_name"); (name = [~gripper_action])
Aborted (core dumped)"
I cannot change my code as the note's "nh.getParam("my_private_name")" because I need sentence like "GripperMoveClient ac("~gripper_action",true);" to define my client.
Pls help me, thanks! Below is my actionlib client code.
#include ros/ros.h> //in order to show for you I //deliberately lose "<"
#include actionlib/client/simple_action_client.h>
#include control_msgs/GripperCommandAction.h>
typedef actionlib::SimpleActionClient<control_msgs::GripperCommandAction> GripperMoveClient;
int main(int argc, char** argv){
ros::init(argc, argv, "grasping_points_node");
GripperMoveClient ac("~gripper_action",true);
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting...");}
control_msgs::GripperCommandGoal goal;
goal.command.position=0.01;
ac.sendGoal(goal);
}
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-26
Post score: 0
|
I would be delighted if someone can explain very clearly.
I have recently started working on a robot that has a Jaco Arm. (MetraLab Scitos G5).
I am using the ASUS xtion pro for the obstacle avoidance. Once this is done, I am able to view the Octree in the monitored_planning_scene topic (using rviz).
1. I also found that I could specify collision objects using the PlanningSceneInterface Class. What is the difference between the two approaches?
2. Also, what is the exact approach to using a PlanningSceneMonitor. In the planning scene tutorial, it is mentioned that the PlanninSceneMonitor is the elegant way to manage a Planning Scene. But, is there a tutorial for the PlanningSceneMonitor?
3. I saw that the PlanningSceneMonitor has a protected function called "excludeWorldObjectFromOctree()" .
Sometimes when I try to grasp an object (using xtion for obstacle avoidance), the plan fails since there is a potential collision between the fingers of the JACO arm and the object that I intend to pickup. I thought I could add it as a World object using the Planning Scene Interface (this I am able to do) and then use the "excludeWorldObjectFromOctree()" method to exclude the object from being considered for collision checking. Is there a more straight forward way of excluding a world object from collision checking?
4. I have somewhat understood how you could modify the AllowedCollisionMatrix. But then, how do I ensure that this ACM is updated to the current Planning Scene? I expect that there is a method in PlanningSceneInterface like "updateAllowedCollisionMatrix()" ? Am I guessing right? or is there a serious error in my understanding?
Please clarify!
Thank you so much!
Originally posted by McMurdo on ROS Answers with karma: 1247 on 2014-04-26
Post score: 2
|
I'm running turtlebot in playground world and navigation
roslaunch turtlebot_gazebo turtlebot_playground.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
In my program code I successfully subscribe to /map topic and process its data as 2D array[height][width] of wall coordinates, but I'm unable to interpret results of
listener_.lookupTransform( "map", "base_link", ros::Time( 0 ), transform );
How to compare results of map array and map->base_link transform?
Originally posted by INait on ROS Answers with karma: 220 on 2014-04-26
Post score: 0
Original comments
Comment by RB on 2014-05-05:
Why we should compare the results? since it is giving relative robot position.....
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.