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I am installing on Ubuntu trying to get through the steps and have tried to install on 2 different machines. When I try to install the certs using wget ( h t t p) //packages.ros.org/ros.key -o | sudo apt-key add - I get
no valid OpenPGP data found
When I try to install ros with sudo apt-get-install-ros-base i get:
E: Unable to locate ros-hydro-ros-base
I think everything else is configured. Anyone point me in the right direction here.
Originally posted by robauto on ROS Answers with karma: 21 on 2014-04-26
Post score: 2
|
Hi guys
which language is better for using in ros for programming in slam or navigation or ...
Thanks
Hamid
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2014-04-26
Post score: 0
|
Hi guys
I saw some clips in internet for slam,they used laser range finder or kinect or mono_camera or stereo camera ...
which sensor is better to use for mapping I'm researcher in rescue robot indoor ...
I can't use just the laser scanner because of the environment has half wall(half down or half up and if I use just the laser scanner i can't understand that robot can pass under wall or not ...)
any suggestion about my problem?
Thanks
Hamid
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2014-04-26
Post score: 1
|
Hi all,
In reading the tutorial "http://wiki.ros.org/roscpp/Overview/Parameter%20Server", I'm confused in understanding "nh.getParam("/global_name", global_name)". Should I interpret it as "get "/global_name" from the parameter server, and put it in "global_name""? And the "/" means what?
Thanks!
Originally posted by Yantian_Zha on ROS Answers with karma: 74 on 2014-04-26
Post score: 1
|
Hi,
we are trying to port our packages to catkin, but we have problems include messages from the other package.
The package map_merger need the message pointFromOther robot from adhoc_communication, but he does not find it.
CMakeList.txt from map_merger:
cmake_minimum_required(VERSION 2.8.3)
project(map_merger)
## 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
adhoc_communication
nav_msgs
roscpp
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
add_service_files(
DIRECTORY srv
FILES
transformPoint.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
adhoc_communication
std_msgs # Or other packages containing msgs
)
###################################
## 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 include
# LIBRARIES map_merger
# CATKIN_DEPENDS adhoc_communication roscpp
CATKIN_DEPENDS message_runtime adhoc_communication
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(map_merger
# src/${PROJECT_NAME}/map_merger.cpp
# )
## Declare a cpp executable
# add_executable(map_merger_node src/map_merger_node.cpp)
find_package(OpenCV REQUIRED)
add_executable(map_merge_node src/main.cpp src/mapmerger.cpp src/mapmerger.h src/mapstitch.h src/mapstitch.cpp src/updateentry.cpp src/updateentry.h src/updatemanager.cpp src/updatemanager.h )
target_link_libraries(map_merge_node ${OpenCV_LIBS} ${catkin_LIBRARIES} )
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(map_merger_node map_merger_generate_messages_cpp)
add_dependencies(map_merger_node adhoc_communication_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(map_merger_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS map_merger map_merger_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_map_merger.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
Out put after catkin_make:
-- +++ processing catkin package: 'map_merger'
-- ==> add_subdirectory(map_merger)
/opt/ros/groovy/share/genmsg/cmake/pkg-genmsg.cmake.em:41: error: <class 'genmsg.msg_loader.MsgNotFound'>: Cannot locate message [pointFromOtherRobot]: unknown package [map_merger] on search path [{{'nav_msgs': ['/opt/ros/groovy/share/nav_msgs/msg'], 'geometry_msgs': ['/opt/ros/groovy/share/geometry_msgs/msg'], 'std_msgs': ['/opt/ros/groovy/share/std_msgs/cmake/../msg'], 'adhoc_communication': ['/home/student/RosAriaWS/src/adhoc_communication/msg']}}]
Traceback (most recent call last):
File "/usr/bin/empy", line 3288, in <module>
if __name__ == '__main__': main()
File "/usr/bin/empy", line 3286, in main
invoke(sys.argv[1:])
File "/usr/bin/empy", line 3269, in invoke
interpreter.wrap(interpreter.file, (file, name))
File "/usr/bin/empy", line 2273, in wrap
self.fail(e)
File "/usr/bin/empy", line 2264, in wrap
apply(callable, args)
File "/usr/bin/empy", line 2337, in file
self.safe(scanner, done, locals)
File "/usr/bin/empy", line 2379, in safe
self.parse(scanner, locals)
File "/usr/bin/empy", line 2399, in parse
token.run(self, locals)
File "/usr/bin/empy", line 1410, in run
interpreter.execute(self.code, locals)
File "/usr/bin/empy", line 2576, in execute
exec statements in self.globals
File "<string>", line 37, in <module>
File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/deps.py", line 68, in find_srv_dependencies
genmsg.msg_loader.load_depends(msg_context, spec, search_paths)
File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 346, in load_depends
depends = load_msg_depends(msg_context, spec.request, msg_search_path)
File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 313, in load_msg_depends
depspec = load_msg_by_type(msg_context, resolved_type, search_path)
File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 119, in load_msg_by_type
file_path = get_msg_file(package_name, base_type, search_path)
File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/msg_loader.py", line 78, in get_msg_file
% (base_type, package, search_path))
genmsg.msg_loader.MsgNotFound: Cannot locate message [pointFromOtherRobot]: unknown package [map_merger] on search path [{{'nav_msgs': ['/opt/ros/groovy/share/nav_msgs/msg'], 'geometry_msgs': ['/opt/ros/groovy/share/geometry_msgs/msg'], 'std_msgs': ['/opt/ros/groovy/share/std_msgs/cmake/../msg'], 'adhoc_communication': ['/home/student/RosAriaWS/src/adhoc_communication/msg']}}]
CMake Error at /opt/ros/groovy/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/home/student/RosAriaWS/build/catkin_generated/env_cached.sh
"/usr/bin/empy" "--raw-errors" "-F"
"/home/student/RosAriaWS/build/map_merger/cmake/map_merger-genmsg-context.py"
"-o"
"/home/student/RosAriaWS/build/map_merger/cmake/map_merger-genmsg.cmake"
"/opt/ros/groovy/share/genmsg/cmake/pkg-genmsg.cmake.em") returned error
code 1
Call Stack (most recent call first):
/opt/ros/groovy/share/catkin/cmake/em_expand.cmake:23 (safe_execute_process)
/opt/ros/groovy/share/genmsg/cmake/genmsg-extras.cmake:229 (em_expand)
map_merger/CMakeLists.txt:69 (generate_messages)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
If you need more information, just tell me.
Regards Peter
Originally posted by pkohout on ROS Answers with karma: 336 on 2014-04-27
Post score: 1
|
Hi all,
Right now I have a node RGBDImageProc that does some processing on the incoming data from an RGBD camera. It's a slightly modified version of the one here: https://github.com/ccny-ros-pkg/ccny_rgbd_tools/tree/master/ccny_rgbd
Now I want to use this node with multiple cameras. What I do is to launch 2 instances of this node, each one inside a different namespace and connected to a different camera. The launching works fine and each camera publishes all the information into independent topics. For instance: /cam1/camera/rgb/..., /cam2/camera/rgb/... I can view the images of both cameras simultaneously using image_viewer so they are publishing properly.
My problem comes at the processing node. Right now it's using an ApproximateTime Synchronizer to process the information from the RGB and Depth information in a single Callback, like this:
RGBDImageProc::RGBDImageProc(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private): nh_(nh), nh_private_(nh_private), rgb_image_transport_(nh_), depth_image_transport_(nh_), config_server_(nh_private_), size_in_(0,0){
//....
// subscribers
sub_rgb_.subscribe (rgb_image_transport_,
"/"+cam_name_+"/camera/rgb/image", queue_size_);
sub_depth_.subscribe(depth_image_transport_,
"/"+cam_name_+"/camera/depth/image_raw", queue_size_);
sub_rgb_info_.subscribe (nh_,
"/"+cam_name_+"/camera/rgb/camera_info", queue_size_);
sub_depth_info_.subscribe(nh_,
"/"+cam_name_+"/camera/depth/camera_info", queue_size_);
sync_.reset(new RGBDSynchronizer4(RGBDSyncPolicy4(queue_size_), sub_rgb_, sub_depth_, sub_rgb_info_, sub_depth_info_));
sync_->registerCallback(boost::bind(&RGBDImageProc::RGBDCallback, this, _1, _2, _3, _4));
}
The callback is:
void RGBDImageProc::RGBDCallback(
const ImageMsg::ConstPtr& rgb_msg,
const ImageMsg::ConstPtr& depth_msg,
const CameraInfoMsg::ConstPtr& rgb_info_msg,
const CameraInfoMsg::ConstPtr& depth_info_msg)
{
std::cout
The class header contains the following:
private:
ros::NodeHandle nh_; ///< the public nodehandle
ros::NodeHandle nh_private_; ///< the private nodehandle
boost::shared_ptr<RGBDSynchronizer4> sync_; ///< ROS 4-topic synchronizer
ImageTransport rgb_image_transport_; ///< ROS image transport for rgb message
ImageTransport depth_image_transport_; ///< ROS image transport for depth message
ImageSubFilter sub_rgb_; ///< ROS subscriber for rgb message
ImageSubFilter sub_depth_; ///< ROS subscriber for depth message
CameraInfoSubFilter sub_rgb_info_; ///< ROS subscriber for rgb camera info
CameraInfoSubFilter sub_depth_info_; ///< ROS subscriber for depth camera info
and
typedef image_transport::ImageTransport ImageTransport;
typedef image_transport::SubscriberFilter ImageSubFilter;
typedef message_filters::Subscriber CameraInfoSubFilter;
typedef message_filters::sync_policies::ApproximateTime<ImageMsg, ImageMsg, CameraInfoMsg> RGBDSyncPolicy3;
typedef message_filters::sync_policies::ApproximateTime<ImageMsg, ImageMsg, CameraInfoMsg, CameraInfoMsg> RGBDSyncPolicy4;
typedef message_filters::Synchronizer RGBDSynchronizer3;
typedef message_filters::Synchronizer RGBDSynchronizer4;
If I first run one camera, under the namespace /cam1/..., everything works perfectly, and the RGBDCallback is executed. However, when I start the second camera (with the first one still running), under the namespace /cam2/..., the RGBDCallback is not executed anymore, either for cam1 or for cam2 (in this case, it never runs a single call).
Tracking the error, I found out that it hangs after doing sync_->registerCallback(...) in cam2.
Are the two Synchronizers colliding somehow? How could I solve this problem?
Thank you very much.
P.S.: sorry for the bad code formatting, I don't know how to fix it.
Originally posted by Tinrik on ROS Answers with karma: 51 on 2014-04-27
Post score: 0
|
Hi,
I am using ROS fuerte version on Ubuntu 10.04. 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 in the installed package, to incorporate one more subsrciber (so that nodelet manager subcribes to amcl_pose topic).
I compile the code and it gets compiled perfectly.
root@ubuntu:/opt/ros/fuerte/stacks/yujin_ocs/cmd_vel_mux# make
But when I RUN following command:
roslaunch cmd_vel_mux standalone.launch
The errors can be found below::
http://pastebin.com/XnUkXRCZ
Some files that you may be interested are given below:::::
CMakeList.txt
http://pastebin.com/FfJaZF7v
nodelet_plugins.xml
http://pastebin.com/S1ZxgW9M
header file
http://pastebin.com/PcuNaWYm
Source cpp file
http://pastebin.com/gZUfqEu3
manifest.xml
http://pastebin.com/vS0w7Tiq
Question1:: why the error says "Make sure that you are calling the PLUGINLIB_REGISTER_CLASS macro in the library code, and that names are consistent between this macro and your XML."???
Question2:: why new function APPEARS to be UNDEFINED?? Even if it is included in Header File and there is no problem in compiling the new package.
Please HELP
NOTE
In CMakeLists.txt (http://pastebin.com/zCzZ7fG6), even if we link directories explicitly, still '.so' file can't figure it out where the cpp or header file
Originally posted by RB on ROS Answers with karma: 229 on 2014-04-27
Post score: 0
Original comments
Comment by dornhege on 2014-04-27:
Is the function that it can't find implemented with exactly the same name?
Comment by RB on 2014-04-27:
I have uploaded the 'source cpp file with highlighted portion.' There is no such mistakes, I think.
|
I'm interested in integrating a program (ChatScript) into ROS. It's written in C++, platform independent, receives user input and generates output, can run as a local or a server. Run as a standalone, it runs in the terminal, one types in text, the program parses this text, selects the appropriate response and outputs that text to the terminal as text then waits for the next input.
With my limited but growing understanding of ROS, I should think it would just be a matter of generating a package that runs ChatScript (as written)as a node with a subscriber that listens for input then publishes the generated response. Is it really that simple?
Are there tutorials out there that would help me learn how to do this? I've been through the basic and intermediate tutorials and feel I'm right on the edge of knowing but not quite there.
Originally posted by richkappler on ROS Answers with karma: 106 on 2014-04-27
Post score: 0
|
I am unable to install ROS on my Ubuntu 14.04 LTS. Below is the error I am facing
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/4b82b30994acfd18785cbf9ea5914c6f
is it the problem of the ubuntu version or did I miss anything I have followed all steps provided in the installation guide any help is highly appreciated
Originally posted by Raghu Parvatha on ROS Answers with karma: 23 on 2014-04-27
Post score: 1
|
Hi,
I am trying to implement communication between win_ros and ros on ubuntu. I followed win_ros tutorials, but it seems a little bit confusing.
And when i create a node on win_ros, there are some errors. Someone has experience about it?
Originally posted by Qt_Yeung on ROS Answers with karma: 90 on 2014-04-28
Post score: 0
Original comments
Comment by Kamiccolo on 2014-04-29:
Could You please specify those errors? There are no magicians here :} Also, which ROS version are You using?
Comment by Qt_Yeung on 2014-04-30:
I install Fuerte both on ubuntu and windows. For win_ros, I just followed this page http://wiki.ros.org/win_ros/Msvc%20SDK%20Projects%20-%20Fuerte. But now I don't know how to create ros node on window, which can send messages to roscore on ubuntu.
|
The following packages have unmet dependencies:
Ros-hydro-desktop-full: Depends: ros-hydro-desktop but it is not going to be installed
ros-hydro-mobile but it is not going to be installed
ros-hydro-perception but it is not going to be installed
ros-hydro-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken package
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-04-28
Post score: 0
Original comments
Comment by Tom Moore on 2014-04-28:
Can you provide more details? What version of Ubuntu are you using?
Comment by Ken_in_JAPAN on 2014-04-28:
I also guess if the version of Ubuntu matches hydro. I'm sorry, but you set up your sources.list, didn't you?
|
Ultimately I would like to publish an Eigen matrix as a nav_msgs/OccupancyGrid. So I thought it would be a good idea to try first if I can publish an arbitrary int8 array as a map.
To my understanding, the map consists of an int8[] array (cannot post link due to missing karma: docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html). According to (cannot post link due to missing karma: wiki.ros.org/msg#Fields)) an int8 is equivalent to an int8_t in C++. But the following simple code does not work and causes the error below (the code compiles without the last line). What am I missing here? Thanks a lot.
nav_msgs::OccupancyGrid map;
map.info.resolution = 1.0; // float32
map.info.width = 2; // uint32
map.info.height = 2; // uint32
int8_t a[4] = {100, 100, 50, 0}; // array of int8_t
std::cout << a << std::endl;
map.data = a;
Error by the compiler:
error: no match for ‘operator=’ in ‘map.nav_msgs::OccupancyGrid_<std::allocator<void> >::data = a’
If relevant: I use Hydro on an Ubuntu 12.04 LTS.
SOLUTION:
Following the hint, the code below worked for me.
int p[] = {100, 100, 50, 0};
std::vector<signed char> a(p, p+4);
map.data = a;
Originally posted by Luke_ROS on ROS Answers with karma: 116 on 2014-04-28
Post score: 4
|
Hello , I am trying to make a face Recognition using kinect , First i download this package https://github.com/procrob/procrob_functional is there any way to recognize faces with this package but with using kinect ???
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-28
Post score: 0
|
While trying to install Hydro on OS X 10.8, with XCode 5.0.2, installing ogre through brew install ogre fails with an freetype.h not found error.
/tmp/ogre-ZCKQ/ogre_src_v1-7-4/OgreMain/src/OgreFont.cpp:44:10: fatal error: 'freetype.h' file not found
#include FT_FREETYPE_H
^
/usr/local/include/freetype/config/ftheader.h:173:24: note: expanded from macro 'FT_FREETYPE_H'
#define FT_FREETYPE_H <freetype.h>
I have the following symbolic links in my machine for freetype.
ln -s /usr/local/Cellar/freetype/2.5.3_1/include/freetype2 /opt/x11/include/freetype2
ln -s /usr/local/Cellar/freetype/2.5.3_1/include/freetype2 /usr/local/include/freetype
The complete error stream is gisted here : https://gist.github.com/karthikkovalam/11376100
I am not sure if I have all the symbolic links properly set. Kindly help me with this issue.
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-28
Post score: 1
|
Hi,
I have ROS Hydro, I am trying to run gscam node, I have exported the GSCAM_CONFIG but upon running the gscam node I get this error, which seems to be a linking error but I don't know how to resolve it.
rosrun gscam gscam
/opt/ros/hydro/lib/gscam/gscam: symbol lookup error: /opt/ros/hydro/lib/libgscam.so: undefined symbol: _ZN3ros7console5printEPNS0_10FilterBaseEPvNS0_6levels5LevelERKSt18basic_stringstreamIcSt11char_traitsIcESaIcEEPKciSE_
Any idea how can I fix it.
Thanks.
Originally posted by uyaseen on ROS Answers with karma: 78 on 2014-04-28
Post score: 0
|
There are already some questions of this type around the ROSanswers, however they are either pretty outdated or lack information.
Since I'm going to develop an UAV I'm searching for a development board that's small and light, as some GPIO ports with PWM (since I will need to control rotors on my aerial vehicle), some USB ports (I would need at least 3, but if the board has less than that I can probably work around that with an usb hub), good enough performance to handle GPS, IMU and camera data and that runs Ubuntu (12.04?) and ROS.
From what I saw till now boards like beaglebone black and raspberry pi seem to work with ROS, however I couldn't actually find projects that use this boards in order to prove how well they behave.
Can you help me?
Originally posted by nvoltex on ROS Answers with karma: 131 on 2014-04-28
Post score: 2
|
Hi all,
Problem:
I am using ros hydro and publishing compressed image on a topic /cameraColor. Also, I am using rosjslib(webpage) to interact with rosbridge_server. Now I want to display image on webpage subscribing to topic mentioned.
Action done by me:
I have used python opencv to save image from that topic in a jpeg file (open cv has method to save image in any format)and then trying to open file and encode it into base64 string . Now I am publishing this base64 string in a seperate topic /base64Image. After subscribing this /base64Image I am able to display image on webpage. But this is a workaround and I am not satisfied with solution. Please suggest me some way to display image on webpage by subscribing to some topic without saving image in jpeg format. Some way to convert ros image in a base64 format directly will be better. I am posting my code for both python code at server side and javascript code in webpage.
Also, please suggest some way to display video from ros on webpage using rosjslib.
Any help will be appreciated.
Thank you.
My code:
Python code to convert ros image into base64 and publishig
def init(self):
self.image_pub = rospy.Publisher("image_topic_2",Image)
self.imagePub = rospy.Publisher("imageJpeg",String)
print "1"
#cv.NamedWindow("Image window", 1)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/usb_cam/image_raw",Image,self.callback)#/camera/rgb/image_color
self.counter = 0
def callback(self,data):
#print "2"
try:
cv_image = self.bridge.imgmsg_to_cv(data, "bgr8")
#self.imagePub.publish(cv_image)
fileName = "foo_"+str(strftime("%H:%M:%S", gmtime()))
cv.SaveImage("images/"+fileName+".jpg", cv_image)#"+str(strftime("%H:%M:%S", gmtime()))+"
image_64 = base64.encodestring(open("images/"+fileName+".jpg","rb").read())
self.imagePub.publish(str(image_64))
#cv.WaitKey(2)
#time.sleep(2)
except CvBridgeError, e:
print e
Javascript code on webpage using rosjslib
//Subscribing Images on Capture image click
imageRos.subscribe(function(message) {
if(imageFlag === true){
// console.log(message.data);
console.log("hello");
// var encoded = btoa (unescape(encodeURIComponent(message.data)));
var ImageData1="data:image/jpeg;base64,"+message.data;
// ImageData1 = "data:image/jpeg;base64,"+ ImageData1;
displayImage = document.getElementById("topImage1img1");
displayImage.setAttribute('src', ImageData1);
imageFlag = false;
// console.log("imageclicked:"+ImageData1);
}
});
Originally posted by Brijendra Singh on ROS Answers with karma: 68 on 2014-04-28
Post score: 1
Original comments
Comment by Swoncen on 2017-01-22:
I had the same problem. My solution was:
var imageTopic = new ROSLIB.Topic({
ros : ros,
name : '/camera/image/compressed',
messageType : 'sensor_msgs/CompressedImage'
});
subscribe the compressed image. The normal image is pixeldata, so uncompressed.
|
I believe I have a clean install of Hydro on my OS X 10.8. This I did through Hydro tutorial for OSX.
I did the Desktop-Full Install through rosinstall_generator desktop_full --rosdistro hydro --deps --wet-only --tar > hydro-desktop-full-wet.rosinstall and Hence built the packages.
I see that the "openni" stack is missing and I cannot run commands like
roslaunch openni_launch openni.launch
I also installed openni later through brew install openni and below is the info of that.
openni: stable 1.5.7.10, devel 1.5.8.5, HEAD
http://www.openni.org/
/usr/local/Cellar/openni/1.5.7.10 (1614 files, 33M) *
Built from source
From: https://github.com/Homebrew/homebrew/commits/master/Library/Formula/openni.rb
==> Dependencies
Build: automake ✔, libtool ✔, doxygen ✔
Required: libusb ✔
==> Options
--universal
Build a universal binary
--devel
install development version 1.5.8.5
--HEAD
install HEAD version
After installing openni from brew, I built all the packages again. But still the openni stack is missing.
Now that openni is installed from brew, I followed the instructions @william has suggested me.
I did the following :
$ mkdir ~/openni_ws
$ cd ~/openni_ws
$ source /path/to/hydro/install/setup.bash
$ rosinstall_generator openni_launch --deps --exclude RPP --tar > openni-hydro.rosinstall
$ wstool init src -j8 openni-hydro.rosinstall
When I ran this : rosdep install --from-paths ./src --ignore-src -y, I got the following error.
openni_camera: No definition of [libopenni-sensor-primesense-dev] for OS [osx]
Hence I did the following command :
rosdep install --from-paths ./src --ignore-src -y --skip-keys "libopenni-sensor-primesense-dev libopenni-dev"
After this I did catkin_make install and got an error stream from which I inferred that is is not able to find the libopenni library, which I installed through brew already(as explained in first part).
-- checking for module 'libopenni'
-- package 'libopenni' not found
CMake Error at /usr/local/Cellar/cmake/2.8.12.2/share/cmake/Modules/FindPkgConfig.cmake:279 (message):
A required package was not found
Call Stack (most recent call first):
(Gist to error stream : https://gist.github.com/karthikkovalam/41ab44e53283390646be)
I did brew unlink and link as well to make sure the openni that I installed from brew is properly linked.
I want to use my kinect through openni stack on ROS. This generally comes by default in Ubuntu. Could someone explain how I can do it on my Machine with OS X 10.8. I am really looking forward to his since the whole of my work depends on Kinect based TurtleBot navigation.
POST EDIT :
After @demmeln suggested the procedure, I get an error that I believe is related to the compiler somehow. After I do catkin_make install , I get the following errors : (I am running xcode 5.1 at present and OSX 10.8). I am not clear on how to solve this.
Source space: /Users/Siva/openni_ws/src
Build space: /Users/Siva/openni_ws/build
Devel space: /Users/Siva/openni_ws/devel
Install space: /Users/Siva/openni_ws/install
####
#### Running command: "make cmake_check_build_system" in "/Users/Siva/openni_ws/build"
####
####
#### Running command: "make install -j4 -l4" in "/Users/Siva/openni_ws/build"
####
[ 6%] Built target openni_camera_gencfg
[ 86%] Built target openni_driver
[ 93%] Built target openni_node
Linking CXX shared library /Users/Siva/openni_ws/devel/lib/libopenni_nodelet.dylib
Undefined symbols for architecture x86_64:
"log4cxx::Level::getWarn()", referenced from:
openni_camera::DriverNodelet::onInitImpl() in driver.cpp.o
"log4cxx::Level::getError()", referenced from:
openni_camera::DriverNodelet::onInitImpl() in driver.cpp.o
"log4cxx::Level::getFatal()", referenced from:
openni_camera::DriverNodelet::onInitImpl() in driver.cpp.o
"log4cxx::Logger::getLogger(char const*)", referenced from:
openni_camera::DriverNodelet::onInitImpl() in driver.cpp.o
"log4cxx::helpers::ObjectPtrBase::~ObjectPtrBase()", referenced from:
log4cxx::helpers::ObjectPtrT<log4cxx::Logger>::~ObjectPtrT() in driver.cpp.o
log4cxx::helpers::ObjectPtrT<log4cxx::Level>::~ObjectPtrT() in driver.cpp.o
"typeinfo for log4cxx::helpers::ObjectPtrBase", referenced from:
typeinfo for log4cxx::helpers::ObjectPtrT<log4cxx::Logger> in driver.cpp.o
typeinfo for log4cxx::helpers::ObjectPtrT<log4cxx::Level> in driver.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/Siva/openni_ws/devel/lib/libopenni_nodelet.dylib] Error 1
make[1]: *** [openni_camera/CMakeFiles/openni_nodelet.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-28
Post score: 1
Original comments
Comment by William on 2014-04-30:
Well it is not finding openni, but I don't know why. You can also try libfreenect.
Comment by karthik_ms on 2014-04-30:
The openni libraries are installed at /usr/local/Cellar/openni/1.5.7.10. Is this creating a problem by any chance ? Should I modify any environment variable? Is the CMakeLists.txt going wrong some where? I installed freenect anyways but I need Openni for openni_launch on ros. Kindly Help
|
I'm having a serious problem getting RViz to operate on a FitPC2 (dreaded GMA500 embedded system) with a SICK TiM310 scanner.
The FitPC2 is currently running Ubuntu 12.04, ROS-Groovy and RViz 1.9.34 as our primary research platforms are designed around a PandaBoard, but this specific research problem requires some of the x86 packages that are not yet ARMHF compiled for Hydro. We will upgrade along that path at some point.
Currently I am able to run RViz fine, but as soon as the first /scan data is published by the SICK_TiM3xx package, RViz crashes with the following terminal information: http://pastebin.com/euHWXPBD
I have confirmed that the output of the LiDAR is correct by other means, but it would be extremely valuable to us to be able to visualise the scan data in real-time on the platform.
Any help that someone could provide would be greatly appreciated.
Originally posted by anonymousSnowMan on ROS Answers with karma: 38 on 2014-04-28
Post score: 0
|
I want to use gazebo skid steering drive plugin for my 4 wheelled robot and then use navigation stack like in ROS Tutorials.
The question is whould it work or I need something else for working?(maybe another controller)
Now I've created urdf of my robot with skid steering drive controller, I see that it publish to odom and tf, and it seems ground thuth, but I'm not shure about that because didn't find a lot of information.
also I want to see a code of skid steering plugin, but I found only old version =(
Originally posted by denzist on ROS Answers with karma: 11 on 2014-04-28
Post score: 1
|
I tried to make a new BaseGlobalPlanner plugin for use with move_base.
In this Plugin I use ros-hydro-ompl package.
After I've created .cpp and .h (that include ompl library) file, I've compiled with catkin_make and everything works! All the dependencies seem to be satisfied.
But when I run plugin I show this error:
[FATAL] [1398764927.385890076, 2.100000000]: Failed to create the ompl_planner_rrt/OMPLPlannerRRT planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /home/prima/catkin_ws/devel/lib//libompl_planner_rrt.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/prima/catkin_ws/devel/lib//libompl_planner_rrt.so: undefined symbol: _ZTVN4ompl4base18CompoundStateSpaceE)
The name between PLUGINLIB_EXPORT_CLASS macro and XML file is correct!
This is the macro in .cpp file
PLUGINLIB_EXPORT_CLASS(ompl_planner_rrt::OMPLPlannerRRT, nav_core::BaseGlobalPlanner)
this is .xml file:
<library path="lib/libompl_planner_rrt">
<class name="ompl_planner_rrt/OMPLPlannerRRT" type="ompl_planner_rrt::OMPLPlannerRRT" base_class_type="nav_core::BaseGlobalPlanner">
<description>
A implementation of RRT
</description>
</class>
</library>
The undefined symbol ompl4base18CompoundStateSpace is a ompl function (ompl::base::CompoundStateSpace). It seems that in runtime there aren't dependencies with ompl package.
This is my CMakeLists.txt file:
cmake_minimum_required(VERSION 2.8.3)
project(ompl_planner_rrt)
find_package(catkin REQUIRED COMPONENTS
roscpp
costmap_2d
geometry_msgs
nav_core
nav_msgs
pluginlib
tf
angles
)
find_package(
ompl
)
find_package(Boost REQUIRED COMPONENTS system thread)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ompl_planner_rrt
CATKIN_DEPENDS roscpp nav_core pluginlib
DEPENDS system_lib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(ompl_planner_rrt
src/ompl_planner_rrt.cpp
)
target_link_libraries(ompl_planner_rrt
${catkin_LIBRARIES}
${OMPL_LIBRARIES} #added on the advice of ahendrix
)
and package.xml:
<?xml version="1.0"?>
<package>
<name>ompl_planner_rrt</name>
<version>0.0.0</version>
<description>The ompl_planner package</description>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>costmap_2d</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_core</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>tf</build_depend>
<build_depend>angles</build_depend>
<build_depend>eigen_conversions</build_depend>
<build_depend>boost</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>costmap_2d</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_core</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>tf</run_depend>
<run_depend>angles</run_depend>
<run_depend>eigen_conversions</run_depend>
<run_depend>boost</run_depend>
<run_depend>ompl</run_depend>
<export>
<nav_core plugin="/home/prima/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml" />
</export>
</package>
When I show this:
ldd '/home/prima/catkin_ws/devel/lib/libompl_planner_rrt.so'
I don't find libompl.so, I suppose this is the problem.
Can anyone help me? Thanks
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2014-04-29
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-04-29:
I wanna ask you a question. Did you try sudo apt-get install ros-hydro-ompl? I also try it, because I have never installed ompl.
Comment by Ken_in_JAPAN on 2014-04-29:
I knew you were correct, after installing ompl package . The package included only source.
Comment by Stefano Primatesta on 2014-04-29:
I've already install ompl package. I only run sudo apt-get install ros-hydro-ompl, I hope it's enough.
|
I see that there are clear instructions given to install turtlebot navigation, such as the one here http://wiki.ros.org/turtlebot/Tutorials/hydro/Installation
I would like to use my machine with OS X 10.8 and ROS Hydro(Installed already) to communicate to the turtlebot through the turtlebot navigation stack.
Can someone give instructions on how I can install the turtlebot stack on my current setup?
Right now this is the procedure I am trying to follow.
$ mkdir ~/turtlebot_ws
$ cd ~/turtlebot_ws
$ source /path/to/hydro/install/setup.bash
$ rosinstall_generator turtlebot_launch --deps --exclude RPP --tar > turtlebot-hydro.rosinstall
$ wstool init src -j8 openni-hydro.rosinstall
$ rosdep install --from-paths ./src --ignore-src -y --skip-keys "libopenni-dev libopenni-sensor-primesense-dev ftdi-eeprom avahi-daemon avahi-utils libftdi-dev libavahi-core-dev redis-server libusb-dev libavahi-client-dev"
If you see the last command, there are too many keys that need to be skipped because there occurs an error like this for each of the package specified above.
zeroconf_avahi: No definition of [libavahi-client-dev] for OS [osx]
after this I did
$ catkin_make install
Expectedly, I got the following errors, since I had skipped all the packages while I was installing the dependencies through rosdep.
Users/Siva/turtlebot_ws/src/kobuki_core/kobuki_ftdi/src/ftdi_kobuki.cpp:60:10: fatal error: 'ftdi.h' file not found
#include <ftdi.h>
^
In file included from /Users/Siva/turtlebot_ws/src/kobuki_core/kobuki_ftdi/src/find_devices.cpp:16:
/Users/Siva/turtlebot_ws/src/kobuki_core/kobuki_ftdi/include/kobuki_ftdi/scanner.hpp:45:10: fatal error: 'usb.h' file not found
#include <usb.h>
^
In file included from /Users/Siva/turtlebot_ws/src/kobuki_core/kobuki_ftdi/src/flasher.cpp:15:
/Users/Siva/turtlebot_ws/src/kobuki_core/kobuki_ftdi/src/../include/kobuki_ftdi/scanner.hpp:45:10: fatal error
Kindly help.
Originally posted by karthik_ms on ROS Answers with karma: 71 on 2014-04-29
Post score: 1
Original comments
Comment by William on 2014-04-29:
I don't know what software is involved to get this level of Turtlebot support working. The general process for installing any ROS package on OS X is similar to my answer to your other question: http://answers.ros.org/question/158546/openni-and-kinect-on-hydro-osx-108/?answer=158751#post-id-158751
Comment by anaderi on 2014-05-26:
Upvote the question. I fail to build one of turtlebot_simulator dependecies: create_gazebo_plugins
Comment by karthik_ms on 2014-05-26:
Hi, Can you post the error that you are encountering. Please add another question for that.
Comment by anaderi on 2014-05-26:
Here it is: http://answers.ros.org/question/169971/fail-to-build-create_gazebo_plugins-package-on-mac-os-x-109/
Comment by demmeln on 2014-05-28:
This way you can get turtlebot_simulator compiled on 10.9: http://answers.ros.org/question/169971/fail-to-build-create_gazebo_plugins-package-on-mac-os-x-109/?answer=170726#post-id-170726
Comment by karthik_ms on 2014-05-28:
Hi, I need the actual turtlebot packages to run my turtlebot and teleop it with my keyboard. Kindly guide me on that.
Comment by demmeln on 2014-05-28:
Have you tried to follow the instructions that @William suggested in the comments above (replacing openni_camera with whatever packages you need)?
Comment by karthik_ms on 2014-05-28:
@demmeln Edited the question with my results.
|
Hi,
I am using ROS fuerte version on Ubuntu 10.04.
I have a screen shot below (WHOLE TOPIC.jpg) which tells about what type of messages are published on topics amcl_pose and move_base_simple/goal :
WHOLE TOPIC.jpg
Messages of amcl_pose are passed to a callback function,called currentPosCallback
void CmdVelMux::currentPosCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
{
double xPos;
double yPos;
double zPos;
xPos = msg->pose.pose.position.x;
ROS_INFO("the position value is %lf \n ",xPos);
}
Messages of move_base_simple/goal are passed to a callback function,called goalPosCallback
void CmdVelMux::goalPosCallback(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
double x;
double y;
double z;
x = msg->pose.position.x;
y = msg->pose.position.y;
z = msg->pose.position.z;
ROS_INFO("the position value is %lf \n ",x);
}
Question 1:I want to calculate angle between current goal(from move_base_simple/goal topic) and robot position (amcl_pose).
In trigonometry, we can calculate angle between two points P1(x1,y1) and P2(x2,y2). Is there any way to do this type of thing here?
I want to store this angle in class member data, what is the guarantee that it is the most updated one?
How to do that?
Thanks for any kind of help................
Originally posted by RB on ROS Answers with karma: 229 on 2014-04-29
Post score: 0
|
Hi Everyone,
I am running two turtlebots from kobuki and hydro ROS(robot1 and robot2) and when I checked the rqt_graph (subscriber and publisher graph) I noticed that Gazebo as ROS node doesn’t publish or subscribe the /odom, /join_states and / tf topics based on their correspondence namespaces (robot1/odom and robot2/odom). Gazebo node just publishes or subscribes using the global names, /odom, /join_states and /tf.
I remapped some nodes to work properly with their correspondence namespace but I couldn’t figure out where to go to remap this “Gazebo node”
I installed the turtlebot from source and using Gazebo 1.9 with hydro ROS. Please, somebody can help me out with this issue.
Thanks a lot
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-04-29
Post score: 0
|
When I try to install Gazebo on my Ubuntu 14.04 LTS I am facing the below problem
admin@admin:~$ sudo apt-get install ros-indigo-simulator-gazebo
[sudo] password for admin:
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-indigo-simulator-gazebo
Is there any problem with the code I am executing? or is it the problem of Ubuntu version?
Originally posted by Raghu Parvatha on ROS Answers with karma: 23 on 2014-04-29
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-06-25:
You can check if any package is available with apt-cache search ros-indigo.
|
Hi,
I don't find what is missing to the indigo packages to be able to get the desktop-full. At this time, indigo gets 368 packages and hydro 1260. But I think that when we install hydro-desktop-full, not all of them are installed. Am I wrong ?
So my question is: where can I find the list of packages needed to have the desktop-full (and so what is needed to add from source) ?
Thanks
Configuration: Ubuntu 14.04 Trusty Tahr / indigo
Originally posted by goupil35000 on ROS Answers with karma: 113 on 2014-04-29
Post score: 0
|
Dear friends,
I am new in ROS, I am usinig CMVISION package, and the tos topic which I need is " /blobs ", with type "cmvision/blobs"
$ rosmsg show cmvision/Blob
uint32 red
uint32 green
uint32 blue
uint32 area
uint32 x
uint32 y
uint32 left
uint32 right
uint32 top
uint32 bottom
I want to just read the "x", and "y" from this message,
As far as I know the "/" can help me, but I tried "rostopic echo /blobs/x" and it did not work....
Any body knows how I could do this?
Thanks
Originally posted by Mobile_robot on ROS Answers with karma: 264 on 2014-04-29
Post score: 0
Original comments
Comment by Jacco van der Spek on 2014-04-29:
Do you want to read the value in terminal or use it in your code?
Comment by Mobile_robot on 2014-04-30:
I want to use that in another code to be the input,
Comment by abtin on 2020-05-17:
May you please say your solution for use in terminal , also?
|
Hello,
I have been following the tutorial on benchmarking according to this link.
I was able to make a configuration file (I names it config1.cfg like in the tutorial) after I added some scenes and queries to my database.
[scene]
name=No_obstacles_1
runs=2
timeout = 10
output = mylocation.log
[plugin]
name=ompl_interface/OMPLPlanner
planners=RRTConnectkConfigDefault PRMkConfigDefault
runs = 10
When I try to run the benchmark I use the following command:
roslaunch epson_moveit_generated run_benchmark_ompl.launch cfg:=config1.cfg
But it fails at a certain point:
[ INFO] [1398856673.630905167]: Loading robot model 'epsonURDF_gripper'...
[ INFO] [1398856674.403549421]: Loading robot model 'epsonURDF_gripper'...
[ INFO] [1398856676.779398433]: Attempting to load and configure ompl_interface/OMPLPlanner
[ INFO] [1398856676.872126099]: Initializing OMPL interface using ROS parameters
[ INFO] [1398856676.914059532]: Available planner instances: ompl_interface/OMPLPlanner
[ INFO] [1398856676.914178469]: Loading 'config1.cfg'...
[ERROR] [1398856676.914321241]: Unable to open file 'config1.cfg'
[ INFO] [1398856676.914449454]: Processed 0 benchmark configuration files
[ INFO] [1398856676.940193257]: Benchmarks complete! Shutting down ROS...
[moveit_benchmark_padplanningyaj_CELSIUS_H700_21444_1771399437-2] process has finished cleanly
log file: /home/padplanningyaj/.ros/log/db564e20-d03b-11e3-8134-58946b4707fc/moveit_benchmark_padplanningyaj_CELSIUS_H700_21444_1771399437-2*.log
So it's unable to open or even find the config file. Can someone explain me why this error occurs and how I can solve it?
I am running ROS hydro in ubuntu 12.04
Originally posted by Yannik_K on ROS Answers with karma: 30 on 2014-04-30
Post score: 0
|
Hi,
I am trying to get sbpl_lattice_planner working on groovy. I installed ros-groovy-sbpl package, though roscd seems not to be able to find sbpl, and downloaded sbpl_lattice_planner from navigation-experimental github and rosmaked it without problems. When running the commands suggested in the wiki, "roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch" I get following error:
Traceback (most recent call last):
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
self._load_config()
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 575, in _include_tag
default_machine, is_core, verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 605, in _recurse_load
n = self._node_tag(tag, context.child(''), ros_config, default_machine, verbose=verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 373, in _node_tag
self._param_tag(t, param_ns, ros_config, force_local=True, verbose=verbose)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 232, in _param_tag
vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command'))
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 178, in opt_attrs
return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
return _find_executable(resolve_without_path, a, [args[0], path], context)
File "/opt/ros/groovy/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: sbpl
Does anybody know what the problem could be?
Regards,
Oier
Originally posted by Oier on ROS Answers with karma: 145 on 2014-04-30
Post score: 0
|
I used first
catkin_init_workspace
and thereafter
catking_create_pkg example1 roscpp rospy std_msgs
and building a simple example file works flawlessly.
Now if I run
catkin_create_pkg example2
without specifying dependencies, it doesn't work, even though I edited the package.xml and imported exactly the same source code. The reason I want to do this, is I need to move some source code from Fuerte to Hydro, and I'd rather just copy the <build_depend> tags from one xml file to the other. But it doens't work.
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-04-30
Post score: 0
Original comments
Comment by dornhege on 2014-04-30:
What doesn't work?
|
I'm trying to understand this tutorial about the new layered costmap structure in Hydro. I successfully integrated the grid_layer and it runs out of the box just fine.
I then started to work with a recorded bag-file and the used layer structure in the yaml file looks like
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: grid_layer, type: "navigation::GridLayer"}
So to my understanding the static_layer should be the "lowest" layer. Then comes the obstacle_layer handling the input data and then the new grid_layer (according to this paper). So there are two rounds: In one round all layers update the Bounds to their needs. Then in the second round each layer writes to the master costmap (master_grid), right? So now the critical part of the code I don't understand is the following:
void GridLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i,
int max_j)
{
if (!enabled_)
return;
for (int j = min_j; j < max_j; j++)
{
for (int i = min_i; i < max_i; i++)
{
int index = getIndex(i, j);
if (costmap_[index] == NO_INFORMATION)
continue;
master_grid.setCost(i, j, costmap_[index]);
}
}
}
In the master_grid I clearly see obstacles moving around since the obstacle layer updates the master_grid as wished for. But then when its the grid_layer's turn to read and write the master_grid, the whole master_grid seems to contain NO_INFORMATION values (except for that tracking dot of course). Am I missing sth? Why does the grid_layer not see the obstacles updated by the obstacle_layer to the master_grid?
Is there an option in the yaml file I need to adjust or is it sth in the code?
Thanks for your time.
Originally posted by Luke_ROS on ROS Answers with karma: 116 on 2014-04-30
Post score: 0
Original comments
Comment by David Lu on 2014-05-14:
The master grid should change, as you expect. Can you post your costmap configuration?
Comment by Luke_ROS on 2014-05-15:
It does change. What I wanted to do was updating the layered_costmap_ (called master costmap in the paper). The way I would do it now is updating the master_grid as mentioned above and then use the functions updateWithOverwrite or updateWithMax. But I have not found time to try that out yet.
Comment by David Lu on 2014-05-19:
If you'd still like help with this, please post the configuration.
Comment by Luke_ROS on 2014-05-20:
Thanks for offering your help. I think the answer I posted below solved the problem to a degree that I could continue with the construction of my own layer. My configuration is the same as in my other post: http://answers.ros.org/question/165571/obstacle_layer-does-not-clear-area/
|
Dear ROS Community,
Does ROS support proxy connections (like SOCKS) between client/server (to get through firewalls/VPNs)?
Thanks,
Aaron
Originally posted by unknown_entity1 on ROS Answers with karma: 104 on 2014-04-30
Post score: 0
Original comments
Comment by unknown_entity1 on 2014-04-30:
This seems like a must have for any TCP/IP connection. Does anybody else feel this way if it is not currently implemented?
|
Hi everyone!
I want to try the object recognition kitchen on my ubuntu 12.04 and ros hydro. I followed the install tuto (http://wg-perception.github.io/object_recognition_core/install.html#install ), so I've done this for install:
$ cd catkin_ws/
$ mkdir ork/src
$ sudo apt-get install libopenni-dev ros-hydro-catkin ros-hydro-ecto* ros-hydro-opencv-candidate ros-hydro-moveit-msgs
$ source /opt/ros/hydro/setup.sh
$ git clone http://github.com/wg-perception/object_recognition_core
$ git clone http://github.com/wg-perception/capture
$ git clone http://github.com/wg-perception/reconstruction
$ git clone http://github.com/wg-perception/linemod
$ git clone http://github.com/wg-perception/ork_renderer
$ git clone http://github.com/wg-perception/tabletop
$ git clone http://github.com/wg-perception/tod
$ git clone http://github.com/wg-perception/transparent_objects
$ git clone http://github.com/wg-perception/object_recognition_msgs
$ git clone http://github.com/wg-perception/object_recognition_ros
$ cd ../ && catkin_make
after I try this:
$ rosrun object_recognition_core push.sh
$ source /opt/ros/hydro/setup.sh
$ roscore
in a new terminal:
$ roslaunch openni_launch openni.launch
in a new terminal:
$ rosrun object_recognition_capture orb_template -o my_textured_plane
AND HERE I HAVE AN ERROR!!!:
simonus@robert:~$ rosrun object_recognition_capture orb_template -o my_textured_plane
Traceback (most recent call last):
File "/home/simonus/catkin_ws/ork/src/capture/apps/orb_template", line 12, in <module>
from object_recognition_capture.ecto_cells.capture import PlaneFilter, FeatureFinder
ImportError: No module named object_recognition_capture.ecto_cells.capture
simonus@robert:~$
And my paths are:
$ export | grep ROS
declare -x ROSLISP_PACKAGE_DIRECTORIES=""
declare -x ROS_DISTRO="hydro"
declare -x ROS_ETC_DIR="/opt/ros/hydro/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/simonus/catkin_ws:/opt/ros/hydro/share:/opt/ros/hydro/stacks"
declare -x ROS_ROOT="/opt/ros/hydro/share/ros"
I don't know what I do wrong!Please I need help :(
Originally posted by happylulu on ROS Answers with karma: 11 on 2014-04-30
Post score: 0
Original comments
Comment by Hendrik Wiese on 2014-05-08:
Can you import object_recognition_capture as a whole?
Comment by stefie10 on 2014-05-19:
I had the same error; I had to set my python path to the ork build directory: export PYTHONPATH=SOMETHING/ork/devel/lib/python2.7/dist-packages
|
I am trying to write a code to read data from the serial port and publish it over a topic. I know that I can create an node out of the arduino but that will need some huge changes in the code. So this is what I am doing.
#!/usr/bin/env python
import roslib; roslib.load_manifest('numpy_tutorials') #not sure why I need this
import rospy
from std_msgs.msg import String
import serial
def talker():
ser = serial.Serial('/dev/ttyACM0', 9600)
pub = rospy.Publisher('chatter', String)
rospy.init_node('talker')
while not rospy.is_shutdown():
data= ser.read(2) # I have "hi" coming from the arduino as a test run over the serial port
rospy.loginfo(data)
pub.publish(String(data))
rospy.sleep(1.0)
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
WHen I run this code, I get the following error.
Traceback (most recent call last):
File "./serial.py", line 21, in <module>
talker()
File "./serial.py", line 8, in talker
ser = serial.Serial('/dev/ttyACM0', 9600)
AttributeError: 'module' object has no attribute 'Serial'
I think the module serial is not being imported. But why? I was running this script in a package called numpy_tutorials. However when I removed this line
import roslib; roslib.load_manifest('numpy_tutorials') #not sure why I need this
and copy pasted the same code in another package called beginner_tutorials, the code runs fine. Why is it not running in
numpy_tutorials package? I have the rospy dependency in both the package.xml files as well.
Originally posted by uzair on ROS Answers with karma: 87 on 2014-04-30
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-04-30:
/dev/ttyACM0 means Hokuyo laser? What is connected with the port?
Comment by uzair on 2014-04-30:
I have the arduino mega connected to the port. It is writing "hi" to the serial port /dev/ttyACM0. I am still trying to setup the system before i transmit the actual data from the sensors.
Comment by pierrelux on 2014-04-30:
Are you sure that the "serial" package that you import is indeed the one you need ? There might be some conflict with other packages. You can try "import serial; help(serial)" to get more details.
|
Hello ; I am trying to make a face Recognition using the following package """ https://github.com/procrob/procrob_fu.. . but unfortunately I face many Challenges : 1_ this package provides the method of face recognition with webcam but in my project i use kinect ... 2_ when I apply the package on webcam images don't be added to the data file nor the train.txt 3_i can't understand what meant by "order_id" and how can i use it? i am working on ubuntu 12.04 and fuerte distribution ...
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-04-30
Post score: 0
Original comments
Comment by karthik_ms on 2014-05-01:
The link seems to be broken. Please update it.
Comment by Peter Heim on 2014-05-01:
I have used this package with groovy and a kinect and it works well
if you look at the read me file the order_id is the command to add images and retrain the database
Comment by smart engineer on 2014-05-02:
Thanx for your help ;
I execute the following commands ::
1_roscore
2_roslaunch openni_launch openni.launch
3-rosrun rviz rviz
4-rosrun rqt_reconfigure rqt_reconfigure
5_rosrun image_view image_view image:=/camera/rgb/image_color
6-roscd face_recognition
7-rosrun face_recognition Fserver
8-rosrun face_recognition Fclient
till here every thing work , but the rostopic part ,i can't understand how to use it at all .
"""rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 2 "your_name",,,,
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 1 "none" ,,,,
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 2 "your_friend's_name",,,
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 0 "none",,,,
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 1 "none" ,,,,
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 4 "none" ,,,,""""
Is there any differences will occur if I use Groovy or Fuerte distribution ????
Comment by ahendrix on 2014-05-02:
Can you edit your question to add the commands you're running, and maybe spend some time trying to format it so that it's readable?
|
I am trying to install Hydro on Ubuntu 12.04. I follow the directions straight through, everything seems to install perfectly fine. I make my way through the tutorials until I make it to creating an ROS package. (I'd include the link to the tutorial here as the tutorial itself recommends, but I have insufficient karma to do so).
When I try to run the line " $ rospack depends1 beginner_tutorials "
It throws an error, telling me that my rosdep version needs to be at least 0.10.40. (Sorry I'm on a different computer right now...I will try to reproduce the full error message and post it here in an edit ASAP).
I check my rosdep version with " $ rosdep --version ", and it tells me that I have 0.10.27 installed.
First, I'm very confused: following the tutorials from installation all the way here lead me to install versions that are already out of date and can't work. Did I miss something? I spend the next few hours trying to install some kind of newer version of rosdep, but I think there is something majorly wrong with my python installations (I have a couple versions and I haven't tightly controlled PYTHONPATH, etc. -- I'm new to python and basically never use it).
So bottom line, 3 questions:
Did I miss something in the installation tutorial that would automatically install the proper rosdep version?
If not, can the tutorial change to address this issue somehow?
Can anyone recommend a tutorial on proper installation (and removing improper installation!) and PYTHONPATH setup for the python version that ROS Hydro needs?
EDIT 1: The full error message:
$ rospack depends1 beginner_tutorials
ImportError: No module named rosdep2.rospack
ImportError: No module named rosdep2.rospack
[rospack] Error: could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?
EDIT 2: I added to PYTHONPATH
PYTHONPATH=/opt/ros/hydro/lib/python2.7/dist-packages:/usr/lib/pymodules/python2.7/rosdep2
because I found rosdep2/rospack.py in that folder. Now I get a different error:
$ rospack depends1 beginner_tutorials
Traceback (most recent call last):
File "/usr/lib/pymodules/python2.7/rosdep2/__init__.py", line 40, in <module>
from .installers import InstallerContext, Installer, \
File "/usr/lib/pymodules/python2.7/rosdep2/installers.py", line 35, in <module>
from rospkg.os_detect import OsDetect
File "/usr/lib/pymodules/python2.7/rospkg/__init__.py", line 43, in <module>
from .rospack import RosPack, RosStack, \
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 34, in <module>
from xml.etree.cElementTree import ElementTree
File "/usr/local/lib/python2.7/xml/etree/cElementTree.py", line 3, in <module>
from _elementtree import *
ImportError: /usr/local/lib/python2.7/lib-dynload/_elementtree.so: undefined symbol: PyUnicodeUCS2_DecodeUTF8
Traceback (most recent call last):
File "/usr/lib/pymodules/python2.7/rosdep2/__init__.py", line 40, in <module>
from .installers import InstallerContext, Installer, \
File "/usr/lib/pymodules/python2.7/rosdep2/installers.py", line 35, in <module>
from rospkg.os_detect import OsDetect
File "/usr/lib/pymodules/python2.7/rospkg/__init__.py", line 43, in <module>
from .rospack import RosPack, RosStack, \
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 34, in <module>
from xml.etree.cElementTree import ElementTree
File "/usr/local/lib/python2.7/xml/etree/cElementTree.py", line 3, in <module>
from _elementtree import *
ImportError: /usr/local/lib/python2.7/lib-dynload/_elementtree.so: undefined symbol: PyUnicodeUCS2_DecodeUTF8
[rospack] Error: could not find python module 'rosdep2.rospack'. is rosdep up-to-date (at least 0.10.4)?
EDIT 3
I tried searching for the EDIT 2 error message. This is a python problem that is described as "two pythons compiled with different numbers of bytes for unicode characters." Best explanation I've found: http:// stackoverflow.com/questions/16871799/trying-to-import-a-module-undefined-symbol-pyunicodeucs4-decodeutf8.
So I recompiled my python 2.7.6 with --enabled-unicode=ucs4 and the error has now changed to
ImportError: /usr/local/lib/python2.7/lib-dynload/_io.so: undefined symbol: _PyLong_AsInt
What options were the ROS modules compiled with? I apparently need to manually set up my python 2.7.6 with these options.
Originally posted by mechanicalmanb on ROS Answers with karma: 86 on 2014-05-01
Post score: 3
Original comments
Comment by Dirk Thomas on 2014-05-01:
The latest rosdep version is 0.10.27. Can you please post your exact error message? I guess the error message just said "at least 0.10.4".
Comment by tfoote on 2014-05-01:
What instructions are you following? If you follow these instructions http://wiki.ros.org/hydro/Installation/Ubuntu line for line it should work fine.
For us to help you more. You need to provide a lot more details about what steps you are following.
Comment by mechanicalmanb on 2014-05-01:
Those are the exact instructions I used. Line by line.
Comment by tfoote on 2014-05-01:
You're doing things that are much too complicated. You must have state on the system which is not standard. I notice /usr/local in your tracebacks suggesting you've installed custom modules. Are there other modifications to the system?
Comment by mechanicalmanb on 2014-05-02:
I had installed python 2.7.6 and python 3.4 with default options before attempting to install ROS hydro. I agree with you, I think that there are some serious low level conflicts going on here that are beyond my skill. I installed Ubuntu 14.04 and installed ROS Indigo first, which works fine so far.
|
Hello,
I've been trying to get a decent map of an office building using gmapping on my Turtlebot 2(Kinect), ROS Hydro, Ubuntu 12.04
After posting
this a few weeks ago, I had come to the conclusion that my gmapping runs were failing because my i3 laptop CPU wasn't fast enough; while running gmapping with a bagfile, I would see one of the cores jump to 100% usage and sit there for a few seconds. While doing this, I would suppose gmapping was missing vital updates. I somewhat confirmed this by slowing down my bagfiles, and this produced overall better, but still not entirely consistent, maps.
I have now obtained an i7 laptop (Dell Latitude E6410 -- 2.67 GHz x 4) to test with, and I figured this should be fast enough, but I am still not getting consistent results between playing the same bagfile back with the same arguments to gmapping.
For instance, compare these two images:
When creating the bagfile, I used keyboard teleop at the default speed, which is very slow. These two images are generated from the same bagfile, using the same gmapping parameters, and played back ten times slower.
If driving the robot at a slow speed, playing the bagfile back at a tenth of that, and running gmapping on an i7 processor does not produce identical results between identical runs, what does?
What worries and confuses me is that modern computers don't get all that much faster than the one I have. Yet people on here seem to be getting reasonable and consistent results. Am I missing something basic that everyone else understands? Do I need to use a separate lightning-fast desktop computer to run solely gmapping and publish the map and transforms back to the laptop? Is there a bug in gmapping that makes it produce different output between identical runs if the map is big?
My gmapping parameters, by the way, are the turtlebot demo defaults, with slightly reduced particles and increased map update interval:
<launch>
<arg name="scan_topic" default="scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="base_footprint"/>
<param name="odom_frame" value="odom"/>
<param name="map_update_interval" value="100"/>
<param name="maxUrange" value="6.0"/>
<param name="maxRange" value="8.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.5"/>
<param name="angularUpdate" value="0.436"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<!--
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
make the starting size small for the benefit of the Android client's memory...
-->
<param name="xmin" value="-1.0"/>
<param name="ymin" value="-1.0"/>
<param name="xmax" value="1.0"/>
<param name="ymax" value="1.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
If anyone would like to share with me their working test setup, ie, type of computer(s) used and relevant parameters, I would greatly appreciate it. I know it won't be exactly ideal for my situation but I would like to at least see something that works.
Thanks in advance.
Originally posted by BlitherPants on ROS Answers with karma: 504 on 2014-05-01
Post score: 1
Original comments
Comment by dornhege on 2014-05-01:
The fact that you are seeing inconsistent results is probably because the algorithm is at its limits--not necessarily computation performance-wise, but maybe regarding the capabilities of the parameter setup, sensors, and algorithm.
Comment by dornhege on 2014-05-01:
Multiple runs mean you'll have different random seeds and messages might get lost. Missing a single laser scan at a critical point can be bad.
Comment by BlitherPants on 2014-05-01:
Thanks... any guesses as to what would cause a missed scan? I could raise the linear/angular update and decrease the particle count more, but won't that ruin my chances of getting a decent map? The gmapping authors mapped out pretty large areas, but I guess it could be better equipment, maybe?
|
Hi,
I have a problem when I build my package with catkin_make
This is my code:
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "mov_1");
ros::AsyncSpinner spinner(1);
spinner.start();
move_group_interface::MoveGroup group("manipulator");
group.setRandomTarget();
group.move();
}
CMakeList.txt:
cmake_minimum_required(VERSION 2.8.3)
project(prueba_movimiento)
find_package(catkin REQUIRED COMPONENTS
moveit_core
roscpp
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES prueba_movimiento
CATKIN_DEPENDS moveit_core roscpp
DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(mov_1 src/mov_1.cpp)
target_link_libraries(mov_1
moveit_move_group_interface
)
Error when I run catkin_make :
In file included from /opt/ros/hydro/include/moveit/robot_model/joint_model_group.h:41:0,
from /opt/ros/hydro/include/moveit/robot_model/robot_model.h:48,
from /opt/ros/hydro/include/moveit/robot_state/robot_state.h:41,
from /opt/ros/hydro/include/moveit/move_group_interface/move_group.h:40,
from /home/ramon/catkin_ws/src/prueba_movimiento/src/mov_1.cpp:2:
/opt/ros/hydro/include/moveit/robot_model/joint_model.h:47:26: fatal error: Eigen/Geometry: No such file or directory
How can I fix this??
Thanks.
Originally posted by rcj1986 on ROS Answers with karma: 121 on 2014-05-01
Post score: 4
Original comments
Comment by Dirk Thomas on 2014-05-01:
You should post you CMake file.
Comment by rcj1986 on 2014-05-01:
CMakeList.txt:
cmake_minimum_required(VERSION 2.8.3)
project(prueba_movimiento)
find_package(catkin REQUIRED COMPONENTS
moveit_core
roscpp
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES prueba_movimiento
CATKIN_DEPENDS moveit_core roscpp
DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(mov_1 src/mov_1.cpp)
target_link_libraries(mov_1
moveit_move_group_interface
)
Comment by Dirk Thomas on 2014-05-02:
Please edit your question and add your CMake there. In the comment the code is not really readable.
Comment by Dirk Thomas on 2014-05-02:
Please also add the exact error message you are getting.
Comment by Dirk Thomas on 2014-05-02:
Can you please add the following message to your CMake and post the result: message("moveit_core_INCLUDE_DIRS ${moveit_core_INCLUDE_DIRS}")
|
Seeing this on a Hydro install:
process[robot_state_publisher-7]: started with pid [17121]
/opt/ros/hydro/lib/robot_state_publisher/state_publisher: error while loading shared libraries: liborocos-kdl.so.1.1: cannot open shared object file: No such file or directory
No handlers could be found for logger "roslaunch"
[robot_state_publisher-7] process has died [pid 17121, exit code 127, cmd /opt/ros/hydro/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/tmp/8ca25758-d179-11e3-85e3-0001c0118a71/robot_state_publisher-7.log].
log file: /tmp/8ca25758-d179-11e3-85e3-0001c0118a71/robot_state_publisher-7*.log
Both ros-hydro-orocos-kdl and ros-hydro-robot-state-publisher claim to be up-to-date, so I'm not quite sure what's going on.
$ ls -1 /opt/ros/hydro/lib/liboroco*
/opt/ros/hydro/lib/liborocos-bfl.so
/opt/ros/hydro/lib/liborocos-kdl.so
/opt/ros/hydro/lib/liborocos-kdl.so.1.2
/opt/ros/hydro/lib/liborocos-kdl.so.1.2.1
$ sudo apt-get install ros-hydro-robot-state-publisher
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-hydro-robot-state-publisher is already the newest version.
Thoughts what's going on here?
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2014-05-01
Post score: 0
|
I've followed the tutorial on audio_common, and the command
gst-launch-0.10 alsasrc ! audioconvert
! audioresample ! alsasink
results in audio playback with no noticeable loss in quality.
However, when I capture audio via audio_capture and play it via audio_play, the audio quality is very poor, sounding as if segments of audio are being lost. (It's a lot like the choppy voice quality in 1980s fast food drive-throughs.)
When I play a rosbag of what was captured and listen to it via audio_play, the quality is similarly poor. A sample rosbag can be found here. My intuition, though, is that the audio being captured---and the rosbag---is actually full quality or close to it, and the issues are coming from audio_play. However, I don't know how to listen to the audio from audio_capture without audio_play, which would test this conjecture.
Additionally, audio_play varies in how it responds to messages from new nodes publishing to /audio. It often will not play these messages. Restarting it in such cases does result in the messages being played. This issue might be related to unanswered [question](http://answers.ros.org/question/132506/audio_play-stops-producing-sound/). This older [question](http://answers.ros.org/question/52028/audio_play-freezes-when-audio_capture-pauses/) also seems relevant.
A strange clue: if I keep audio_capture running while also running a rosbag of audio_capture, once the rosbag is finished, the audio comes through audio_play with full quality, though the playback is 5-10 seconds delayed.
I'd appreciate any tips on how to debug or solve these issues. I'm running hydro on a natively installed Ubuntu 12.04, with all ROS activity on the same machine. GStreamer version is 0.10.36.
**More clues!**
(1) The audio_capture is working just fine (maybe some tiny glitches here and there). The next clue contains the evidence for this assertion.
(2) There are two ways to make the audio come through without noticeable quality loss. First, I can start audio_capture and audio_play, and then plug in my microphone. There's a ~0.5 second delay, which is a big improvement over the previous hack. Second, if I play a rosbag on loop, the audio quality is awful on the first iteration of the loop and then subsequent iterations.
**Even more!**
I created an Ubuntu 12.04 virtual machine on OSX Parallels that used the default Parallels installation and then only had ros-hydro-desktop-full and ros-hydro-audio-common installed via apt-get. I installed nothing else. The issues described above were present this time as well. My intuition is increasingly that this problem affects a large percentage of systems that have installed ROS according to official directions. Unfortunately, audio_common does not seem to be actively maintained, based on timestamps of activity by its official maintainer, Austin Hendrix, who I could not reach by email.
**An improved hack for rosbag playback** (with accompanying clues)
I recently realized that if I play a rosbag with increased speed (using the -r argument, where > 1.0), the audio comes out perfectly. Small and very interesting caveat: If I use 1.01 speed, the audio has a few seconds of bad playback and then perfect playback after. If I use 1.001 speed, the audio has tens of seconds of bad playback and then perfect after. This pattern seems to indicate that audio_play performs correctly once some amount of its buffer has been filled. (If I had time and C++ skills, I'd dig in and try to create a fix!)
Originally posted by bradknox on ROS Answers with karma: 101 on 2014-05-01
Post score: 5
Original comments
Comment by ahendrix on 2014-05-27:
I'm sorry; while I am the maintainer on audio_common, I picked it up from another developer, and I don't know much about the audio_capture and audio_play nodes.
Comment by bradknox on 2014-05-29:
Hi, Austin. It's great of you to have taken audio_common on. Thanks for responding. If we end up digging in deeply enough to make a real fix, we'll be sure to post it and/or commit it to the repository.
Comment by Hansg91 on 2014-10-01:
Did you manage to find a fix for this? I am seemingly having the same issues as you had..
Comment by bradknox on 2014-10-01:
Unfortunately, we ended up using hacks because of time constraints. For real-time audio play and recording, we both had audio_capture pipe into a rosbag while we listened via the gst-launch-0.10 ... command above. But only works if the microphone is on the same computer as where you want output.
Comment by bradknox on 2014-10-01:
For play from rosbag, we used the "improved hack for rosbag playback" above. If you want to try a fix, it's relatively easy to get the audio_common source and compile it. If I recall correctly, there's one main file that seems relevant and its use of gstreamer is what seemed to need fixing.
|
RViz keeps crashing on one of my Precise machines on Hydro,
$ rosrun rviz rviz
[ INFO] [1399006946.967568547]: rviz version 1.10.14
[ INFO] [1399006946.967639226]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1399006947.346318548, 1099.690000000]: Stereo is NOT SUPPORTED
[ INFO] [1399006947.346408033, 1099.690000000]: OpenGl version: 4.4 (GLSL 4.4).
*** glibc detected *** /opt/ros/hydro/lib/rviz/rviz: corrupted double-linked list: 0x0000000001782080 ***
Inconsistency detected by ld.so: dl-open.c: 221: dl_open_worker: Assertion `_dl_debug_initialize (0, args->nsid)->r_state == RT_CONSISTENT' failed!
(here RViz stops, command returns)
On Groovy on the same machine,
$ rosrun rviz rviz
[ INFO] [1399007035.268979690]: rviz version 1.9.35
[ INFO] [1399007035.269032342]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1399007035.634235376, 1188.425000002]: OpenGl version: 4.4 (GLSL 4.4).
.deb versions:
$ dpkg -p ros-hydro-rviz | grep Vers
Version: 1.10.14-0precise-20140418-1245-+0000
$ dpkg -p ros-groovy-rviz | grep Vers
Version: 1.9.35-2precise-20140418-0941-+0000
Similar thread where OP seems to have RViz working from .deb.
Update Same error occurs with the latest source build.
But on another Precise machine on Hydro, this doesn't happen. So I'm sure something, maybe in depended libraries from RViz on this machine are problematic.
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-05-01
Post score: 0
Original comments
Comment by DrBot on 2014-06-29:
I am getting a corrupted double linked list error for imageview on a 64bit x86 running 12.10 and Hydro. rviz also crashes. Worked fine on 12.04. So me question is is the architecture the same on the different machines.
Comment by 130s on 2014-08-15:
Same issue reported here http://answers.ros.org/question/186947/rviz-glibc-detected/
|
Hey,
I have a really weird bug .. I have a laser scanner (xv11) which is publishing data at approximately 5hz. If I visualize this in rviz, the messages seems to be visualized fine if I set the fixed frame equal to the frame of the laserscan message (base_laser_link). However if I change the fixed frame to base_link, I see a delay of approximately 1 second. I also tried sending laserscan messages with another device (asus xtion) at 5hz with the same link, which does not appear to be delayed.
The transform between base_laser_link and base_link is published by my robot_state_publisher and this is working fine, otherwise the asus xtion would also have problems..
In addition, if I set the queue size for both LaserScan display to 1, I only see the asus xtion message remain. The laserscanner message claims it has an unknown reason for why the transform failed.
Also, if I change the laserscan display in rviz of the xv11 laserscanner topic to that of the asus xtion, I see the same delay as with the xv11! As if that display is in a bugged state or something. So I can have both displays on, both listening to the xtion, one of which is delayed, the other is not. They both read in from the same topic, same queue size, same settings... What in earth could be causing this?
Best regards,
Hans
Originally posted by Hansg91 on ROS Answers with karma: 1909 on 2014-05-02
Post score: 0
Original comments
Comment by Stefan Kohlbrecher on 2014-05-02:
The latter part of your post suggests this can´t be the explanation of your issue, but the one second delay would be pretty well explained if your XV-11 driver timestamped the LaserScan messages incorrectly (e.g. 1 second into the future). Have you looked at the timestamps?
Comment by Hansg91 on 2014-05-02:
I did, I had both devices publishing and echoed both topic side by side, took a screenshot so that I could compare the times and they were nearly identical. Timestamps being wrong wouldn't explain the delay when both displays listen to the same topic though.. I have never seen such a weird bug :p
|
Hellow,
I'm tying to use Openni with my Xtion on fedora but until now no luck.
Fedora
UPDATE
I though it was time to update this topic concerning Fedora. I reinstalled my ros system from the stable repository given by @cottsay (Thanks a lot !) (and I hope I didn't install it wrong :S) and now I have the same issu for Openni and Openni 2.
Here is the error message when using roslaunch openni_launch openni_launch (or openni2_launch)
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [5425]
[ INFO] [1399810166.488640310]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [5446]
[ERROR] [1399810166.563107584]: Failed to load nodelet [/camera/driver] of type [openni_camera/driver]: According to the loaded plugin descriptions the class openni_camera/driver with base class type nodelet::Nodelet does not exist. Declared types are depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2
[FATAL] [1399810166.563287813]: Service call failed!
process[camera/debayer-3]: started with pid [5460]
process[camera/rectify_mono-4]: started with pid [5473]
process[camera/rectify_color-5]: started with pid [5492]
process[camera/rectify_ir-6]: started with pid [5505]
[camera/driver-2] process has died [pid 5446, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load openni_camera/driver camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/malcolm/.ros/log/ef2267be-d904-11e3-9dd7-dc85de5a9ca4/camera-driver-2.log].
log file: /home/malcolm/.ros/log/ef2267be-d904-11e3-9dd7-dc85de5a9ca4/camera-driver-2*.log
process[camera/depth_rectify_depth-7]: started with pid [5525]
Here are my installed packages :
openni.x86_64 1.3.2.1-9.fc20 @updates
openni-devel.x86_64 1.3.2.1-9.fc20 @updates
openni-examples.x86_64 1.3.2.1-9.fc20 @updates
openni-nite.x86_64 1.4.1.2-4.fc19 @rpmfusion-nonfree
openni-nite-devel.x86_64 1.4.1.2-4.fc19 @rpmfusion-nonfree
openni-primesense.x86_64 5.0.3.3-7.fc20 @fedora
openni2.x86_64 2.2.0.33-4.fc20 @smd-ros-staging
openni2-devel.x86_64 2.2.0.33-4.fc20 @smd-ros-staging
my lsusb :
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 003: ID 13d3:5165 IMC Networks
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 003: ID 1d27:0601 ASUS
Bus 003 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
and my dmesg :
[ 7247.390501] usb 3-3: New USB device strings: Mfr=5, Product=4, SerialNumber=0
[ 7247.390503] usb 3-3: Product: PrimeSense Device
[ 7247.390504] usb 3-3: Manufacturer: PrimeSense
[ 7247.602073] ALSA sound/usb/mixer.c:1304 usb_audio: Warning! Unlikely big volume range (=4181), cval->res is probably wrong.
[ 7247.602077] ALSA sound/usb/mixer.c:1308 usb_audio: [3] FU [Mic Capture Volume] ch = 2, val = 0/12544/3
[ 7247.605452] ALSA sound/usb/mixer.c:1304 usb_audio: Warning! Unlikely big volume range (=4181), cval->res is probably wrong.
[ 7247.605454] ALSA sound/usb/mixer.c:1308 usb_audio: [3] FU [Mic Capture Volume] ch = 1, val = 0/12544/3
[ 7247.605841] usbcore: registered new interface driver snd-usb-audio
Question about installed openni-camera :
Sadly it seems like I have one of them:
yum list ros-hydro-openni-camera
Modules complémentaires chargés : langpacks, refresh-packagekit
smd-ros-shadow-fixed | 2.9 kB 00:00
smd-ros-staging | 2.9 kB 00:00
Package installed
ros-hydro-openni-camera.x86_64 1.9.2-0.fc20 @smd-ros-shadow-fixed
I did NOT have reinstalled openni2-camera and os I did. Now Those packages are on my system :
ros-hydro-openni-camera.x86_64 1.9.2-0.fc20 @smd-ros-shadow-fixed
ros-hydro-openni-launch.x86_64 1.9.5-0.fc20 @smd-ros-shadow-fixed
ros-hydro-openni2-camera.x86_64 0.1.2-0.fc20 @smd-ros-shadow-fixed
For info, this is my primesense package :
openni-primesense.x86_64 5.0.3.3-7.fc20 @fedora
I have openni2_launch in my workspace, so everything should be fine but I still have erreur when using roslaunch openni2_launch...
[ERROR] [1399831998.457249429]: Failed to load nodelet [/camera/points_xyzrgb_depth_rgb] of type [depth_image_proc/point_cloud_xyzrgb]: Failed to load library /opt/ros/hydro/lib//libdepth_image_proc.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = dlopen: cannot load any more object with static TLS)
[FATAL] [1399831998.457510596]: Service call failed!
[ERROR] [1399831998.510943554]: Failed to load nodelet [/camera/points_xyz_depth_rgb] of type [depth_image_proc/point_cloud_xyz]: MultiLibraryClassLoader: Could not create object of class type depth_image_proc::PointCloudXyzNodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
[FATAL] [1399831998.511399744]: Service call failed!
[camera/points_xyzrgb_depth_rgb-5] process has died [pid 13798, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb /camera_nodelet_manager rgb/image_rect_color:=rgb/image_rect rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth/image_rect_raw depth_registered/points:=depth/points_xyzrgb __name:=points_xyzrgb_depth_rgb __log:=/home/malcolm/.ros/log/e59a47e2-d937-11e3-a5be-dc85de5a9ca4/camera-points_xyzrgb_depth_rgb-5.log].
log file: /home/malcolm/.ros/log/e59a47e2-d937-11e3-a5be-dc85de5a9ca4/camera-points_xyzrgb_depth_rgb-5*.log
[camera/points_xyz_depth_rgb-6] process has died [pid 13812, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz /camera_nodelet_manager image_rect:=depth/image_rect_raw points:=depth/points_xyz __name:=points_xyz_depth_rgb __log:=/home/malcolm/.ros/log/e59a47e2-d937-11e3-a5be-dc85de5a9ca4/camera-points_xyz_depth_rgb-6.log].
log file: /home/malcolm/.ros/log/e59a47e2-d937-11e3-a5be-dc85de5a9ca4/camera-points_xyz_depth_rgb-6*.log
Honestly though, it's two in the morning and I didn't check this error at all because it's too late for me to think correctly now, and I'll check tomorrow so I'm sorry if it got a trivial error ^^.
EDIT 2 :
Ubuntu
On Ubuntu when I try to use openni1 I have this error :
[ INFO] [1399272310.815857984]: Number devices connected: 1
[ INFO] [1399272310.815941482]: 1. device on bus 003:04 is a PrimeSense Device (601) from PrimeSense (1d27) with serial id ''
[ INFO] [1399272310.816924289]: Searching for device with index = 1
process[camera/depth_rectify_depth-7]: started with pid [19112]
process[camera/depth_metric_rect-8]: started with pid [19129]
process[camera/depth_metric-9]: started with pid [19143]
process[camera/depth_points-10]: started with pid [19157]
process[camera/register_depth_rgb-11]: started with pid [19171]
/opt/ros/hydro/lib/nodelet/nodelet: symbol lookup error: /home/ros/hydro_ws/catkin_ws/devel/lib//libopenni_nodelet.so: undefined symbol: _ZN14openni_wrapper12OpenNIDevice15getSerialNumberEv
My lsusb then :
ros@ros-K56CM:~$ lsusb
Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 003 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 003 Device 004: ID 1d27:0601
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 13d3:5165 IMC Networks
I think this is the part that concern the Xtion with dmesg in ubuntu :
[ 4832.060454] usb 3-3: new high-speed USB device number 3 using xhci_hcd
[ 4832.082684] usb 3-3: New USB device found, idVendor=1d27, idProduct=0601
[ 4832.082692] usb 3-3: New USB device strings: Mfr=5, Product=4, SerialNumber=0
[ 4832.082697] usb 3-3: Product: PrimeSense Device
[ 4832.082701] usb 3-3: Manufacturer: PrimeSense
[ 4839.290644] 3:2:1: cannot get freq at ep 0x84
[ 4894.337502] 3:1: cannot get min/max values for control 2 (id 3)
[ 4896.632039] usb 3-3: USB disconnect, device number 3
[ 4896.632043] 3:1: cannot get min/max values for control 2 (id 3)
[ 4896.632489] usbcore: registered new interface driver snd-usb-audio
[ 4908.933895] usb 3-3: new high-speed USB device number 4 using xhci_hcd
[ 4908.956196] usb 3-3: New USB device found, idVendor=1d27, idProduct=0601
[ 4908.956203] usb 3-3: New USB device strings: Mfr=5, Product=4, SerialNumber=0
[ 4908.956207] usb 3-3: Product: PrimeSense Device
[ 4908.956210] usb 3-3: Manufacturer: PrimeSense
[ 4913.962188] 4:2:1: cannot set freq 48000 to ep 0x84
[ 4913.968038] usb_audio: Warning! Unlikely big volume range (=4181), cval->res is probably wrong.
[ 4913.968041] usb_audio: [3] FU [Mic Capture Volume] ch = 1, val = 0/12544/3
ros@ros-K56CM:~$
Any help on it will be appreciated
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-05-02
Post score: 1
Original comments
Comment by Hansg91 on 2014-05-02:
Did you try the sample of openni? Does that sample work?
Comment by Maya on 2014-05-02:
No I didn't... Where are they ?
Comment by Hansg91 on 2014-05-02:
For me they are at openni2/Samples/Bin ;)
Comment by Maya on 2014-05-02:
Hum... I installed openni through apt-get (or yum on my fedora) and I'm not able to find that folder you said -_-... What is the path to that folder when installed that way ? I'm sorry it's such a stupid question but I couldn't find it.
I found something and updated y question =)
Comment by Hansg91 on 2014-05-03:
Seems it doesn't get connected through usb. What do you see in dmesg when you connect the xtion? Also the samples can be downloaded from openni.org (they are in the SDK).
Comment by Maya on 2014-05-04:
I'll try to put dmesg in Fedora as soon as I can (I use Ubuntu at work and Fedora at home).
The openni website is always down for me :/
I put every information asked =D
Comment by Hansg91 on 2014-05-05:
Sorry, can't help any further :) no idea..
Comment by Maya on 2014-05-05:
Arf thanks anyway =P
Comment by cottsay on 2014-05-10:
@Maya, what version of Fedora are you using and are you using the Fedora package for the OpenNI libraries or a source build?
Also, please try installing the RPM package openni-examples and then run the command NiViewer with your Xtion plugged in, and see if it works...
Comment by Maya on 2014-05-11:
I'm using Fedora 20 and Openni libraries. I'll try installing openni-example as soon as possible.
|
Trying to do a uvc_cam install on a Panda Board under hydro following the Ros By Example instructions. I get 55 successes and one failure. the Package path is correct and roscd finds the correct source directory in ros_workspace. I did call rosdep update and tried again with the same failure message.
I am guessing I am missing a dependency, but not sure which.
Here is the build log:
-- Configuring incomplete, errors occurred!
make: *** [all] Error 1
team751@team75-pb:~/.ros/rosmake/rosmake_output-20140502-151735/uvc_cam$ more build_ou tput.log
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/
rostoolchain.cmake ..
[rosbuild] Building package uvc_cam
Failed to invoke /opt/ros/hydro/bin/rospack deps-manifests uvc_cam
[rospack] Error: package/stack 'uvc_cam' depends on non-existent package 'driver_base'
and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or t
ry calling 'rosdep update'
CMake Error at /opt/ros/hydro/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'uvc_cam'. Look
above for errors from rospack itself. Aborting. Please fix the broken
dependency!
Call Stack (most recent call first):
/opt/ros/hydro/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
CMakeLists.txt:12 (rosbuild_init)
-- Configuring incomplete, errors occurred!
make: *** [all] Error 1
Originally posted by DrBot on ROS Answers with karma: 147 on 2014-05-02
Post score: 0
Original comments
Comment by tonybaltovski on 2014-05-02:
Worked for me when I used catkin.
|
Hi Everyone,
I am running two turtlebots (kobuki) with gazebo1.9 and I provided command velocities to each turtlebot using “rostopic pub” command. I noticed that turtlebot keep moving after I killed the command velocity using “Control tab +c”.
I am wondering if this anomaly is due to the inertia values for my wheels or something else
Thanks for any help with this issue
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-05-02
Post score: 1
Original comments
Comment by Arkapravo on 2014-05-04:
Have faced similar problems with Roomba
Comment by Robert1 on 2014-05-05:
Somebody gave a tip to sent 0 command velocity.
rostopic pub /cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
That command stopped the turtlebot.
|
I've previously used this tutorial to get a CompressImage from a web camera: http://wiki.ros.org/rospy_tutorials/Tutorials/WritingImagePublisherSubscriber
Now I'm using a webcamera through uvc_camera, and it isn't publishing a compressed image. If I substitute Image for CompressedImage in the python code the cv_image comes out as None.
...
# subscribed Topic
self.subscriber = rospy.Subscriber("/camera/image_raw",
Image, self.callback, queue_size = 1)
....
def callback(self, ros_data):
...
#### direct conversion to CV2 ####
np_arr = np.fromstring(ros_data.data, np.uint8)
image_np = cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)
np_arr at this point is a (widthheight3, ) array, but image_np comes out None.
The camera otherwise works fine in rqt_image_view. Is there any way to get uvc_camera to compress, another node to add that will compress for me, or get the np/cv2 commands to process the non-compressed data properly?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-05-02
Post score: 0
|
When ROS support ubuntu 14.04 LTS 64bit ??
Originally posted by Robotics123 on ROS Answers with karma: 1 on 2014-05-02
Post score: 0
|
I generated the file to calculate the inverseKinematics with IKFast.
How can I use this file, to solve the IK from a cpp in ROS?
I can not find anything about that.
I'm using the solver TranslationDirection5D
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-05-03
Post score: 0
Original comments
Comment by Bastbeat on 2014-05-03:
I tried to compile the cpp anyway, to test it. And when I run it, it shows an error.
Usage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...
input: ./compute2 0 0 0 1 0 0 0 1 0 0 0 1
output: Failed to get ik solution
|
Hi everybody. I'm slightly new to Ros so I'm sorry for any mistake in terminology or logic I will do while asking.
My problem is that I've written a node that communicates with Vrep (a robot simulator) publishing some positions to a topic to which Vrep is subscribed (goal positions that the robot is following), it is also subscribed to a topic which is published by Vrep that publishes the current position of the robot.
What i want to do is to run multiple instances of this node with different topic names so to control multiple robots, but I can't figure out which is the best solution. The thing is that I also want to dynamically generate the needed number of nodes, and give as arguments to the nodes the name of the topics to which they have to subscribe/publish. Is this possible?
The only solutions I found out so far are:
Create multiple .cpp files with the
topic names hardcoded in them, one
for every robot I want to control.
(NOT Dynamic)
Create multiple nodes inside a
single main with appropriate
callback functions defined for every
robot. (Seems messy, still NOT
Dynamic)
Thanks in advance.
Originally posted by merosss on ROS Answers with karma: 723 on 2014-05-03
Post score: 4
|
I'm publishing a transform at 100 Hz and when I poll TF I can only see changes at 10Hz. I can see that the messages exist at 100 Hz by running:
rostopic echo /tf
How can I see transforms at the rate I'm publishing?
Cheers,
Willy
Originally posted by uuilly on ROS Answers with karma: 13 on 2014-05-03
Post score: 0
Original comments
Comment by uuilly on 2014-05-03:
You got it Tully. I was spanning across a slower transform. Thanks so much!
Comment by tfoote on 2014-05-03:
I converted the comment to a question, and elaborated slightly.
|
Hi,
I have uninstalled ROS hydro, and tried to install it again but the setup.bash file is missing (i.e. not created). How can i fix that problem?
Thnx
Originally posted by abd_el_mon3em on ROS Answers with karma: 1 on 2014-05-03
Post score: 0
Original comments
Comment by Bastbeat on 2014-05-03:
Is missing, in a new workspace or in /opt/ros/hydro?
Comment by prince on 2014-05-04:
Check your catkin workspace for this file.
|
[Ubuntu 13.10, Hydro Desktop-Full from source, C++]
I am having difficulty setting up callback functions for my ROS Topic subscribers, and would appreciate help.
Since all my Topics use the std_msgs::String type, I've defined the class shown below with a generic callback function and an instance variable which identifies the specific Topic.
class myCallback {
const char * eventtype;
public:
myCallback(const char * eventType) : eventtype(eventType) {}
void generic_callback(const std_msgs::String::ConstPtr& msg) {
std::cerr << this->eventtype << " heard: " << msg->data.c_str() << std::endl;
}
};
For the ROS functionality in my project, I've created a separate class gwrbclass.cpp & gwrbclass.h, which include the myCallback class. In the header file, I define myCallback *callbackList[NUM_EVENT_TYPES] as a private variable. In the implementation, I instantiate the required myCallback objects for each entry in the callbackList and try to bind it to the node's subscriber object as shown below:
for (int j=0; j<NUM_EVENT_TYPES; j++) {
callbackList[j] = new myCallback(eventName);
subList[j] = (sNode[j])->subscribe(eventName, 1000, callbackList[j]->generic_callback); << ERROR OCCURRING HERE
}
I'm getting an error stating : reference to non-static member function must be called , and as far as I can see, the method I'm calling is not static and therefore should work.
If I use subList[j] = (sNode[j])->subscribe(...., &callbackList[j]->generic_callback); the error becomes : cannot create a non-constant pointer to member function.
I'm confused as to why I'm getting this error (which I believe has something to do with std::bind, function typedef, wrapper functions, etc), and would appreciate some help as I can't figure out the syntax.
Originally posted by Nap on ROS Answers with karma: 302 on 2014-05-04
Post score: 0
|
I am using ros-groovy on ubuntu 12.04
after running
$ rosmake sick_tim3xx
i get the output
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['sick_tim3xx']
[ rosmake ] Logging to directory /home/piyush/.ros/rosmake/rosmake_output-20140504-222452
[ rosmake ] Expanded args ['sick_tim3xx'] to:
['sick_tim3xx']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-2] Starting >>> rospack [ make ]
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-1] Starting >>> genpy [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-3] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-2] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> rostime [ make ]
[rosmake-2] Starting >>> roslib [ make ]
[rosmake-1] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-1] Starting >>> roslang [ make ]
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-0] Starting >>> roscpp_traits [ make ]
[rosmake-3] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-2] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-2] Starting >>> rosunit [ make ]
[rosmake-3] Starting >>> message_generation [ make ]
[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-0] Starting >>> roscpp_serialization [ make ]
[rosmake-1] Starting >>> xmlrpcpp [ make ]
[rosmake-2] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-2] Starting >>> rosconsole [ make ]
[rosmake-3] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-0] Starting >>> message_runtime [ make ]
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-1] Starting >>> rosclean [ make ]
[rosmake-2] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-1] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-3] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-3] Starting >>> rosparam [ make ]
[rosmake-1] Starting >>> rosmaster [ make ]
[rosmake-0] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-0] Starting >>> rosgraph_msgs [ make ]
[rosmake-3] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-3] Starting >>> diagnostic_msgs [ make ]
[rosmake-0] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-1] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-3] Finished <<< diagnostic_msgs ROS_NOBUILD in package diagnostic_msgs
No Makefile in package diagnostic_msgs
[rosmake-1] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> rosout [ make ]
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-1] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-2] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest 30/40 Complete ]
No Makefile in package rostest
[rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-1] Starting >>> diagnostic_updater [ make ]
[rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-0] Starting >>> rosbag [ make ]
[rosmake-1] Finished <<< diagnostic_updater ROS_NOBUILD in package diagnostic_updater
No Makefile in package diagnostic_updater
[rosmake-1] Starting >>> self_test [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-1] Finished <<< self_test ROS_NOBUILD in package self_test
No Makefile in package self_test
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-0] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-0] Starting >>> dynamic_reconfigure [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-0] Starting >>> driver_base [ make ]
[rosmake-0] Finished <<< driver_base ROS_NOBUILD in package driver_base
No Makefile in package driver_base
[rosmake-0] Starting >>> sick_tim3xx [ make ]
[ rosmake ] Last 40 linesck_tim3xx: 3.4 sec ] [ 1 Active 39/40 Complete ]
{-------------------------------------------------------------------------------
-- This workspace overlays: /opt/ros/groovy
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/piyush/ros_packages/sick_tim3xx/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- Using these message generators: gencpp;genlisp;genpy
[rosbuild] Including /opt/ros/groovy/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/groovy/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/groovy/share/rospy/rosbuild/rospy.cmake
MSG: gencfg_cpp on:SickTim3xx.cfg
[gendeps] Finding dependencies for /home/piyush/ros_packages/sick_tim3xx/cfg/SickTim3xx.cfg
-- Configuring done
-- Generating done
CMake Warning:
Manually-specified variables were not used by the project:
CMAKE_TOOLCHAIN_FILE
-- Build files have been written to: /home/piyush/ros_packages/sick_tim3xx/build
cd build && make -j4 -l4
make[1]: Entering directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[2]: Entering directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[3]: Entering directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[3]: Leaving directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[3]: Entering directory `/home/piyush/ros_packages/sick_tim3xx/build'
[ 50%] Generating ../cfg/cpp/sick_tim3xx/SickTim3xxConfig.h, ../docs/SickTim3xxConfig.dox, ../docs/SickTim3xxConfig-usage.dox, ../src/sick_tim3xx/cfg/SickTim3xxConfig.py, ../docs/SickTim3xxConfig.wikidoc
**make[3]: execvp: ../cfg/SickTim3xx.cfg: Permission denied
make[3]: *** [../cfg/cpp/sick_tim3xx/SickTim3xxConfig.h] Error 127
make[3]: Leaving directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[2]: *** [CMakeFiles/ROSBUILD_gencfg_cpp.dir/all] Error 2
make[2]: Leaving directory `/home/piyush/ros_packages/sick_tim3xx/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/piyush/ros_packages/sick_tim3xx/build'**
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package sick_tim3xx written to:
[ rosmake ] /home/piyush/.ros/rosmake/rosmake_output-20140504-222452/sick_tim3xx/build_output.log
[rosmake-0] Finished <<< sick_tim3xx [FAIL] [ 3.39 seconds ]
[ rosmake ] Halting due to failure in package sick_tim3xx.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 40 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/piyush/.ros/rosmake/rosmake_output-20140504-222452
I HAVE HIGHLIGHTED THE PART THAT SEEMS TO BE THE PROBLEM
permissions of the
piyush@TheCoolStuffStation:~/ros_packages/sick_tim3xx/cfg$ roscd sick_tim3xx/
piyush@TheCoolStuffStation:~/ros_packages/sick_tim3xx$ ls -lah cfg
total 24K
drwxrwxr-x 3 piyush piyush 4.0K May 5 19:59 .
drwxrwxr-x 12 piyush piyush 4.0K May 5 20:00 ..
drwxrwxr-x 3 piyush piyush 4.0K May 5 19:59 cpp
-rw-rw-r-- 1 piyush piyush 3.2K Dec 14 02:30 SickTim3xx.cfg
-rw-rw-r-- 1 piyush piyush 3.7K Dec 14 02:30 SickTim3xx.cfg~
-rw-rw-r-- 1 piyush piyush 1.3K Dec 14 02:46 SickTim3xx.cfgc
piyush@TheCoolStuffStation:~/ros_packages/sick_tim3xx$ git status
fatal: Not a git repository (or any of the parent directories): .git
piyush@TheCoolStuffStation:~/ros_packages/sick_tim3xx$ cd ..
piyush@TheCoolStuffStation:~/ros_packages$ whoami
piyush
piyush@TheCoolStuffStation:~/ros_packages$
Originally posted by hgtc-dp on ROS Answers with karma: 15 on 2014-05-04
Post score: 0
|
Hello,
To work on my thesis I need a bag file from a PR2 (or similar differential wheeled robot) sensors, and follows a simple closed path, like a square or a triangle.
Topic that I need are:
/camera/rgb/image_rect
/camera/rgb/camera_info
/camera/depth_registered/image_rect
/camera/depth_registered/camera_info
/odom
/imu
/tf
/scan
Can anyone do me this favor and prepare such bag file?
One more thing, there most be walls or something around the path to create a map with using gmapping.
Originally posted by maysamsh on ROS Answers with karma: 139 on 2014-05-04
Post score: 0
Original comments
Comment by prince on 2014-05-04:
Have you tried KITTI dataset?http://www.cvlibs.net/datasets/kitti/ http://www.cvlibs.net/datasets/kitti/
|
Hi I am currenting trying the autonomous navigation tutorial for turtlebot. I am having issue having it move to my goal location. While observing rviz, the turtlebot seems to have issue localizing itself properly. Even when the robot its at rest, rivz show that the turtlebot's orientation is slowly turning. Anyone have any ideas what might be causing this ?
Thanks
Originally posted by zenifed on ROS Answers with karma: 93 on 2014-05-04
Post score: 0
Original comments
Comment by jihoonl on 2014-05-06:
Are you using create or kobuki?
Comment by zenifed on 2014-05-06:
i am using kobuki.
Comment by jihoonl on 2014-05-06:
Does odom topic drift?
Comment by zenifed on 2014-05-06:
I am not sure.The drifting issue seem to have disappeared though after loading another map though.
|
Hey everyone,
We've seem to run into a problem just earlier this week. For the past 8 months we were able to send 2d nav goals and set the 2d initial pose using Rviz perfectly fine. We are usin ROS Fuerte. Just earlier this week, we are not able to do this anymore at all.
When I send the 2d nav goal, it's not getting published to the rostopic and hence, nothing seems to happen. I cannot even set the initial 2d pose estimate.
We've tried reinstalling the visualization packages and still no luck at all.
Could anyone please suggest any solutions?
Many thanks!
EDIT: We've solved the issue. Turns out the ROS_HOSTNAME on the workstation was incorrect.
Originally posted by aviprobo on ROS Answers with karma: 61 on 2014-05-04
Post score: 1
Original comments
Comment by prince on 2014-05-05:
Check whether correct topics are set for Rviz tools. Goto Panel -> Tool properties.
|
Hi guys, I'm quite new to ROS. I'm using the Ubuntu 12.04 and openni driver.
What I've been trying to do is to use Kinect to detect whether a door is open or closed. My idea is to write a node to subscribe to camera/depth/image, and and can retrieve a distance at the center point in the image.
But when I use rostopic echo camera/depth/image I just get a lot of numbers like 0, 0, 65, 128, 36, 56, 77, 102, 140, 65.
So does anyone know what should I do with these numbers, or are there other ways to get depth data?
Firstly, thank Martin Günther's answer, it really help me a lot. And I already solve the problem by using OpenCV. Here is part of my code, it's very easy. If some beginners cannot understand that hackish solution, maybe you should try this one:
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include ..........
namespace enc = sensor_msgs::image_encodings;
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, enc::TYPE_16UC1);//now cv_ptr is the matrix, do not forget "TYPE_" before "16UC1"
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
int depth = cv_ptr->image.at<short int>(cv::Point(240,320));//you can change 240,320 to your interested pixel
ROS_INFO("Depth: %d", depth);
}
int main(int argc, char **argv)
{.........}
Originally posted by shinnqy on ROS Answers with karma: 23 on 2014-05-04
Post score: 2
Original comments
Comment by rasoo on 2016-10-20:
Hello, thanks for updating your solution here. It is quite easy to understand. But I have a question. Is there any quick solution to get the minimum depth of pixels. I know doing a for loop will give me the minimum depth. But is there any other solution for this?
|
Hello,
I am trying to follow the PR2 MoveIt Tutorial here: docs.ros.org/api/moveit_ros_visualization/html/doc/tutorial.html. But after entering roslaunch pr2_moveit_config demo.launch I get various errors for each group:
[ERROR] [1399281344.376185685]: The kinematics plugin (left_arm) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.470927551]: The kinematics plugin (left_arm_and_torso) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.558265962]: The kinematics plugin (right_arm) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.652086203]: The kinematics plugin (right_arm_and_torso) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
Rviz then continues to launch and shows the PR2. When I then continue the tutorial, I notice 3 things:
At the end of step 1 in the tutorial, the screenshot shows that the current group is highlighted in green. This doesn't happen for me
Even when I'm in the interact mode, I can only move the camera and nothing regarding the roboter
No markers show up to interact with the roboter (As shown in the screenshot in step 3).
The missing library descriped in the error is in the path it is supposed to be, and I don't know what to do with the undefined symbol.
I am using ROS Hydro on Ubuntu 12.04 64bit, I uploaded the complete output here: gist.github.com/rabenimmermehr/0b094c1ad032cb90ac0d
(Sorry for the link formatting, I have insufficient karma)
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-05-04
Post score: 0
|
Hi, every body.
When I use the command line "roslaunch turtlebot_bringup minimal.launch", this "[warn]Create: robot not connected yet, sci not available" always occurs. I use the Hydro edition in Ubuntu 12.04. And the turtlebot was bulid by myself with a Lenovo laptop and iRobot Create.
Here is the detail:
> turtlebot@turtlebot:~/turtlebot/src/irobot/irobot_create_2_1/src/irobot_create_2_1$
> roslaunch turtlebot_bringup
> minimal.launch ... logging to
> /home/turtlebot/.ros/log/45c9215e-d42b-11e3-9c80-001e6557542c/roslaunch-turtlebot-14349.log
> Checking log directory for disk usage.
> This may take awhile. Press Ctrl-C to
> interrupt Done checking log file disk
> usage. Usage is <1GB.
>
> started roslaunch server
> http://192.168.1.104:48516/
>
> SUMMARY
> ========
>
> PARAMETERS *
> /cmd_vel_mux/yaml_cfg_file *
> /diagnostic_aggregator/analyzers/digital_io/path
> * /diagnostic_aggregator/analyzers/digital_io/startswith
> * /diagnostic_aggregator/analyzers/digital_io/timeout
> * /diagnostic_aggregator/analyzers/digital_io/type
> * /diagnostic_aggregator/analyzers/mode/path
> * /diagnostic_aggregator/analyzers/mode/startswith
> * /diagnostic_aggregator/analyzers/mode/timeout
> * /diagnostic_aggregator/analyzers/mode/type
> * /diagnostic_aggregator/analyzers/nodes/contains
> * /diagnostic_aggregator/analyzers/nodes/path
> * /diagnostic_aggregator/analyzers/nodes/timeout
> * /diagnostic_aggregator/analyzers/nodes/type
> * /diagnostic_aggregator/analyzers/power/path
> * /diagnostic_aggregator/analyzers/power/startswith * /diagnostic_aggregator/analyzers/power/timeout
> * /diagnostic_aggregator/analyzers/power/type
> * /diagnostic_aggregator/analyzers/sensors/path
> * /diagnostic_aggregator/analyzers/sensors/startswith
> * /diagnostic_aggregator/analyzers/sensors/timeout
> * /diagnostic_aggregator/analyzers/sensors/type
> * /diagnostic_aggregator/base_path * /diagnostic_aggregator/pub_rate *
> /robot/name * /robot/type *
> /robot_description *
> /robot_pose_ekf/freq *
> /robot_pose_ekf/imu_used *
> /robot_pose_ekf/odom_used *
> /robot_pose_ekf/output_frame *
> /robot_pose_ekf/publish_tf *
> /robot_pose_ekf/sensor_timeout *
> /robot_pose_ekf/vo_used *
> /robot_state_publisher/publish_frequency
> * /rosdistro * /rosversion * /turtlebot_laptop_battery/acpi_path *
> /turtlebot_node/bonus *
> /turtlebot_node/port *
> /turtlebot_node/update_rate *
> /use_sim_time
>
> NODES /
> cmd_vel_mux (nodelet/nodelet)
> diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
> kinect_breaker_enabler (create_node/kinect_breaker_enabler.py)
> mobile_base_nodelet_manager (nodelet/nodelet)
> robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
> robot_state_publisher (robot_state_publisher/robot_state_publisher)
> turtlebot_laptop_battery (linux_hardware/laptop_battery.py)
> turtlebot_node (create_node/turtlebot_node.py)
>
> ROS_MASTER_URI=http://192.168.1.104:11311
>
> core service [/rosout] found
> process[robot_state_publisher-1]:
> started with pid [14370]
> process[diagnostic_aggregator-2]:
> started with pid [14391]
> process[turtlebot_node-3]: started
> with pid [14474]
> process[kinect_breaker_enabler-4]:
> started with pid [14475]
> process[robot_pose_ekf-5]: started
> with pid [14479]
> process[mobile_base_nodelet_manager-6]:
> started with pid [14517]
> process[cmd_vel_mux-7]: started with
> pid [14587] [WARN] [WallTime:
> 1399283836.636816] Create : robot not connected yet, sci not available
> process[turtlebot_laptop_battery-8]:
> started with pid [14669] [WARN]
> [WallTime: 1399283839.642510] Create :
> robot not connected yet, sci not
> available [kinect_breaker_enabler-4]
> process has finished cleanly
>
> log file:
> /home/turtlebot/.ros/log/45c9215e-d42b-11e3-9c80-001e6557542c/kinect_breaker_enabler-4*.log
I have tried several solutions on the web, but none works.
Some of them are:
Change the permission of /dev/ttyUSB0 using "chmod 777"
Change the type of TURTLEBOT_BASE in file minimal.launch
Install the driver on the page http://wiki.ros.org/irobot_create_2_1
But this conflicts with the driver in the turtlebot package.
Change the code in turtlebot_node.py:
def set_operation_mode(self,req):
if not self.robot.sci:
raise Exception("Robot not connected, SCI not available")
It is definitely related with self.robot.sci, but I still have no idea of what causes the warning。
Any ideas? Thanks.
Originally posted by Jack Fu on ROS Answers with karma: 11 on 2014-05-05
Post score: 0
|
Hi,
I want to calculate robot's current position with respect to the map.
Following is my "rosrun tf view_frames"
tf tree
I have tried following commands which gives robot position with respect to /map frame.
rosrun tf tf_echo /map /base_link
Output is here:map to base_link.jpg
Now same thing, I tried to perform using the code here
But the output of rxconsole is shown below::
transform.jpg.
I am just wondering why the results of the code and that of "rosrun tf tf_echo /map /base_link" is not matching?
I am getting "Got a transform! x = 0.000000, y =0.000000", even after 1sec when I use the code. But "rosrun tf tf_echo /map /base_link", gives actual robot position with respect to the map as you can see the screen shot.
Question1: Is there any way to get the exact position of the robot while moving in the environment?
Question 2: I don’t know how the above command gives position of the robot with respect to the map, but the implementation of the SAME COMMAND gives some INVALID result?
Question 3: Is there any way to emulate the command "rosrun tf tf_echo /map /base_link" in coding?
Please help..........
Many Thanks.
Originally posted by RB on ROS Answers with karma: 229 on 2014-05-05
Post score: 0
Original comments
Comment by nursima on 2020-01-14:
Hi, is it possible that you share the code via another method? I have no access to pastebin.com and I didn't manage to overcome it. Thanks in advance!
|
Hellow people,
When I try to launch openni2_launch on fedora, I have the following error :
[ERROR] [1399293474.230216874]: Failed to load nodelet [/camera/points_xyzrgb_depth_rgb] of type [depth_image_proc/point_cloud_xyzrgb]: Failed to load library /opt/ros/hydro/lib//libdepth_image_proc.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = dlopen: cannot load any more object with static TLS)
[FATAL] [1399293474.230592485]: Service call failed!
[ERROR] [1399293474.279736212]: Failed to load nodelet [/camera/points_xyz_depth_rgb] of type [depth_image_proc/point_cloud_xyz]: MultiLibraryClassLoader: Could not create object of class type depth_image_proc::PointCloudXyzNodelet as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
For what I understand, it states that I either miss a library or it couldn't load it for an unknown reason. I would like to have some help as to which library contains libdepth_image_proc.o. If it's ros-hydro-compressed-depth-image-transport.x86_64 1.8.21-0.fc20 @rosrpm-poc or ros-hydro-depth-image-proc.x86_64 then they are technically installed on my computer hence my confusion.
The result of this error is that I don't have any Point Cloud but I have all the other topics. If I launch rosrun openni2_camera openni2_camera_node no problem occur and the wrapper test works as well.
Thanks a lot for your help !
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-05-05
Post score: 0
|
Hello guys,
I have a project where I used rosbridge 1.0 and (so) ROS Groovy. I have to move my project to Hydro, so I need of rosbridge 2.0.
How can I edit this js code to migrate to rosbridge 2.0?
var ros = ros || {};
var Connection = function(url) {
this.handlers = new Array();
if (typeof WebSocket == 'undefined') {
WebSocket = MozWebSocket;
}
this.socket = new WebSocket(url);
this.onmessage = null;
var ths = this;
this.socket.onmessage = function(e) {
if(ths.onmessage) {
try {
ths.onmessage(e);
} catch(err) {
ros_debug(err);
}
}
var call = '';
try {
eval('call = ' + e.data);
} catch(err) {
return;
}
for (var i in ths.handlers[call.receiver]) {
var handler = ths.handlers[call.receiver][i]
handler(call.msg);
}
}
this.magicServices = new Array('/rosbridge/topics','/rosbridge/services','/rosbridge/typeStringFromTopic','/rosbridge/typeStringFromService','/rosbridge/msgClassFromTypeString','/rosbridge/reqClassFromTypeString','/rosbridge/rspClassFromTypeString','/rosbridge/classFromTopic','/rosbridge/classesFromService');
}
Connection.prototype.callService = function(service, json, callback) {
this.handlers[service] = new Array(callback);
var call = '{"receiver":"' + service + '"';
call += ',"msg":' + json + '}';
this.socket.send(call);
}
Connection.prototype.publish = function(topic, typeStr, json) {
typeStr.replace(/^\//,'');
var call = '{"receiver":"' + topic + '"';
call += ',"msg":' + json;
call += ',"type":"' + typeStr + '"}';
this.socket.send(call);
}
Connection.prototype.addHandler = function(topic, func) {
if (!(topic in this.handlers)) {
this.handlers[topic] = new Array();
}
this.handlers[topic].push(func);
}
Connection.prototype.setOnError = function(func) {
this.socket.onerror = func;
}
Connection.prototype.setOnClose = function(func) {
this.socket.onclose = func;
}
Connection.prototype.setOnOpen = function(func) {
this.socket.onopen = func;
}
Connection.prototype.setOnMessage = function(func) {
this.onmessage = func;
}
ros.Connection = Connection;
In fact, when I type rosrun rosbridge_server rosbridge_websocket, it gives me this error
[ERROR] [WallTime: 1399303416.415417] [Client 0] Received a rosbridge v1.0 message. Please refer to rosbridge.org for the correct format of rosbridge v2.0 messages. Original message was: {"receiver":"/rosjs/services","msg":[]}
[ERROR] [WallTime: 1399303416.415678] [Client 0] Received a rosbridge v1.0 message. Please refer to rosbridge.org for the correct format of rosbridge v2.0 messages. Original message was: {"receiver":"/rosjs/topics","msg":[]}
That rosjs appears in this code:
h t t p://pastebin.com/eSYAEaNd (I haven`t enough karma for pub links)
(I put here because is long)
Thanks guys
Originally posted by Il_Voza on ROS Answers with karma: 56 on 2014-05-05
Post score: 0
|
Hi all:
I am recently introduced in Octomap. I am trying to implementa motion planner but I need two things:
given the robot shape and its pose, check if there is a collision given an stored octree
given the robot shape and its pose, retrieve the nearest obstacle in the octree
¿Is there anything implemented that I can use?
Thank you in advance
Originally posted by AdrianGonzalez on ROS Answers with karma: 27 on 2014-05-05
Post score: 1
|
Hi!
I'm trying to move code from Fuerte to Hydro. In the old code there was:
costmap_ros_->getCostmapCopy(costmap_);
but this function is no longer exist in Hydro. How Can I replace this?
Thanks
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2014-05-05
Post score: 1
|
We are building a SLAM map using our Turtlebot. During the process, we stop the Turtlebot at certain points and would like to obtain the x,y,z values from the map coordinate frame.
We are using the /map_metadata topic which we believe gives us the x,y,z values in the map.
However, these values never seem to change and always stay the same in the /map_metadata topic.
Could someone please provide a solution or an alternative?
Many thanks!
Edit: We've managed to obtain the corresponding robot co-ordinates by simply using
rosrun tf tf_echo /map /base_footprint
Originally posted by aviprobo on ROS Answers with karma: 61 on 2014-05-05
Post score: 3
|
Hi,
I am interested in automating the commands that I have to type in separate new terminals to launch various nodes.
step:1.sudo su
step:2.cd /root/fuerte_workspace
step:3.source /root/fuerte_workspace/setup.sh
Above three steps need to be repeated every time when I launch new terminals(ctrl+alt+t). with following commands
command:1 roscore
command:2 roslaunch move_base.launch
command:3 rosrun rviz rviz
to launch command4, I need to go to /opt/ros/fuerte/stacks/yujin_cmd_vel_mux
command:4 roslaunch cmd_vel_mux standalone.launch
Procedure One: Through shell script
I have written a sample directly executable shell script. but it is not working properly and following error occurs in the new terminal when roscore tries to initialize.
Script ERROR.jpg
Procedure Two: Through include tag in one launch file. But I don't know how to incorporate rosrun commands inside a launch file.
Originally posted by RB on ROS Answers with karma: 229 on 2014-05-06
Post score: 1
Original comments
Comment by Procópio on 2014-05-06:
step1: why do you need superuser privileges to run ros nodes?
|
Hello,
I am very new to robotics and purchased an EV3 a few months back, since I am coming from a PHP background, I would really like to experiment using an os like ROS. I have found information about NTX, but I can't seem to find any instructions for installing ROS on EV3.
A bit of guidance will be very helpful.
Thanks,
Originally posted by NewEV3 on ROS Answers with karma: 11 on 2014-05-06
Post score: 1
|
Hi,
I am new to ROS and I am trying to run the indoor example of the hector_quadrotor packadge. I followed the instructions ,ran the launch file (indoor_slam_gazebo.launch) and rviz and gazebo windows appeared. The problem is that rviz shows errors in the laserscan, map and robot model all of which are related to not having a transform and having two unconnected trees. I made an image of the tf tree and this showed two seperate trees: a world tree and a base_link tree.
How can I fix this?
Originally posted by anonymous16901 on ROS Answers with karma: 16 on 2014-05-06
Post score: 0
|
I had a 6 wheeled robot.
I made mapping using Hokuyo laser and it worked successfully on rviz as shown
Unfortunately I don't have the Hokuyo laser. I have a kinect. so,I want to make mapping using kinect sensor instead of the Hokuyo laser.
The most powerful advantage of ros is that being able to reuse code.
There are famous robots that uses kinect like turtlebot,corobot,pioneer and pi robot.
So,my question is:-
How to add kinect to my model to appear in rviz and gazebo?? What should I modify in my urdf model and .xacro file??
How can I reuse the code of a famous robot for adding kinect to my model and make mapping with kinect ??
Any suggestions ,please??
This is my_robot.xacro file
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="robot1_xacro">
<include filename="$(find erratic_description)/urdf/erratic_hokuyo_laser.xacro" />
<!-- BASE LASER ATTACHMENT -->
<erratic_hokuyo_laser parent="base_link">
<origin xyz="0.18 0 0.11" rpy="0 0 0" />
</erratic_hokuyo_laser>
<xacro:property name="length_wheel" value="0.05" />
<xacro:property name="radius_wheel" value="0.05" />
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</xacro:macro>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<xacro:default_inertial mass="0.0001"/>
</link>
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<link name="base_link">
<visual>
<geometry>
<box size="0.22 0.380 0.085"/>
</geometry>
<origin rpy="0 0 1.5707" xyz="0 0 0.05"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.22 0.380 0.085"/>
</geometry>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<link name="right_wheel_1">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.57075 0" xyz="-0.085 0.15 -0.25"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="right_wheel_2">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<!-- <origin rpy="0 1.57075 0" xyz="-0.085 0 -0.25"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="right_wheel_3">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="left_wheel_1">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="left_wheel_2">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<link name="left_wheel_3">
<visual>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="${length_wheel}" radius="${radius_wheel}"/>
</geometry>
</collision>
<xacro:default_inertial mass="1"/>
</link>
<joint name="base_to_right_wheel1" type="continuous">
<parent link="base_link"/>
<child link="right_wheel_1"/>
<origin rpy="1.5707 0 0" xyz="0.15 0.15 0"/>
<axis xyz="0 0 1" />
</joint>
<joint name="base_to_right_wheel2" type="continuous">
<axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<limit effort="100" velocity="100" />
<parent link="base_link"/>
<child link="right_wheel_2"/>
<origin rpy="1.5707 0 0" xyz="0 0.15 0"/>
</joint>
<joint name="base_to_right_wheel3" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="right_wheel_3"/>
<origin rpy="1.5707 0 0" xyz="-0.15 0.15 0"/>
</joint>
<joint name="base_to_left_wheel1" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="left_wheel_1"/>
<origin rpy="1.5707 0 0" xyz="0.15 -0.15 0"/>
</joint>
<joint name="base_to_left_wheel2" type="continuous">
<axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<limit effort="100" velocity="100" />
<parent link="base_link"/>
<child link="left_wheel_2"/>
<origin rpy="1.5707 0 0" xyz="0 -0.15 0"/>
</joint>
<joint name="base_to_left_wheel3" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1" />
<child link="left_wheel_3"/>
<origin rpy="1.5707 0 0" xyz="-0.15 -0.15 0"/>
</joint>
<gazebo reference="base_link">
<material>Erratic/BlueBrushedAluminum</material>
</gazebo>
<gazebo reference="right_wheel_1">
<material>Erratic/Black</material>
</gazebo>
<gazebo reference="right_wheel_2">
<material>Erratic/Black</material>
</gazebo>
<gazebo reference="right_wheel_3">
<material>Erratic/Black</material>
</gazebo>
<gazebo reference="left_wheel_1">
<material>Erratic/Black</material>
</gazebo>
<gazebo reference="left_wheel_2">
<material>Erratic/Black</material>
</gazebo>
<gazebo reference="left_wheel_3">
<material>Erratic/Black</material>
</gazebo>
<gazebo>
<controller:diffdrive_plugin name="differential_drive_controller" plugin="libdiffdrive_plugin.so">
<alwaysOn>true</alwaysOn>
<update>100</update>
<updateRate>100.0</updateRate>
<leftJoint>base_to_left_wheel3</leftJoint>
<rightJoint>base_to_right_wheel1</rightJoint>
<wheelSeparation>0.33</wheelSeparation>
<wheelDiameter>0.1</wheelDiameter>
<torque>5</torque>
<interface:position name="position_iface_0"/>
<topicName>cmd_vel</topicName>
</controller:diffdrive_plugin>
</gazebo>
</robot>
my distribution is fuerte.
I use ubuntu 12.04
Originally posted by Eman on ROS Answers with karma: 164 on 2014-05-06
Post score: 2
|
Hi Everyone,
I installed the hector_quadrotor package from source then I ran "roslaunch hector_quadrotor_demo indoor_slam_gazebo"
Finally, I tried to input command velocity using the "rostopic pub" but the quadrotor doesn't respond to the command velocity. I verified via "rqt_graph" that gazebo is connected to the correct topic (/cmd_vel ) and via "rostopic echo /cmd_vel" that data is published to the right topic.
I am using 1.9Gazebo&Gazebo-ROS-packs and hydro ROS installed from binaries for this simulation.
Thank you for any help with this issue
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-05-06
Post score: 0
|
I'd like to be able to find a node type (not user-defined name) of a currently running node. Basically, what file was actually being executed.
"Nodes also have a node type, that simplifies the process of referring to a node executable on the fileystem." -Wiki
This is relatively easy if the node is launched from a roslaunch command, I can simply look at the logging. From a rosrun command, I can't seem to find equivalent logging. Watching the loggers are a bit of a hack, and I'm sure there is a proper API to do this, but I can't seem to find it. Rosnode gets close.
The ideal solution is to use a getter to access elements of the Node class, a part of the roslaunch.core package. If this is not possible, is there a work-around?
Originally posted by curranw on ROS Answers with karma: 211 on 2014-05-06
Post score: 3
Original comments
Comment by Bill Smart on 2014-05-08:
A bit of background: we're trying to automatically record which nodes are being run. We've instrumented roslaunch (minimally) to do this, but we're looking for a similarly minimal way to do this with rosrun.
Comment by Bill Smart on 2014-05-08:
A related thought: what are the ramifications of rewriting rosrun to use the roslaunch machinery, rather than just exec'ing the node (other then automatically starting up a core if one isn't already running)?
|
I'm trying to build a source file using a message belonging to the same package.
In Package A
bb.cpp
cc.msg
The problem is that bb.cpp includes the header file of cc.msg - cc.h
when I start to build as 'winros_make'
it looks executables are built before the messages in there.
i think messages should be built first and then executables be.
there are any way to build message first? so executable can access the header file of them.
Originally posted by Younghyo on ROS Answers with karma: 15 on 2014-05-06
Post score: 0
|
Taking .rosinstall file's format as an example, until I saw this ticket, I didn't know that it can specify branch to sync by version attribute. wstool --help didn't tell me (no wonder). I could find info about it neither on its ros wiki nor on the document page linked from wiki.
Thanks!
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-05-06
Post score: 1
|
Hi,
For kinect drivers, how to download and build openni_launch or rgbd_launch?
Many thanks!
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2014-05-06
Post score: 0
|
I am trying to make a SICK LMS511 work on ROS but I haven't been able to make it work. I am trying to use github /clearpathrobotics/laser_drivers/tree/hydro-devel with no result.
I tried moving the folder of the link above to the ROS path and then run the command rosmake in that folder. Then I tried with roslaunch launch/lms5xx.launch but I get this error:
ERROR: cannot launch node of type [sicktoolbox_wrapper2/sicklms_5xx]: can't locate node [sicklms_5xx] in package [sicktoolbox_wrapper2]
I know that the laser is well connected.
What should I do?
Thanks!
Originally posted by Rodolfo on ROS Answers with karma: 11 on 2014-05-06
Post score: 1
Original comments
Comment by Ajay Jain on 2014-06-19:
I have the exact same issue. Does anyone have information on resolving the issue?
|
Hi,
Currently I am testing the rgbdslam version 2 following the procedures on this webpage: http://felixendres.github.io/rgbdslam_v2/
As I reinstalled Ubuntu12.04 and hydro. It works well therefore I don't think there is problem on ubuntu and hydro.
Everything goes well after $ rosdep install rgbdslam as it displays #All required rosdeps installed successfully!
Then I would like to build the rgbdslamv2 and went to my catkine workspace and execute "catkin_make"
It displayed the following:
####
Running command: "make cmake_check_build_system" in "/home/lili/catkin_ws/build"
Running command: "make -j4 -l4" in "/home/lili/catkin_ws/build"
[ 7%] Built target rgbdslam_generate_messages_cpp
[ 8%] Performing build step for 'siftgpu_proj'
make[3]: warning: jobserver unavailable: using -j1. Add `+' to parent make rule.
/usr/bin/ld: cannot find -lGLEW
collect2: ld returned 1 exit status
make[3]: *** [siftgpu] Error 1
make[2]: *** [rgbdslam_v2/external/siftgpu_prefix/src/siftgpu_proj-stamp/siftgpu_proj-build] Error 2
make[1]: *** [rgbdslam_v2/external/CMakeFiles/siftgpu_proj.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 5 jobserver tokens available; should be 4!
Invoking "make" failed
What's the problem? Thank you so much for your advice!
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2014-05-06
Post score: 0
Original comments
Comment by Amine on 2015-02-04:
This code is not compiling. When doing catkin_make I get the following error:
/tmp/ccyMrTtU.s: Assembler messages: /tmp/ccyMrTtU.s:16629: Error: no such instruction: `vfmadd312ss 88(%rsp),%xmm1,%xmm2'
/tmp/ccyMrTtU.s:16639: Error: no such instruction: `vfmadd312ss 96(%rsp),%xmm3,%xmm1'
Any ideas?
|
Hi guys, I'm quite new to ROS and I also just start learning C++ in ROS.
I have followed the tutorial ROS/Tutorials/WritingPublisherSubscriber(c++) and already known how to write a publisher and a subscriber separately.
But I wonder can I put a publisher and subscriber in the same node. I searched and found this answer how to put subscriber and publisher in one cpp file ?. Yes, it does put them together, but they just work separately.
What I want to do is Node A published "hello world" to Node B, and Node B can process the messages and then publish the edited resultes to Node C.
I tried a simple node and this is my code based on the sample codes.
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
if("%s" == "hello world ", msg->data.c_str())
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter2", 1000);
std_msgs::String msg;
std::stringstream ss;
ss << "long time no see";
msg.data = ss.str();
chatter_pub.publish(msg);
ros::spinOnce();
}
else
{
ROS_INFO("I didn't hear: [%s]", msg->data.c_str());
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "trans");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter1", 1000, chatterCallback);
ros::spin();
return 0;
}
But only the communication between talker and trans works, there is no message on topic chatter2.
Can anyone help me find where is wrong or give me a sample code to study?
Originally posted by shinnqy on ROS Answers with karma: 23 on 2014-05-06
Post score: 0
|
Hi,
i recently tried to use Indigo on my notebook (Lenovo T440s).
I tried the Install from source as well es the Install from repository methods to install a basic ROS Indigo.
As long as i do not need to start a roscore on this machine pretty much everything works as expected. Connections to other machines, robots with roscore running work just fine.
As soon as i want to run a roscore it receive the following error:
./install_isolated/bin/roscore :(
... logging to /home/bajo/.ros/log/a54a89fe-d5bd-11e3-9fec-28d244198e8b/roslaunch-roscosmos-3532.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Traceback (most recent call last):
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/roslaunch/parent.py", line 215, in _start_infrastructure
self._start_server()
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/roslaunch/parent.py", line 166, in _start_server
self.server.start()
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/roslaunch/server.py", line 352, in start
super(ROSLaunchNode, self).start()
File "/home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 199, in start
_thread.start_new_thread(self.run, ())
AttributeError: 'module' object has no attribute 'start_new_thread'
The same problem arises when i use the installation from the repository. The error messages just differ in terms of the paths.
source /opt/ros/indigo/setup.zsh :(
bajo@roscosmos ~ % roscore
... logging to /home/bajo/.ros/log/e287ee68-d74a-11e3-ad4f-28d244198e8b/roslaunch-roscosmos-3568.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 215, in _start_infrastructure
self._start_server()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 166, in _start_server
self.server.start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/server.py", line 352, in start
super(ROSLaunchNode, self).start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/xmlrpc.py", line 199, in start
_thread.start_new_thread(self.run, ())
AttributeError: 'module' object has no attribute 'start_new_thread'
As operating system i use Ubuntu 14.04 64bit and i have installed python 2.7 and 3.4. I am not sure if i installed both of them manually or if Ubuntu did this on its own.
But the problem seems to happen because in /home/bajo/work/development/indigo/install_isolated/lib/python2.7/dist-packages/rosgraph/xmlrpc.py we try to import _thread and if this fails import thread.
_thread is imported without errors, but does not contain the start_new_thread.
After changing this to import thread as _thread roscore is able to start fine.
Edit
This is the thread import from the unmodified /opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/xmlrpc.py as installed by the package ros-indigo-rosgraph (1.11.0-1trusty-20140305-0350-+0000) from the repository.
try:
import _thread
except ImportError:
import thread as _thread
So my question is.
Is just my installation of Ubuntu 14.04 so messed up that i am the only one to have this import conflict or is every Ubuntu installation going to face this issues?
Thank you for any answer.
bajo
Originally posted by bajo on ROS Answers with karma: 206 on 2014-05-06
Post score: 0
Original comments
Comment by joq on 2014-05-08:
roscore works for me, installed from the Ubuntu packages. Your example uses you manually compiled version. Try source /opt/ros/indigo/setup.bash followed by roscore.
Comment by bajo on 2014-05-08:
Thank you joq for your answer. Unfortunately the result is the same. I edited my original post to include the output from roscore which was installed from the repository.
Can you please tell me which versions of python (2 and 3) you have installed on your system and what system you are running?
Thank you.
Comment by joq on 2014-05-09:
Python versions: 2.7.6 and 3.4.0; should be the same on any up-to-date Trusty system. The _thread problem should only happen with python3. What does your /usr/bin/python point to?
Comment by joq on 2014-05-09:
There is something wrong with your environment. You are still resolving things to your hand-built workspace. Try creating a new shell with a clean environment (not sourcing your workspace, only /opt/ros/indigo/setup.zsh).
Comment by bajo on 2014-05-10:
I think it is not a problem with my ROS environment.
I can even import _thread in my python2 interpreter, which is of course independent from ROS.
Also in my edited post i have both versions. The hand-built as well as the on from the repository.
Comment by joq on 2014-05-10:
Please post the output of ls -l /usr/bin/python.
Comment by bajo on 2014-05-10:
ls -l /usr/bin/python
lrwxrwxrwx 1 root root 9 Apr 5 17:23 /usr/bin/python -> python2.7*
Comment by joq on 2014-05-10:
Please post the values of $PYTHONPATH, $ROS_PACKAGE_PATH, and $CMAKE_PREFIX_PATH in your environment.
Comment by bajo on 2014-05-10:
echo $PYTHONPATH
/opt/ros/indigo/lib/python2.7/dist-packages
echo $ROS_PACKAGE_PATH
/opt/ros/indigo/share:/opt/ros/indigo/stacks
echo $CMAKE_PREFIX_PATH
/opt/ros/indigo
|
I have followed the SLAM Gmapping tutorial. I have used rviz to set the goal for the robot.
I want to write a program in which robot moves autonomously. Therefore, I want to ask how can I set the current pose and navigation goal in the code (cpp node) without using the rviz? And also how can I used the learned (and saved) map in my code (cpp node)?
Originally posted by Safeer on ROS Answers with karma: 66 on 2014-05-07
Post score: 0
|
Hi everyone,
i´m a german software engineering student and new to ROS. At the moment i´m working on my bachleor thesis. The goal is to design and implement a ROS node management library to control and observe nodes.
The requirements are:
request and control the internal state of all running nodes (start, initializing, stop, shutdown, reboot).
request various information of the nodes, such as plausibility check, cycle times and HeartBeat / AliveMessages.
request various information the host system, such as CPU usage, RAM usage.
All of those information and control functions needs to be displayed in a hierarchical view, comparable to the OSI-layer model. The lower level contains the hardware drivers, followed by the data-processing processes. The upper layers are the abstract systems, such as planning.
During my research i found the diagnostic system and the bond package, which covers some of the requirements.
Are any existing approaches in discussion or is the need for this solution totally new?
Thank you very much in advanced for your answer.
Best regards
Originally posted by f.butter on ROS Answers with karma: 3 on 2014-05-07
Post score: 0
|
Hi,
my robot has a Flir PTU46 ( http://wiki.ros.org/ptu46 ).
I'm using this Ros node https://github.com/clearpathrobotics/wu_ptu in order to use it.
Unfortunately, when I try to public a /ptu/cmd the PTU never moves.
Has anybody used this PTU?
Thanks in advance
Originally posted by hisdudeness on ROS Answers with karma: 51 on 2014-05-07
Post score: 0
|
HI,
I am interested in the dual ackermann steering model similar to that of the hector_ugv. Before attempting to write a model from scratch, I would like to check if there is any existing package that I can use to run in gazebo. I did find some information here: https://code.google.com/p/tu-darmstadt-ros-pkg/source/browse/branches/fuerte/hector_ugv_common/hector_ugv_gazebo/urdf/hector_ugv.gazebo.xacro?r=389
I was able to spawn the robot, but have no clue on how to control it. The all wheel drive plugin in particular is missing.
The Ackermann group does focus on single ackermann steering. Unfortunately I need to navigate a long robot in tight spaces, hence a dual steering is inevitable.
Originally posted by aswin on ROS Answers with karma: 528 on 2014-05-07
Post score: 0
|
Hi Everyone,
I need to run one hector_quadrotor with gazebo1.9 and I would like to control the quadrotor using a gamepad. I am not familiar with gamepads and need to buy one for my quadrotor application.
Thus, I was searching online for some information that indicates the type or brand of gamepad to control the quadrotor but I couldn’t find any useful info that help me to pick the right gamepad.
I am planning on using the “longitech_gamepad.launch” for the teleoperation so it means that do I need to get a Logitech gamepad type? Or can anyone please indicate me the type of gamepad that I need to buy?
Thanks you.
Originally posted by Robert1 on ROS Answers with karma: 63 on 2014-05-07
Post score: 0
|
Does anyone have an idea on how i can make a robot scriptable? So that anyone could program the robots to take actions without worrying about the hard stuff.
To be clear, i would like to do something like this:
An user, could get my robot with ros running. He would then, in his notebook with ros running too, open a node that provides a window, so that he can script an action to the robot. Something like:
move("livining_room");
object = detect("cube");
for(int i = 0; i<object.getNumberOfObjects(); ++i){
grap(object[i]);
move("room");
release();
move("livining_room");
}
shutDown();
the node would process that and send messages to a node controlling the robot. My question really is how to embedd a script language to accomplish this. Could anyone give me some direction? And what language would be the best to do so? i was thinking about lua or python (i don't know neither one). Thanks
Originally posted by Edno on ROS Answers with karma: 46 on 2014-05-07
Post score: 0
|
Hi, everyone.
I'd like to know how to write CMakesLists.txt for cuda code.
Are there any good references for it ??
Code is as the following, very simple.
// hello.cu
#include <cuda.h>
#include <cuda_runtime.h>
__global__ kernel()
{
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "hello");
ros::NodeHandle nh;
kernel<<<1, 1>>>()
ROS_INFO_STREAM("Hello, world.");
return 0;
}
Thanks in advance.
Originally posted by moyashi on ROS Answers with karma: 721 on 2014-05-07
Post score: 2
|
Hello,
We're working on getting the Navigation stack up-and-running on our robot. We're making headway, but we have a question about the horsepower needed to run the nav stack. We're working under the assumption that this computer will do the trick. The DE2i-150 has an Atom N2600 at 1.6 GHz and 2GB of DDR3 RAM. Is this a reasonable assumption?
Thanks in advance,
Rick Armstrong
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-05-07
Post score: 0
|
Created a package of my own after installing the package rosserial,
this went well. I've been following the create a package tutorial.
When listing the dependencies it claims that the package rosserial is missing as seen below.
What have I missed ?
$
$ catkin_create_pkg serial_test01 std_msgs rospy roscpp rosserial
$
Created file serial_test01/CMakeLists.txt
Created file serial_test01/package.xml
Created folder serial_test01/include/serial_test01
Created folder serial_test01/src
Successfully created files in ~/catkin_ws/serial_test01. Please adjust the values in package.xml.
$
$
$ rospack depends1 serial_test01
[rospack] Error: package/stack 'serial_test01' depends on non-existent package 'rosserial' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
$
$
Originally posted by ROSnewbie11 on ROS Answers with karma: 61 on 2014-05-07
Post score: 2
|
In brief, I am going to use slam_gmapping with kinect. but the result is very bad. however I rotate, move the kinect, the result map in rviz just keep a fan-shaped area no more than 90 degree.
I am not even very clear about what question to ask, I feel not mastering the whole thing :(
so, maybe describe what I did in detail is a good idea. the question will be long, but easy to understand this way:
in ubuntu open a terminal, type
roscore
start kinect driver in another terminal
rosrun openni_camera openni_node
convert depth image into LaserScan
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/depth/image_raw
run gmapping
rosrun gmapping slam_gmapping scan:=/scan
run rviz to see result "Map", "LaserScan" and "Image"
rosrun rviz rviz
I got warning message at step 2, I hope it doesn't matter because I can see a fairly good "Image" of "/depth/image_raw" topic
[ WARN] [1399535684.197109851]: ~device_id is not set! Using first device.
[ WARN] [1399535684.562974619]: Camera calibration file /home/vdonkey/.ros/camera_info/rgb_A00366913062050A.yaml not found.
[ WARN] [1399535684.563025039]: Using default parameters for RGB camera calibration.
I also got warning at step 4
[ WARN] [1399536805.888066710]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
this warning cannot be ignored, since I cannot see any map showed in rviz after adding a "Map" subscribing "/map" topic. so I add this before step 4
rosparam set /slam_gmapping/odom_frame camera_depth_frame
camera_depth_frame seems to be the default frame id of /scan topic published by depthimage_to_laserscan package
but after that, the warning message of gmapping changed into
[ WARN] [1399537552.284971741]: Failed to compute laser pose, aborting initialization ("base_link" passed to lookupTransform argument target_frame does not exist. )
so I added this before step 4
rosparam set /slam_gmapping/base_frame camera_depth_frame
this time I got no warning message, after setting base_frame and odom_frame, I have "Map", "LaserScan" showed in rviz.
The problem is, nevertheless I rotate/move the kinect, the result map is always facing a same direction. of course so does the laser scan lines. I have some guesses/questions:
maybe I need a Wheel Encoder hardware?
where to buy a proper wheel encoder? how to drive it?
what topic will wheel encoder's driver publish? while gmapping only subscribe /tf and /scan
topics subscribed can be regarded as input, topics published can be regarded as output, how about parameters? input? output? how about base_frame and odom_frame of gmapping ? I think they should affect "/map" topic, an output topic, so that they are some kind of output, but the two "rosparam set" before running gmapping give me hint that they are inputs.
why I got no warning even I didn't do anything to the /tf topic? what should I do about /tf? why I always get "no tf data received" pdf after executing "rosrun tf view_frames" even when gmapping is running?
thank you for watching this long question. I hope I can understand the essence of ROS faster. thank you for your help
Originally posted by vdonkey on ROS Answers with karma: 51 on 2014-05-07
Post score: 2
|
I am working on some code that I haven't made.
The thing is that I have to work in Hydro and this code was made for Fuerte.
I tried to catkinize the packages changing the manifest.xml and CMakeLists.txt
I don't know if it is needed to change anything else but when I try to make the package I get an error.
CMakeFiles/LLtoUTMsNode.dir/src/LLtoUTMsNode.cpp.o: In function `ros::serialization::Stream::advance(unsigned int)':
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
CMakeFiles/LLtoUTMsNode.dir/src/LLtoUTMsNode.cpp.o:/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: more undefined references to `ros::serialization::throwStreamOverrun()' follow
collect2: error: ld returned 1 exit status
make[2]: *** [/home/summitxl/catkin_ws/devel/lib/test_GPS/LLtoUTMsNode] Error 1
make[1]: *** [Ensayos/test_GPS/CMakeFiles/LLtoUTMsNode.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Originally posted by arenillas on ROS Answers with karma: 223 on 2014-05-08
Post score: 1
|
Is there a way to enable logging of a node to both file and screen? And why does setting output="screen" disable logging to file?
I would like to see log messages at runtime on the screen, but still be able to recheck log messages at a later stage without having to copy/paste my terminal screens to a file.
I suppose I could use rqt_console to see the log messages at runtime, but as I understand that would put more strain on my network and I already have timing issues as it is without overloading my network with debug messages.
Thanks in advance
Originally posted by Dominik on ROS Answers with karma: 68 on 2014-05-08
Post score: 2
|
I've installed hydro onto a raspberry pi having built the package following the instructions on the website. I've fetched the tutorials from github so I can run the turtlesim. The build keeps failing with the following error. It's probably something fairly obvious...
<== Finished processing package [56 of 63]: 'rosnode'
==> Processing catkin package: 'rospy_tutorials'
==> Building with env: '/home/pi/ros_catkin_ws/install_isolated/env.sh'
==> cmake /home/pi/ros_catkin_ws/src/ros_tutorials/rospy_tutorials -DCATKIN_DEVEL_PREFIX=/home/pi/ros_catkin_ws/devel_isolated/rospy_tutorials -DCMAKE_INSTALL_PREFIX=/home/pi/ros_catkin_ws/install_isolated in '/home/pi/ros_catkin_ws/build_isolated/rospy_tutorials'
-- Using CATKIN_DEVEL_PREFIX: /home/pi/ros_catkin_ws/devel_isolated/rospy_tutorials
-- Using CMAKE_PREFIX_PATH: /home/pi/ros_catkin_ws/install_isolated
-- This workspace overlays: /home/pi/ros_catkin_ws/install_isolated
-- 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/pi/ros_catkin_ws/build_isolated/rospy_tutorials/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /home/pi/ros_catkin_ws/build_isolated/rospy_tutorials/cmake/rospy_tutorials-genmsg.cmake:3 (message):
Could not find messages which
'/home/pi/ros_catkin_ws/src/ros_tutorials/rospy_tutorials/msg/HeaderString.msg'
depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?
Cannot locate message [Header] in package [std_msgs] with paths
[['/home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/std_msgs/cmake/../msg']]
Call Stack (most recent call first):
/home/pi/ros_catkin_ws/devel_isolated/genmsg/share/genmsg/cmake/genmsg-extras.cmake:298 (include)
CMakeLists.txt:9 (generate_messages)
-- Configuring incomplete, errors occurred!
<== Failed to process package 'rospy_tutorials':
Command '/home/pi/ros_catkin_ws/install_isolated/env.sh cmake /home/pi/ros_catkin_ws/src/ros_tutorials/rospy_tutorials -DCATKIN_DEVEL_PREFIX=/home/pi/ros_catkin_ws/devel_isolated/rospy_tutorials -DCMAKE_INSTALL_PREFIX=/home/pi/ros_catkin_ws/install_isolated' returned non-zero exit status 1
Originally posted by Blueboater on ROS Answers with karma: 21 on 2014-05-08
Post score: 2
|
Hi , I try to run this package ""https://github.com/procrob/procrob_functional"" but when i execute the commands in this page """http://wiki.ros.org/face_recognition""" No images are added to the data folder ???
I am using fuerte distribution on Ubuntu 12.04
Originally posted by smart engineer on ROS Answers with karma: 11 on 2014-05-08
Post score: 1
|
Hello,
I made a program on OpenCV that used fonctions like "NamedWindow" wich display a window with GTK, or Qt, etc..
Now in my ROS program, "autopilote.cpp" i've included "<opencv2/opencv.hpp>" and put my OpenCV code into it. It seems to correctly get the video capture, analyse it, and correctly publish results. But no windows are displaying. And I can't see somes errors or warning about this.
Have you got somes advices to display the windows ? Is this feature enabled in opencv in ros ? Should I create windows in another way ?
Thanks you
Originally posted by AntKa on ROS Answers with karma: 1 on 2014-05-08
Post score: 0
|
Hi everyone,
im pretty new to ROS and i still haven't understand every bit of it. So there are still some things which are a bit strange to me. And i want to say sorry in advance for not writing the best english..
What i want to do:
Im trying to use a simulated Kinect in VREP as source for a SLAM-Algorithm in ROS.
Systemconfig:
I use Fuerte on a Ubuntu 12.04 LTS
Progress:
I transfered the Kinect Pointcloud to ROS via a Topic and used the pointcloud_to_laserscan/CloudToScan nodelet to convert it to a fake-laserscan with the following script:
<launch>
<!-- openni_manager -->
<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
<!-- throttling -->
<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
<param name="max_rate" value="20"/>
<remap from="cloud_in" to="/vrep/KinectPointCloud"/>
<remap from="cloud_out" to="/cloud_throttled"/>
</node>
<!-- fake laser -->
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
<param name="output_frame_id" value="/kinect"/> <!-- Question1 -->
<param name="min_height" value="-0.025"/>
<param name="max_height" value="0.025"/>
<remap from="cloud" to="/cloud_throttled"/>
</node>
</launch>
But if i want to show the laserscan in rviz something strange happens to the pointcloud:
(i put some decay on the laserscan to see multiple scans at once)
(thank you for the upvote, now i can post the picture)
It seems as the points arent mapped to the "real world". They are "rotating" with the Robot (Kinect). Shouldnt they normally stay at the objectpositions? I really think that the problem is tf-related... The tf-Tree is visible in the rviz screenshot. The /scan Topic (laserscantopic) is transformed via
rosrun tf static_transform_publisher 0 0 0 0 0 0 kinect_visionSensor scan 100
tf echo puts out:
---
transforms:
-
header:
seq: 0
stamp:
secs: 1399584596
nsecs: 289725537
frame_id: /kinect
child_frame_id: /kinect_visionSensor
transform:
translation:
x: -0.0141000151634
y: 0.0292500853539
z: 0.0323894619942
rotation:
x: 3.98174461205e-08
y: 0.707106751384
z: 0.707106810989
w: -5.22563454972e-08
---
transforms:
-
header:
seq: 0
stamp:
secs: 1399584596
nsecs: 289725537
frame_id: /world
child_frame_id: /kinect
transform:
translation:
x: 0.20544680953
y: -0.454404950142
z: 0.345994025469
rotation:
x: 4.20090261606e-05
y: 2.69500965001e-05
z: -0.479030467743
w: 0.877798273228
---
transforms:
-
header:
seq: 0
stamp:
secs: 1399584596
nsecs: 477231988
frame_id: /kinect_visionSensor
child_frame_id: /scan
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
After that Messages there are multiple tf-messages just like the last one. After a few seconds the other two get a update.
Questions:
Im not shure what the "output_frame_id" in the script should be. What should i put there?
Is my tf-tree okey? Im really not that sure about that.
fixed Frame = "/world" is ok for rviz?
Do i need more tf-data from VREP?
I think i missed one little piece in the huge ros-puzzle... ?
Originally posted by julled on ROS Answers with karma: 23 on 2014-05-08
Post score: 2
Original comments
Comment by julled on 2014-05-15:
Anyone got a idea? I think its frame / tf related but i cant find my error. view_frames output: http://i.imgur.com/VvhjkBf.png
Comment by julled on 2014-05-15:
Anyone got a idea? I think the problem is frames / tf related but i cant find the error... view_frames output: http://i.imgur.com/VvhjkBf.png
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Hi,
I'm trying to write a unit test that tests converting between some messages types and one of the things I'd like to do is have a test that fails if the message's .msg file has changed at all (this is because it's important that the conversion functions be updated with the changed message and I want a reminder to do so). I'd be happy to just hard code the current message MD5 sum into my test, but how do I check the MD5 sum of the message to make sure it matches?
Thanks,
Jenny
Originally posted by jbarry on ROS Answers with karma: 280 on 2014-05-08
Post score: 4
Original comments
Comment by ahendrix on 2014-05-08:
I'm pretty sure are ways to retrieve a message's MD5 sum through the C++ and python APIs. I'm not sure how well it's documented, so you may want to inspect the generated python or C++ files.
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I'm trying to build step 2.1.2 from here: http://wiki.ros.org/hydro/Installation/OSX/Homebrew/Source
I've run: rosdep install --from-paths src --ignore-src --rosdistro hydro -y to the point where it tried to install gazebo and a dependency, ogre. The ogre build is failing, claiming it can't find freetype.
I've added a symlink as described on stackoverflow but then removed it as I should probably just brew link to get everything linked up. Using brew unlink && brew link doesn't fix my issue.
Here is my gist for ROS: https://gist.github.com/skotturi/42c2a58357c5c4c6951d
Here is my gist for when I brew install -v ogre: https://gist.github.com/skotturi/108f6e149b0e38424e7f
Any advice would be greatly appreciated, this thread suggested using a different version of freetype: https://github.com/Homebrew/homebrew-php/issues/885
Thanks in advance!
Originally posted by sakotturi on ROS Answers with karma: 26 on 2014-05-08
Post score: 0
Original comments
Comment by 130s on 2014-05-09:
Isn't this thread helpful? http://answers.ros.org/question/158271/ogre-build-fails-with-freetypeh-error-os-x-108-hydro/
Comment by sakotturi on 2014-05-11:
I installed matplotlib on this machine a couple weeks ago and came across that same thread :(
I tried removing the symlink to x11: sudo rm /opt/x11/include/freetype2
and then I tried building with the --HEAD version: brew install -v ogre --HEAD
This built in 26 minutes.
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I'd like to install my asus xtion pro live on Ubuntu 12.04 hydro, but when I have plug my sensor, he is "detected" but there are no name.
What is the procedure to install correctly this sensor?
Originally posted by guigui on ROS Answers with karma: 33 on 2014-05-08
Post score: 1
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Hello,
I'm fairly new to ROS and the youBot. I'm trying to move Joint 1 of the arm. A notebook is connected via ssh to the youBot. When I use rostopic everything works as expected and the arm moves.
rostopic pub -1 /arm_1/arm_controller/position_command brics_actuator/JointPositions '{positions:[{joint_uri: arm_joint_1, unit: rad, value: 2}]}
ros_graph looks like this:
/rostopic_3016_lotofnumbers -> /arm_1/arm_controller/position_command -> /youbot_driver
Now I tried my own program "ArmVorlage".py, but it isn't moving:
class Goto_Searchposition():
def __init__(self):
# Give the node a name
self.node_name = "goto_searchposition"
# Set rospy to execute a shutdown function when exiting
rospy.on_shutdown(self.shutdown)
self.pub = rospy.Publisher("/arm_1/arm_controller/position_command", brics_actuator.msg.JointPositions)
rospy.init_node("goto_searchposition")
joint_positions = brics_actuator.msg.JointPositions()
JointValue = brics_actuator.msg.JointValue()
JointValue.joint_uri='arm_joint_1'
JointValue.unit = 'rad'
JointValue.value = 2
joint_positions.positions.append(JointValue)
self.pub.publish(joint_positions)
rospy.sleep(1)
rospy.loginfo(str(joint_positions))
def shutdown(self):
# Always stop the robot when shutting down the node.
rospy.loginfo("Stopping the robot...")
if __name__ == '__main__':
Goto_Searchposition()
rospy.spin()
ros_graph looks like this:
/goto_searchposition -> /arm_1/arm_controller/position_command -> /youbot_driver
The debugging in /youbot_driver looks similiar except the ports are different and these logs are missing when running my own program:
[DEBUG] [1399616158.709991323]: Command for arm1 received
[DEBUG] [1399616158.710137675]: Arm ID is: youbot-manipulator
I would be very grateful if you could help me.
Regards
Timo
(I'm sorry i cant post pictures or links cause as a new user i have too little karma)
Originally posted by cobhc999 on ROS Answers with karma: 38 on 2014-05-08
Post score: 0
Original comments
Comment by ratneshmadaan on 2014-06-11:
I have a similar doubt. Though I am getting a different error. Will just "from brics_actuator import JointPosition" work? I just made a python script and get this:
http://answers.ros.org/question/173395/controlling-youbots-arm-brics_actuatorjointpositions/
youbot@youbot-desktop:~$ rosrun youbot_leap leap_armcontrol.py Traceback (most recent call last): File "/home/youbot/catkin_ws/src/youbotleap/scripts/leap_armcontrol.py", line 96, in sender() File "/home/youbot/catkin_ws/src/youbotleap/scripts/leap_armcontrol.py", line 25, in sender msg.positions.joint_uri = "arm_joint_1" AttributeError: 'list' object has no attribute 'joint_uri'
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Hi , when i try to init rosdep using sudo rosdep init , i have the error : ERROR: cannot download default sources list from: https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.
I am using ros groovy on 12.04 ubuntu. Can anyone help me to troubleshoot? Many thanks in advance :)
Originally posted by manaXmizery on ROS Answers with karma: 41 on 2014-05-08
Post score: 1
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Hi folks,
this tutorial asks to shutdown publishers and subscribers in the overloaded shutdown_plugin method but doesn't explain how this is done. I couldn't find any advice on how to shutdown a publisher and unsubscribe a subscriber. Could anyone guide me? Thanks
Cheers,
Hendrik
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2014-05-08
Post score: 1
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