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Hello,
I'm just starting to use ros_control with Gazebo. I adapted the Gazebo/ROS_Control tutorial (with the RRBot) to a 6-dof robot I'm working with. Although the tutorial demo works fine, when I use a JointPositionController with a simplified, 1-dof version of the robot, I get the following output from the controller state:
header:
seq: 1097
stamp:
secs: 18
nsecs: 139000000
frame_id: ''
set_point: 2.68690323324e-08
process_value: 1.80636445357e-07
process_value_dot: 4.76481957492e-08
error: 6.28318515341
time_step: 0.001
command: 0.0
p: 0.0
i: 0.0
d: 0.0
i_clamp: 0.0
The gains are voluntarily set to zero to see what's going on without the controller being active. Note the error that says 6.2831 although both set_point and process_value are essentially zero. Shouldn't the error be zero as well or am I missing something? I'm using ROS Hydro and Gazebo 1.9.5
Originally posted by JML on ROS Answers with karma: 26 on 2014-05-28
Post score: 0
|
TL:DR Is there a correct way to use rospy in the interactive shell? Seems stuck in shutdown after ctrl+c
Since interacting with ros from python is much more powerful than interacting via the command line interface, I've been attempting to use the interactive python shell to do many of the things I might otherwise do at the command line, like echoing and filtering messages.
The problem is that once I hit ctrl+c to SIGINT rospy.spin(), from then on out rospy.spin() is useless as it is in shutdown state. I've tried re-calling rospy.init_node again, but that fails to solve the problem.
So, is there a correct way to use rospy in the interactive shell?
Is there a way to kick rospy out of the shutdown state?
Originally posted by Asomerville on ROS Answers with karma: 2743 on 2014-05-28
Post score: 1
|
hi, all,
I am trying to set up a simple TF tree to convert incoming odometer data.
however, the listener doesn't seem picking up anything at all. the tf_monitor shows no frame either.
~$ rosrun tf tf_monitor
RESULTS: for all Frames
Frames:
All Broadcasters:
how do I make it work?
here's the broadcaster code.
void OdoCallback(const nav_msgs::Odometry::ConstPtr& odom_in)
{
ros::Time current_time = ros::Time::now();
tf::TransformBroadcaster odom_broadcaster;
tf::Stamped<tf::Pose> transform;
transform.setOrigin( tf::Vector3(odom_in->pose.pose.position.x, odom_in->pose.pose.position.y, 0.0) );
tf::Quaternion q;
q.setRPY(odom_in->pose.pose.orientation.z, 0, 0);
transform.setRotation(q);
odom_broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/odom_frame", "/base_link"));
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "sensor_convert_node");
ros::NodeHandle n;
ros::Subscriber odo_sub = n.subscribe("odom", 100, OdoCallback);
printf("setting up laser filter\r\n");
ros::Rate loop_rate(100);
while (ros::ok())
{
ros::Time start = ros::Time::now();
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
and here's the listener code
int main(int argc, char** argv){
ros::init(argc, argv, "robot_tf_listener");
ros::NodeHandle n;
tf::TransformListener listener;
ros::Rate r(50);
while(n.ok()){
tf::Stamped<tf::Pose> ident (tf::Transform(tf::createIdentityQuaternion(),
tf::Vector3(0,0,0)), ros::Time(0), "/odom_frame");
tf::Stamped<tf::Pose> odom_pose;
try{
listener.transformPose("/odom_frame",ident, odom_pose);
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
}
ros::spinOnce();
r.sleep();
}
return 0;
}
your help is appreciated.
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-05-28
Post score: 0
|
Hi
I am creating a launch file for my project. One of my nodes has to load a .jpg image as a part of the code execution. Normally, when using rosrun, I'm located in the folder with the picture when running the code, and it is found automatically by the node.
How do i include this in roslaunch so it is found automatically?
Originally posted by eirikaso on ROS Answers with karma: 108 on 2014-05-28
Post score: 1
|
Hi All,
I am having a problem with catkin_make ignoring an include directory directive. The only way for catkin_make to 'see' it is to use the include_directories(src/include) directive. For some reason the INCLUDE_DIRS directive in catkin_package works in another project of mine just fine, but not in this project. It also has the unpleasant side effect of rebuilding all other projects when include_directories is first used, which is not pleasant if you have RViz in your catkin_make source tree.
Here is the CMakeLists.txt file I am using. There are probably a few unneeded dependencies as this file is derived from another project. I still have not got my head around the intracacies of CMake and its interactoins with catkin_make and ROS.
# Instructions from
# wiki.ros.org/catkin/CMakeLists.txt
#
# 1. Required CMake Version (cmake_minimum_required)
cmake_minimum_required(VERSION 2.8.3)
# 2. Package Name (project())
project(can_bus_read)
# 3. Find other CMake/Catkin packages needed for build (find_package())
find_package(catkin REQUIRED nodelet roscpp rospy std_msgs message_generation sensor_msgs)
find_package(roscpp REQUIRED)
# 4. Message/Service/Action Generators (add_message_files(), add_service_files(), add_action_files())
add_message_files(
FILES
canbus_raw.msg
)
# 5. Invoke message/service/action generation (generate_messages())
catkin_python_setup()
generate_messages(DEPENDENCIES sensor_msgs)
# 6. Specify package build info export (catkin_package())
catkin_package(
INCLUDE_DIRS src/include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp
DEPENDS)
# 7. Libraries/Executables to build (add_library()/add_executable()/target_link_libraries())
include_directories(src/include)
add_executable(candump src/candump.c
src/lib.c
src/lib.h
src/terminal.h
src/include/linux/can.h
src/include/linux/can/bcm.h
src/include/linux/can/error.h
src/include/linux/can/gw.h
src/include/linux/can/isotp.h
src/include/linux/can/netlink.h
src/include/linux/can/raw.h
)
target_link_libraries(candump ${catkin_LIBRARIES})
add_definitions(-D_LINUX -D__STDC_FORMAT_MACROS -DUSE_INTTYPES__ -DHAVE_PCAP -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN)
# 8. Tests to build (catkin_add_gtest())
# 9. Install rules (install())
#### END OF FILE #####
`
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-05-28
Post score: 0
|
I have written a .launch file for a CAN bus reader, but roslaunch simple does not see it, and I can't figure out what I'm doing wrong. It is especially disconcerting as every other node I've got works just fine.
package.xml:
<package>
<name>canbus_read</name>
<version>0.0.1</version>
<description>Can_Bus_ROS_Reader</description>
<maintainer email="[email protected]">Bart Milne</maintainer>
<author>Bart Milne</author>
<license>BSD</license>
<url type="website"></url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<run_depend>roscpp</run_depend>
</package>
Launch file:
<!-- %Tag(FULL)%-->
<launch>
<node name="candump" type="candump" pkg="canbus_read" output="screen" args="any" />
</launch>
<!-- %EndTag(FULL)%-->
The program's name iscandump.
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-05-28
Post score: 0
|
Hello, I am a newer and have been learning the book of <> .I have tried the gazebo turtlebot_simulation package and also realised navigation using iRobot and hokuyo in Fuerte and Groovy distribution . I found global planner package using A* algorithm contained in the hydro distribution and hope to have a try.
But i don't know how to change the default "navfn/NavfnROS" object for the param base_global_planner in move_base package .In old navfn package ,class NavfnROS is defined with parameters like /allow_unknown contained in initialization function.I learn that the global planner package can subscribe for the navfn package. however, how to use your param so as to get the plan like befor ?
Your suggestion would be appreciated ,thank you@David Lu.
Originally posted by breeze on ROS Answers with karma: 1 on 2014-05-28
Post score: 0
Original comments
Comment by breeze on 2014-05-29:
@David Lu Look forwards to your attention and furthermore advice.
|
What controls the linking order in a catkin_make build? I am trying to link to ffmpeg, but I am getting a strange "undefined reference to symbol" error, not a normal undefined reference error that would happen if I forgot to include the library in target_link_libraries( ). Everything I can find about that sort of error is related to incorrectly putting command line linking flags (e.g. -lavcodec) before the object that uses them, i.e. incorrect linking order. But I don't know how to control that with the CMakeLists.txt file.
If I add the library avutil to the target_link_libraries( ), the error switches to a normal undefined reference error. But avutil is the library with those functions, so I have no idea why it still thinks I'm not linking to it. The avcodec library includes avutil, and when I built standalone applications (not ROS) of my own I never had to link to avutil explicitly if I linked to avcodec.
Any ideas?
The catkin_make error:
Linking CXX executable /home/jason/ROS/ARDrone/devel/lib/ardrone_2/h264_decoder_node
[ 0%] [ 0%] Built target gensrv_eus
Built target genmanifest_eus
[ 0%] [ 1%] Built target genmsg_eus
Built target at_controller_node
[ 3%] [ 4%] Built target video_client_node
Built target navdata_client_node
[ 98%] Built target ardrone_2_ALL_GEN_OUTPUT_FILES_eus
/usr/bin/ld: CMakeFiles/h264_decoder_node.dir/src/h264_decoder.cpp.o: undefined reference to symbol 'av_frame_free@@LIBAVUTIL_52'
/usr/local/lib/libavutil.so.52: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/jason/ROS/ARDrone/devel/lib/ardrone_2/h264_decoder_node] Error 1
make[1]: *** [ardrone_2/CMakeFiles/h264_decoder_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
The CMakeLists.txt file:
cmake_minimum_required(VERSION 2.8.3)
project(ardrone_2)
find_package(catkin REQUIRED COMPONENTS
roscpp
message_generation
std_msgs
image_transport)
###################################
## 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 ardrone_2
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include ${catkin_INCLUDE_DIRS} /usr/local/include)
## Declare a cpp library
# add_library(ardrone_2
# src/${PROJECT_NAME}/ardrone_2.cpp
# )
## Declare a cpp executable
add_executable(navdata_client_node src/navdata_client.cpp)
add_executable(at_controller_node src/at_controller.cpp)
add_executable(video_client_node src/video_client.cpp)
add_executable(h264_decoder_node src/h264_decoder.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(ardrone_2_node ardrone_2_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(ardrone_2_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(navdata_client_node ${catkin_LIBRARIES})
target_link_libraries(at_controller_node ${catkin_LIBRARIES})
target_link_libraries(video_client_node ${catkin_LIBRARIES})
target_link_libraries(h264_decoder_node ${catkin_LIBRARIES} avcodec avformat swscale)
Originally posted by mechanicalmanb on ROS Answers with karma: 86 on 2014-05-28
Post score: 0
|
Hi,
I am writing a node that subscribes to an actionlib_msgs::GoalStatusArray message. The callback code is:
move_base_status_sub = n.subscribe<actionlib_msgs::GoalStatusArray>("/move_base/status", 50, &rviz_text::move_base_statusCallback, this);
...
void rviz_text::move_base_statusCallback(const actionlib_msgs::GoalStatusArrayConstPtr& msg)
{
actionlib_msgs::GoalStatusArray status_array = *msg;
uint32_t sequence = status_array.header.seq;
// sequence is read successfully
actionlib_msgs::GoalStatus status_list_entry = status_array.status_list[0];
// status_list_entry is read unsuccessfully. The above line causes a seg fault at runtime.
}
I am able to read the header of the GoalStatusArray, but unable to read the status_list array. I get a segmentation fault when doing so.
I seem to be doing an error when trying to access the first element of status_array.status_list.
Do you see any syntax error in my code?
The GoalStatusArray and GoalStatus messages definitions can be found on:
GoalStatusArray message
GoalStatus message
My callback function is subscribing to the /move_base/status topic. The messages on this topic look like the following:
---
header:
seq: 52
stamp:
secs: 1400564326
nsecs: 841550350
frame_id: ''
status_list:
-
goal_id:
stamp:
secs: 1400564318
nsecs: 321941901
id: /move_base-1-1400564318.321941901
status: 1
text: This goal has been accepted by the simple action server
---
My setup:
ROS fuerte
Ubuntu 12.04
Do you have a clue why my code is failing?
Originally posted by RalphA on ROS Answers with karma: 36 on 2014-05-28
Post score: 1
|
Hi all,
I plan to spawn a robot urdf model in gazebo by C++. Can anyone kindly introduce me any tutorial or code template for doing this?
My finally objective is to implement my algorithm to control this robot in C++. Thanks for your help.
Originally posted by Sendoh on ROS Answers with karma: 85 on 2014-05-28
Post score: 0
|
I created a new layer (the overwrite_layer) and declared it in the costmap_plugins.xml. The code compiles without errors but when I run it, I get the following error message:
[ INFO] [1401350861.147988001, 1397467592.599155280]: Using plugin "overwrite_layer"
terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
what(): According to the loaded plugin descriptions the class scitos_2d_navigation::OverwriteLayer with base class type costmap_2d::Layer does not exist. Declared types are blablabla ...
The puzzeling part to me is, that the plugin loader still looks for a costmap_2d::Layer object even though it is clearly defined as a costmap_2d::CostmapLayer (see costmap_plugins.xml-file below). Acutally I had it first as a costmap_2d::Layer, compiled it, then changed it to costmap_2d::CostmapLayer and then compiled it again. Can I maybe force the compiler somehow to reread the costmap_plugins.xml? Or am I overlooking something obvious? Thanks!
<class_libraries>
<library path="lib/libdynamic_layer">
<class type="scitos_2d_navigation::DynamicLayer" base_class_type="costmap_2d::Layer">
<description>Publishing a static_map and a dynamic_map based on old and current measurments</description>
</class>
</library>
<library path="lib/liboverwrite_layer">
<class type="scitos_2d_navigation::OverwriteLayer" base_class_type="costmap_2d::CostmapLayer">
<description>Overwriting the layered costmap with a user defined map.</description>
</class>
</library>
</class_libraries>
I'm on Hydro, Ubuntu 12.04
Originally posted by Luke_ROS on ROS Answers with karma: 116 on 2014-05-28
Post score: 1
|
Hello,
I am using stereo_image_proc to process data coming from a stereo system. When trying to visualize it in RVIZ I came across to the following issue: The point cloud (pointcloud2 and pointcloud topics) is not properly transformed. See the following images:
In gazebo:
https:// cloud.githubusercontent.com/assets/1283922/3115469/1744ac0e-e709-11e3-8e17-84c713713794.png
In RVIZ:
https:// cloud.githubusercontent.com/assets/1283922/3115472/2044a638-e709-11e3-8023-6b9ed6eeb568.png
Any ideas? Thanks..!
P.S.: The cameras seem properly transformed. Sorry about the links (no images/links because my karma is low). See images below:
Left:
https:// cloud.githubusercontent.com/assets/1283922/3115534/eef65dbe-e709-11e3-8ae9-793dcd54bb60.jpg
Right:
https:// cloud.githubusercontent.com/assets/1283922/3115539/fafae6fc-e709-11e3-8d06-c4366250d28e.jpg
Originally posted by costashatz on ROS Answers with karma: 11 on 2014-05-28
Post score: 0
|
Hi friends
I am trying to do 3D map with my kinect and RTAB-MAP, I am following this tutorial
https://code.google.com/p/rtabmap/wiki/ROS#rtabmapviz
But is for hydro and I am working with ROS fuerte. I can not get it works, I have this ERROR
youbot@diego-VPCEH2K1E:~$ cd ros_workspace/
youbot@diego-VPCEH2K1E:~/ros_workspace$ . setup.sh
youbot@diego-VPCEH2K1E:~/ros_workspace$ roslaunch rtabmap rgbd_mapping.launch
WARNING: unable to configure logging. No log files will be generated
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is tag: Cannot load command parameter [rosversion]: command [rosversion ros] returned with code [1].
Param xml is
and I have no idea, do you know how do it works?
Thanks.
Regards.
Originally posted by Rookie92 on ROS Answers with karma: 47 on 2014-05-29
Post score: 0
|
Hi,
I was wondering if it was possible to change the color of an Interactive Markers during run time?
I tried to change the color of the mesh embedded in the Interactive Markers but nothing occurs when I update the Server:
server.get()->applyChanges();
The architecture of my Interactive Markers is :
visualization_msgs::Marker robot_mesh;
visualization_msgs::InteractiveMarkerControl robot_control; //contain robot_mesh
visualization_msgs::InteractiveMarker robot_marker; //contain robot_control
Thanks
Originally posted by thomasL on ROS Answers with karma: 36 on 2014-05-29
Post score: 1
|
Hi,
I'm following the cv_bridge tutorial
The code is correct(I just copy the code and change the topic name to mine /camera/image ), also modified the CMakeLists.xml.
The catkin_build is successful without error.
But when I run the node, there is nothing showed up.
The node should run up successfully because new topics show up.
/camera/camera_info
/camera/image
/camera/image/compressed
/image_converter/output_video
/image_converter/output_video/compressed
/image_converter/output_video/compressed/parameter_descriptions
/image_converter/output_video/compressed/parameter_updates
/image_converter/output_video/compressedDepth
/image_converter/output_video/compressedDepth/parameter_descriptions
/image_converter/output_video/compressedDepth/parameter_updates
/image_converter/output_video/theora
/image_converter/output_video/theora/parameter_descriptions
/image_converter/output_video/theora/parameter_updates
/rosout
/rosout_agg
Also I can view the image using image_view
rosrun image_view image_view image:=/camera/image _image_transport:=compressed
I'm afraid maybe the compressed video matters so I change add the command when running:
$ rosparam set /compressed_listener/image_transport compressed
$ rosrun mypackage mynode __name:=compressed_listener
http://wiki.ros.org/image_transport/Tutorials/ExaminingImagePublisherSubscriber
But still no display window...
Thanks
[Originally posted](https://answers.ros.org/question/171726/no-image-display-window-in-cv_bridge-tutorial.-(does-compressed-image-matter?/) by lanyusea on ROS Answers with karma: 279 on 2014-05-29
Post score: 0
Original comments
Comment by ahendrix on 2014-05-30:
Are any images published on the /image_converter/output_video topic? You should be able to verify that images are being published with rostopic hz or rostopic echo
Comment by lanyusea on 2014-05-30:
@ahendrix nothing... I ran rostopic echo /image_converter/output_video but got nothing. I think the subscribe of video topic failed.
Comment by lanyusea on 2014-05-30:
I guess maybe the image_transport matters because when I subscribe I just use the code image_sub_ = it_.subscribe("/camera/image", 1, &ImageConverter::imageCb, this); while for image_view, I need to set _image_transport=compressed to see the video. But I don't know what to change here...
Comment by lanyusea on 2014-05-31:
@ahendrix Thanks so much! it works, but could you teach me how to find the parameter need to remap? first I searched the source and wiki of image_transport and cv_bridge with key workcompressed, but I got nothing... I really want to know how to get the answer when I face that kind of problem
Comment by ahendrix on 2014-06-02:
to be honest, I'm not sure what the appropriate parameter to change here is. I suspect it's namespaced to the topic name, but I'd have to read the source for image_transport to really understand it.
Comment by lanyusea on 2014-06-03:
@ahendrix Thanks again, I read the document again and now I can understand it much better. Also, could you convert it into the answer so I can mark it as the correct one.
|
Does the microstrain_3dmgx2_imu driver work for the Microstrain 3DM-GX4-25?
Thanks!
Originally posted by bk on ROS Answers with karma: 25 on 2014-05-29
Post score: 0
|
Yesterday, I could navigate my turtlebot with eband_local_planner. but today, I can't move it. So, rviz says following warning.
[ WARN] [1401378967.283247030]: MessageFilter [target=map ]: Discarding message from [/move_base] due to empty frame_id. This message will only print once.
[ WARN] [1401378967.283417501]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[ WARN] [1401378998.796621804]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[ WARN] [1401379032.819038628]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
Does anyone have any idea to solve these warning?
After that, Eband_local_planner says that it can't make path as following
[ INFO] [1401378966.134403366]: Global plan set to elastic band for optimization
[ERROR] [1401378967.110080798]: NO PATH!
[ERROR] [1401378967.110401250]: Failed to get a plan from potential when a legal potential was found. This shouldn't happen.
[ERROR] [1401378998.546064278]: NO PATH!
[ERROR] [1401378998.614580138]: Failed to get a plan from potential when a legal potential was found. This shouldn't happen.
[ WARN] [1401378998.734102440]: Clearing costmap to unstuck robot.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-05-29
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-05-29:
My turtlebot moves with base_local_planner, even though same error and warning happens.
Comment by David Lu on 2014-06-13:
Can you use ros console to figure out which module these messages originate from?
|
Hi
I have a bagfile with tf transforms containing /body frames
Is it possible to trace the path of the body frame in RVIZ?
kind of like in this tutorial, but I want to see a line the turtle followed in RVIZ,rather than a line to the transform...
http://wiki.ros.org/tf/Tutorials/Introduction%20to%20tf
Originally posted by Sentinal_Bias on ROS Answers with karma: 418 on 2014-05-29
Post score: 0
|
Hi,
as far as I understand in ROS the connections between nodes are implicitely given by topic names. So for example node A provides "camera_image", and node B subscribes to "camera_image", and provides "edge_detections". Now, A and B are connected. The names are hard-coded in the nodes source files.
But what if I want to install a node C between A and B, which takes "camera_image", provides "black_and_white_image"? Node B now should no longer subscribe to "camera_image", but to "black_and_white_image".
Of course I don't want to change the source of B. Should I pass the topic name as command line argument?
What is my fundamental misunderstanding here?
Originally posted by foopeter on ROS Answers with karma: 23 on 2014-05-29
Post score: 1
|
http://pointclouds.org/documentation/tutorials/normal_distributions_transform.php#normal-distributions-transform
I've used this program with the sample PCD's given and it came out correctly. This was confirmed by experienced users on here. Now I'm trying to use my own pcd's. I didn't want to bother changing the program so I just changed the names to room_scan1 and room_scan2. When I attempt to use them, I get this error:
Loaded 307200 data points from room_scan1.pcd Loaded 307200 data points from room_scan2.pcd Filtered cloud contains 1186 data points from room_scan2.pcd normal_distributions_transform: /build/buildd/pcl-1.7-1.7.1/kdtree/include/pcl/kdtree/impl/kdtree_flann.hpp:172: int pcl::KdTreeFLANN<PointT, Dist>::radiusSearch(const PointT&, double, std::vector<int>&, std::vector<float>&, unsigned int) const [with PointT = pcl::PointXYZ, Dist = flann::L2_Simple<float>]: Assertion `point_representation_->isValid (point) && "Invalid (NaN, Inf) point coordinates given to radiusSearch!"' failed. Aborted (core dumped)
This is the program I compiled: http://robotica.unileon.es/mediawiki/index.php/PCL/OpenNI_tutorial_1:_Installing_and_testing#Testing_.28OpenNI_viewer.29
Before you suggest it, I will let you know I already changed all of the PointXYZRGBA designations to just PointXYZ. It threw the same error before and after doing this. The thing that confuses me is that I looked at my produced PCD files and they seem to be exactly the same as the samples given for NDT.
Mine:
2320 2e50 4344 2076 302e 3720 2d20 506f
696e 7420 436c 6f75 6420 4461 7461 2066
696c 6520 666f 726d 6174 0a56 4552 5349
4f4e 2030 2e37 0a46 4945 4c44 5320 7820
7920 7a0a 5349 5a45 2034 2034 2034 0a54
5950 4520 4620 4620 460a 434f 554e 5420
3120 3120 310a 5749 4454 4820 3634 300a
4845 4947 4854 2034 3830 0a56 4945 5750
4f49 4e54 2030 2030 2030 2031 2030 2030
2030 0a50 4f49 4e54 5320 3330 3732 3030
0a44 4154 4120 6269 6e61 7279 0a00 00c0
7f00 00c0 7f00 00c0 7f00 00c0 7f00 00c0
Sample from NDT page:
2320 2e50 4344 2076 302e 3720 2d20 506f
696e 7420 436c 6f75 6420 4461 7461 2066
696c 6520 666f 726d 6174 0a56 4552 5349
4f4e 2030 2e37 0a46 4945 4c44 5320 7820
7920 7a0a 5349 5a45 2034 2034 2034 0a54
5950 4520 4620 4620 460a 434f 554e 5420
3120 3120 310a 5749 4454 4820 3131 3235
3836 0a48 4549 4748 5420 310a 5649 4557
504f 494e 5420 3020 3020 3020 3120 3020
3020 300a 504f 494e 5453 2031 3132 3538
Does anyone have any ideas?
Originally posted by Athoesen on ROS Answers with karma: 429 on 2014-05-29
Post score: 0
|
Hi, All,
I am trying to interface with the code below.
this is a piece of TF listener code trying to convert the incoming laser scan data to base_frame.
How do I construct a broadcaster for it?
tf::Stamped<tf::Pose> ident (tf::Transform(tf::createIdentityQuaternion(),
tf::Vector3(0,0,0)),
ros::Time(), laser_scan->header.frame_id);
tf::Stamped<tf::Pose> laser_pose;
try
{
this->tf_->transformPose(base_frame_id_, ident, laser_pose);
}
catch(tf::TransformException& e)
{
ROS_ERROR("Couldn't transform from %s to %s, "
"even though the message notifier is in use",
laser_scan->header.frame_id.c_str(),
base_frame_id_.c_str());
return;
}
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-05-29
Post score: 0
|
Hi guys,
i have some code, which has been written for fuerte and is also compilable under fuerte. I have to make it runable under hydro. When i compile one of the packages with rosmake, i get the following error:
error: ‘RotationTFToEigen’ is not a member of ‘tf’
error: ‘VectorTFToEigen’ is not a member of ‘tf’
To which namespace does these two now belong? Because in the api it looks like they should be members of tf.
Thanks.
Originally posted by mr42 on ROS Answers with karma: 3 on 2014-05-29
Post score: 0
|
Hi guys,
I have to make fuerte code runable under hydro. By compiling one package i get the following error:
‘class octomap::ColorOcTree’ has no member named ‘genKey’
I read in this log entry https://code.google.com/p/mrpt/source/browse/trunk/otherlibs/octomap/CHANGELOG.txt?r=3081, that genKey is deprecated. The author seems to use coordToKey instead. I tried that, but the problem is, that this function doesn't return a boolean value like genKey. But in the code this boolen is needed for an if clause. Does someone know, which function does the same like genKey and returns a boolean.
Thanks
Originally posted by mr42 on ROS Answers with karma: 3 on 2014-05-29
Post score: 0
|
Hello I wanted to simulate a busy urban road,similar to Darpa Urban Challenge for an autonomous self-driving-car. I'm in search of simulators for that.
I've seen gazebo since its integration with ROS is easier but editing world files or indeed creating them itself is difficult. In torcs simulator I have seen many world files but not many sensors. I don't want much physics in my simulation. I want a light weight simulator(for checking out path planning on an urban road) and in which creating roads are easier.
I've even searched for gazebo sdf files similar to urban city but in vain.
Originally posted by Dpp_coder on ROS Answers with karma: 60 on 2014-05-29
Post score: 3
|
Hi,
i am trying to get the navigation stack running. Hokuyo is the laser scanner i am using. When i am launching move_base_local.launch i receive the warning
"The /base_scan observation buffer has not been updated for XX.XX seconds, and it should be updated every 0.20 seconds."
My launch file is:
-->
<param name="T" type="double" value="0.2"/>
<param name="dt" type="double" value="0.1"/>
<node pkg="youbot_navigation_common" type="lowpass_filter" respawn="false" name="lowpass_filter" output="screen">
</node>
<!-- for moving -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<!-- Load common configuration files -->
<remap from="cmd_vel" to="move_base/cmd_vel"/>
<rosparam file="$(find youbot_navigation_common)/config/move_base_params.yaml" command="load" />
<rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<!--<rosparam file="$(find youbot_navigation)/navigation_common/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />-->
<!-- Load global navigation specific parameters -->
<!--<rosparam file="$(find youbot_navigation)/navigation_local/config/move_base_params.yaml" command="load" />-->
<rosparam file="$(find youbot_navigation_local)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find youbot_navigation_local)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find youbot_navigation_common)/config/base_local_planner_params.yaml" command="load" />
</node>
My local_costmap_params.yaml is:
local_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
My global_costmap is:
global_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 20.0
height: 20.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
My costmap_common_params.yaml is this:
map_type: costmap
transform_tolerance: 0.2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.25
observation_sources: base_scan
#base_scan_marking: {sensor_frame: base_scan_link,
# data_type: PointCloud2,
# topic: /base_scan/marking,
# expected_update_rate: 0.2,
# observation_persistence: 0.0,
# marking: true,
# clearing: false,
# min_obstacle_height: 0.06,
# max_obstacle_height: 2.0}
base_scan: {sensor_frame: base_laser_front_link,
data_type: LaserScan,
topic: /base_scan,
expected_update_rate: 0.2,
observation_persistence: 0.0,
marking: true,
clearing: true,
min_obstacle_height: -0.10,
max_obstacle_height: 2.0}
What am i missing or doing wrong? Cannot figure it out myself and couldn't find any proper answers online.
Thanks a lot.
Originally posted by m.hoev on ROS Answers with karma: 68 on 2014-05-29
Post score: 0
Original comments
Comment by David Lu on 2014-05-30:
Does the message appear once or many times? Can you confirm that the topic is properly connected while running?
Comment by m.hoev on 2014-06-11:
Sorry for answering that late. The message appears again and again. What do you mean with "the topic is properly connected?"
I am using ros hydro on ubuntu 12.04 by the way. Just in case this is important.
Note that i added my costmap_common_params.yaml.
Comment by pkohout on 2014-06-11:
check if Hokuyo publishes under /base_scan, according to http://wiki.ros.org/hokuyo_node#Published_Topics it publishes under /scan by default
Comment by m.hoev on 2014-06-11:
No, it is publishing under /scan.
Comment by pkohout on 2014-06-11:
then you have to change the topic in your costmap_common_params.yaml to /scan, you currently have set it to /base_scan.
Does it works then ?
Comment by m.hoev on 2014-06-13:
No. It still doesn't work. I changed sensor frame to laser aswell, because i need to chose laser in rviz to see laser scans but this did not solve the problem either. Thougt the issue could be with my tf tree, but it is odom -> base_footprint -> laser...this should be correct too.
Comment by David Lu on 2014-06-13:
Can you post the updated configuration that you're now using, as well as the result of running rostopic info /scan
|
Hi,
During adaptation from Electric to Hydro, I find that sensor_msgs::CvBridge is gone. Using cv_bridge doesn't work either. Looking through the wiki doesn't really help much. Any clue on how to get on ?
Thanks
Originally posted by hvn on ROS Answers with karma: 72 on 2014-05-30
Post score: 0
|
Hi all,
since i have initialized my Schunk 7-DOF arm, i would like to ask , is there any inverse kinematics library to control this manipulator?
PS: Ubuntu 12.04 LTS/FUERTE
Thanks!
Originally posted by Qt_Yeung on ROS Answers with karma: 90 on 2014-05-30
Post score: 0
Original comments
Comment by gracecopplestone on 2016-02-26:
Hi there, I'm just starting to work with 2 Schunk 7-DOF arms. Which library did you end up using?
Comment by greenfield on 2016-03-09:
Hi I am interested as well.
Comment by Qt_Yeung on 2016-04-22:
I used MoveIt! library, you can try it http://moveit.ros.org.
Comment by Qt_Yeung on 2016-04-22:
I used MoveIt! library, you can try it link text.
Comment by PatFGarrett on 2018-07-30:
Hello, I am working with a similar arm. I am having trouble with connecting MoveIt! to the COB software. Did you have issues there?
|
rosbuild_check_for_display in catkin
Hi,
I am trying to catkinize a robuild package. It has a testing section that needs to differ between beeing called with simulation or on a robot. Therefor the rosbuild_check_for_display function in the CMakeLists is used. It will run the simulation if a display is present.
Is there a possibilty to do this in catkin?
Thanks for your time
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-05-30
Post score: 0
|
When an expert can write a good tutorial for installing ROS on the microSD on a Beaglebone Black, that would be sweet! I am struggling with the path and bashrc and directories, etc. I've got over one Gig stored on the microSD but the programs won't run from there yet. ROS wants to install everything on the eMMC but of course, it won't fit!
Originally posted by Rodolfo8 on ROS Answers with karma: 299 on 2014-05-30
Post score: 0
|
Hi,
I was looking through this example and..
http://wiki.ros.org/pcl_ros
PointCloud::Ptr msg (new PointCloud);
msg->header.stamp = ros::Time::now ();
The second line where the stamp takes the time from the ros::time function does not work. Is there any reason to it or a workaround to directly use the current time?
Basically the compilation error is as follows:
error: cannot convert ‘ros::Time’ to ‘uint64_t {aka long long unsigned int}’ in assignment
Running hydro btw. Thanks!
Originally posted by Yuan Huang on ROS Answers with karma: 48 on 2014-05-30
Post score: 0
|
Hello everyone,
I’m really new to the ROS and I want to use ROS for my research studies. Basically I hope to use SLAM package in ROS.
Can anyone please be kind enough to give me A-Z instructions to use SLAM package first. Then I want to know how I use this in my own GUI created by Qt creator.
In order to use SLAM in ROS what kind of sensors must be used (LRF, Odometry data, IMU)
Thank you very much.
Originally posted by TS on ROS Answers with karma: 11 on 2014-05-30
Post score: 1
|
I put several custom defined msgs in a package (named custom_msg_pkg), and this package does not contain any cpp or python sources. Then I have other packages depending on this package, using the provided custom msgs. But at compilation time (through catkin_make), the custom_msg_pkg is not being built first, so the compiler gives errors complaining not able to find the custom defined msgs in the custom_msg_pkg.
I am quite sure that I don't get it wrong in package.xml or CMakeLists.txt, since if I manually build them one by one, it works. So I think the problem lies in the order of building packages. In the custom_msg_pkg's CMakeLists.txt, I cannot add add_dependencies(executable custom_msg_pkg_generate_messages_cpp), so these messages are not built in the first place when I simple strike catkin_make.
So I am writing to ask:
If there is some way to make the custom_msg_pkg built before the dependent packages?
Is it a bad idea to have a package without source but only contains msg/srv files?
Thanks for any suggestions!
Originally posted by K Chen on ROS Answers with karma: 391 on 2014-05-30
Post score: 0
|
I've got a specific task for robot:
Create global navigation plan specifying a set of points with required velocities in this points(x, y, Vx, Vy).
Will I be able to create custom global plan to satisfy this requirement or I need to rewrite the local planner as well?
It seems to me that for now when robot approaches destination its speed slowly decreases to 0, but in my plan it shouldn't, until the robot reaches the last point.
Can this requirement be resolved with existent global nav planners?
Originally posted by INait on ROS Answers with karma: 220 on 2014-05-31
Post score: 0
|
ROS VERSION : INDIGO (desktop-full)
OS : Ubuntu 14.04
I install ROS using prebuild debian(sudo apt-get install ros-indigo-desktop-full).
Going through ROS tutorials, i get the following error while creating a workspace(catkin_make)
ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/indigo/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/home/kyo/anaconda/bin/python
"/opt/ros/indigo/share/catkin/cmake/parse_package_xml.py"
"/opt/ros/indigo/share/catkin/cmake/../package.xml"
"/home/kyo/catkin_ws/build/catkin/catkin_generated/version/package.cmake")
returned error code 1
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process)
/opt/ros/indigo/share/catkin/cmake/all.cmake:141 (_catkin_package_xml)
/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:52 (find_package)
-- Configuring incomplete, errors occurred!
extra info : i had anaconda installed in my ubuntu and running echo $PYHTONPATH return nothing.
Originally posted by kyo_udon on ROS Answers with karma: 1 on 2014-05-31
Post score: 0
Original comments
Comment by William on 2014-05-31:
anaconda may be interfering, can you do python -c "import catkin_pkg; print(catkin_pkg.__version__)"?
Comment by kyo_udon on 2014-05-31:
This is what i got:
Traceback (most recent call last):
File "", line 1, in
ImportError: No module named catkin_pkg
Comment by Kailegh on 2017-03-13:
i am having the same issue, got any solution?
|
Hi
I am trying to plot my data and are having some trouble.
The problem is that only QwtPlot is able to plot my data. I like PyQtGraph the best so i would like to use this. At first glance it looks like it doesn't receive any data, but when i look at the Y-axis it autoscrolls according to the data on the topic. The X-axis is not moving thou.
I am able to plot other topics with both PyQtGraph and MatPlot, so this is an event only occuring when plotting this topic.
This is the message I am sending:
Header header
string[] name
float64[] position
float64[] velocity
float64[] effort
I am trying to get the position on the plot.
Does anyone know what I'm doing wrong here?
Originally posted by eirikaso on ROS Answers with karma: 108 on 2014-05-31
Post score: 0
|
Dear All,
I am trying to install ROS hydro to mac os x 10.9.3 mavericks using desktop-install configuration. I am following the instructions of Homebrew.
Package dependences were resolved successfully. I used
sudo ./src/catkin/bin/catkin_make_isolated --install-space /opt/ros/hydro --install -DCMAKE_BUILD_TYPE=Release
to put files to the same place as Ubuntu, the one I am using on another PC. However, I met this message and failed:
make[2]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/src/window_cocoa.mm.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /System/Library/Frameworks/QTKit.framework/Headers/QTKit.h:51:0,
from /Users/Altrouge/ros_catkin_ws/src/opencv2/modules/highgui/src/cap_qtkit.mm:34:
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:123:46: error: expected ')' before '(' token
- (void)modernizeWithCompletionHandler:(void (^)(void))handler AVAILABLE_QTKIT_VERSION_7_7_3_AND_LATER;
^
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:123:46: error: expected identifier before '(' token
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:123:46: error: expected ';' before '(' token
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:156:18: error: unknown property attribute before ',' token
@property (atomic, readonly) NSError * error AVAILABLE_QTKIT_VERSION_7_7_3_AND_LATER;
^
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:156:18: error: expected ')' before ',' token
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:156:1: note: 'assign' can be unsafe for Objective-C objects; please state explicitly if you need it
@property (atomic, readonly) NSError * error AVAILABLE_QTKIT_VERSION_7_7_3_AND_LATER;
^
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:162:18: error: unknown property attribute before ',' token
@property (atomic, assign) QTMovieModernizerStatus status AVAILABLE_QTKIT_VERSION_7_7_3_AND_LATER;
^
/System/Library/Frameworks/QTKit.framework/Headers/QTMovieModernizer.h:162:18: error: expected ')' before ',' token
make[2]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/src/cap_qtkit.mm.o] Error 1
make[1]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX shared library ../../lib/libopencv_photo.dylib
[ 55%] Built target opencv_photo
make: *** [all] Error 2
<== Failed to process package 'opencv2':
Command '/opt/ros/hydro/env.sh make -j4 -l4' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Users/Altrouge/ros_catkin_ws/build_isolated/opencv2 && /opt/ros/hydro/env.sh make -j4 -l4
Command failed, exiting.
I am wondering which part is wrong. Thank you.
Originally posted by lockandfire on ROS Answers with karma: 276 on 2014-05-31
Post score: 5
Original comments
Comment by lockandfire on 2014-06-01:
Hello. After lots of googles, I found there are two ways to solve the problem.
downgrade opencv and gcc by brew <--- tested, problem remained.
use clang to compile opencv <---- not tested yet. The building command is automatic. How can I specify cmake just for this package? Thanks
Comment by WafaJ on 2014-06-03:
I am facing the same problem. I disabled QTKit in the CMakeLists.txt but it doesn't solve the problem.
Did you find a solution?
Comment by lockandfire on 2014-06-04:
Not yet. I find some info that might be useful but do not know how to modify CMakeList.txt: 'The issue is that .... is an Objective-C 2 construct and is compiled as Objective-C++. ... You'll have to try the clang compiler. '
Comment by WafaJ on 2014-06-04:
I finally buit opencv by doing
$ export CC=/usr/bin/clang
$ export CXX=/usr/bin/clang++
Now having a problem to build orocos_kdl
Comment by lockandfire on 2014-06-04:
Thank you! Although I still have this problem ... btw will this change the building environment of the whole ros packages or just that of opencv2 ?
Comment by goshawk on 2014-07-09:
Did you guys find an answer for this? Might be helpful for people like me
Comment by lockandfire on 2014-07-12:
I succeed by setting $ export CC=/usr/bin/clang $ export CXX=/usr/bin/clang++ and use $ sudo ./src/catkin/bin/catkin_make_isolated --install-space /opt/ros/hydro --install -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=/usr/bin/clang -DCMAKE_CXX_COMPILER=/usr/bin/clang++. And now orocos_kdl failed.
|
How can I create subscribers dynamically?
Please see comment on the answer to this question: programatically create subscribers
Originally posted by McMurdo on ROS Answers with karma: 1247 on 2014-05-31
Post score: 0
|
$ rosmake rgbdslam_freiburg [ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['rgbdslam_freiburg']
[ rosmake ] Logging to directory /home/hasitha/.ros/rosmake/rosmake_output-20131028-235835
[ rosmake ] Expanded args ['rgbdslam_freiburg'] to: ['rgbdslam']
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-1] Starting >>> geometry_msgs [ make ]
[rosmake-2] Starting >>> opencv2 [ make ]
[rosmake-3] Starting >>> bullet [ make ]
[rosmake-0] Finished <<< roslang No Makefile in package roslang
[rosmake-2] Finished <<< opencv2 ROS_NOBUILD in package opencv2
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-2] Starting >>> roscpp [ make ]
[rosmake-1] Finished <<< geometry_msgs No Makefile in package geometry_msgs
[rosmake-1] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< rospy No Makefile in package rospy
[rosmake-3] Finished <<< bullet ROS_NOBUILD in package bullet
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-3] Starting >>> angles [ make ]
[rosmake-3] Finished <<< angles ROS_NOBUILD in package angles
[rosmake-3] Starting >>> rostest [ make ]
[rosmake-2] Finished <<< roscpp No Makefile in package roscpp
[rosmake-2] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< rosconsole No Makefile in package rosconsole
[rosmake-1] Finished <<< sensor_msgs No Makefile in package sensor_msgs
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-1] Starting >>> image_geometry [ make ]
[rosmake-3] Finished <<< rostest No Makefile in package rostest
[rosmake-1] Finished <<< image_geometry ROS_NOBUILD in package image_geometry
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-2] Finished <<< roswtf No Makefile in package roswtf
[rosmake-1] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< message_filters No Makefile in package message_filters
[rosmake-2] Starting >>> rosbuild [ make ]
[rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
[rosmake-2] Finished <<< rosbuild No Makefile in package rosbuild
[rosmake-1] Finished <<< rosbag No Makefile in package rosbag
[rosmake-3] Finished <<< std_msgs No Makefile in package std_msgs
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-1] Starting >>> pcl [ make ]
[rosmake-2] Starting >>> smclib [ make ]
[rosmake-3] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< roslib No Makefile in package roslib
[rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-2] Finished <<< smclib ROS_NOBUILD in package smclib
[rosmake-3] Finished <<< rosservice No Makefile in package rosservice
[rosmake-2] Starting >>> bond [ make ]
[rosmake-3] Starting >>> dynamic_reconfigure [ make ]
[rosmake-1] Finished <<< pcl ROS_NOBUILD in package pcl No Makefile in package pcl
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
[rosmake-0] Starting >>> common_rosdeps [ make ]
[rosmake-2] Finished <<< bond ROS_NOBUILD in package bond
[rosmake-2] Starting >>> bondcpp [ make ]
[rosmake-1] Starting >>> cv_bridge [ make ]
[rosmake-1] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
[rosmake-2] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
[rosmake-2] Starting >>> nodelet [ make ]
[rosmake-1] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< common_rosdeps ROS_NOBUILD in package common_rosdeps
[rosmake-0] Starting >>> octomap_ros [ make ]
[rosmake-3] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
[rosmake-3] Starting >>> nav_msgs [ make ]
[rosmake-2] Finished <<< nodelet ROS_NOBUILD in package nodelet
[rosmake-2] Starting >>> nodelet_topic_tools [ make ]
[rosmake-1] Finished <<< visualization_msgs No Makefile in package visualization_msgs
[rosmake-1] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Finished <<< octomap_ros ROS_NOBUILD in package octomap_ros
[rosmake-3] Finished <<< nav_msgs No Makefile in package nav_msgs
[rosmake-0] Starting >>> trajectory_msgs [ make ]
[rosmake-3] Starting >>> std_srvs [ make ]
[rosmake-2] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
[rosmake-2] Starting >>> pcl_ros [ make ]
[rosmake-1] Finished <<< actionlib_msgs No Makefile in package actionlib_msgs
[rosmake-2] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
[rosmake-0] Finished <<< trajectory_msgs No Makefile in package trajectory_msgs
[rosmake-3] Finished <<< std_srvs No Makefile in package std_srvs
[rosmake-2] Starting >>> flann [ make ]
[rosmake-0] Starting >>> mk [ make ]
[rosmake-3] Starting >>> orocos_kdl [ make ]
[rosmake-1] Starting >>> arm_navigation_msgs [ make ]
[rosmake-2] Finished <<< flann ROS_NOBUILD in package flann
[rosmake-2] Starting >>> opencv_tests [ make ]
[rosmake-3] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl
[rosmake-0] Finished <<< mk No Makefile in package mk
[rosmake-2] Finished <<< opencv_tests ROS_NOBUILD in package opencv_tests
[rosmake-1] Finished <<< arm_navigation_msgs ROS_NOBUILD in package arm_navigation_msgs
[rosmake-1] Starting >>> octomap_server [ make ]
[rosmake-3] Starting >>> python_orocos_kdl [ make ]
[rosmake-1] Finished <<< octomap_server ROS_NOBUILD in package octomap_server
[rosmake-1] Starting >>> rgbdslam [ make ]
[rosmake-3] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
[rosmake-3] Starting >>> kdl [ make ]
[rosmake-3] Finished <<< kdl ROS_NOBUILD in package kdl No Makefile in package kdl
[rosmake-3] Starting >>> eigen_conversions [ make ]
[rosmake-3] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions
[rosmake-3] Starting >>> tf_conversions [ make ]
[rosmake-3] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
[rosmake-3] Starting >>> cv_markers [ make ]
[rosmake-3] Finished <<< cv_markers ROS_NOBUILD in package cv_markers
[ rosmake ] All 2 linesrgbdslam: 0.0 sec ] [ 1 Active 47/48 Complete ] {------------------------------------------------------------------------------- mkdir: cannot create directory `build': Permission denied -------------------------------------------------------------------------------} [ rosmake ] Output from build of package rgbdslam written to: [ rosmake ] /home/hasitha/.ros/rosmake/rosmake_output-20131028-235835/rgbdslam/build_output.log [rosmake-1] Finished <<< rgbdslam [FAIL] [ 0.07 seconds ]
[ rosmake ] Halting due to failure in package rgbdslam. [ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 48 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/hasitha/.ros/rosmake/rosmake_output-20131028-235835
Permission denied when i use rosmake command
plzzzzzzzzzzzzz help on this ...!!!!
Originally posted by mohsin ali on ROS Answers with karma: 1 on 2014-05-31
Post score: 0
|
Hi,
This is my first post here so hopefully I will provide you with the right information.
I am running ROS Hydro on Ubuntu 12.04 through a virtual machine.
ROS seems to be working ok, I built my workspace using catkin and ROS is recognizing and compiling packages when I run catkin_make. I went through all of the tutorials without a problem.
When I try to run one of my nodes using rosrun sb_vision LineDetector.cpp I am getting this error: Error opening file (/tmp/buildd/ros-hydro-opencv2-2.4.6-3precise-20140303-2216/modules/highgui/src/cap_ffmpeg_impl.hpp:537)
I have deleted all of the source code that had anything to do with OpenCV and commented out things dealing with OpenCV in the CMakeLists but it still has this problem.
I have sb_vision as a package and in it's src section there is Line_Detector.cpp, I have also included the CMakeLists.txt in sb_vision below. Other folders in sb_vision are: include, catkin, catkin_generated, cmake, CMakeFiles, devel, gtest,msg, test_results and package.xml.
Line_Detector.cpp:
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
//Initialize ROS
ros::init(argc, argv, "Line_Detector");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
Here is my CMakeLists.txt, I have tried commenting and uncommenting anything to do with OpenCV
CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(sb_vision)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
find_package(OpenCV REQUIRED)
add_message_files(
FILES
Num.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES sb_vision
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
include_directories(
${OpenCV_INCLUDE_DIRS}
)
add_executable(Line_Detector src/Line_Detector.cpp)
#target_link_libraries( Line_Detector ${OpenCV_LIBS} ${catkin_LIBRARIES})
add_dependencies(Line_Detector sb_vision_generate_messages_cpp)
Any help would be much appreciated. If I can clarify anything or provide you with any more information I will happily do so. Thank you.
Originally posted by rennis_02 on ROS Answers with karma: 11 on 2014-05-31
Post score: 1
|
Hey there,
I came across two codes for ROS. One for active image segmentation and one for skin detection. Both of these have used older versions of ROS (Fuerte and groovy respectively). I would like to compile and build them on ROS Hydro. Is there a standard procedure for porting the same code to make it compatible with newer versions of ROS ?
Please advise.
Originally posted by ktiwari9 on ROS Answers with karma: 61 on 2014-06-01
Post score: 1
|
Hi - I have a differential drive robot based on the BeagleBone Black (it's actually the robot built for a Coursera course). I'd really like to use the diff_drive_controller, but there isn't a debian package in the ARM repo. The BBB has Ubuntu 13.04 and ROS Hydro on it.
Any idea why that specific package is absent from the ARM repo?
I did try to build diff_drive_controller myself on the BBB but ran into other problems. I'd rather stick with official binaries though, if possible.
Also - I tried to include links to a lot of the items mentioned above but I don't have enough karma - sorry for that. :(
Thanks,
Zach
Originally posted by zcox on ROS Answers with karma: 41 on 2014-06-01
Post score: 0
|
Hi people,
i tried to install the new ROS Indigo Beta from source on my ARM Hardware (just the Bare-Bones). Everything runs fine until installing the depencies through "rosdep install". There is one package "SBCL" where no binary is found for the ARM Hardware. I already know this issue from Hydro (and I think even in Groovy). I can remove the packages which depend on SBCL manually, but I think it would be better to find a solution for solving this depency for Indigo Igloo as LTS version. This would be a big step for supporting ARM Hardware. I think even the Desktop Install could work then from Source.
Originally posted by RodBelaFarin on ROS Answers with karma: 235 on 2014-06-01
Post score: 1
|
Hello there,
Can anyone know how to run ROS process in subsumption architecture sytle, with which, different node have different priorities and some nodes can be triggered/terminate by a topic message.
Originally posted by Rikardo on ROS Answers with karma: 75 on 2014-06-01
Post score: 1
|
Using Hydro on Precise. Following the tutorials on joystick operation here and here. The joystick works, roscore is running, joy_node is running, when I do rostopic echo joy I see the vectors change as I expect when the joystick controls are moved. When I run roslaunch learning_joy turtle_joy.launch however, the joystick still works, topic echo shows still sending, but no movement of the turtle. The error message is as follows:
roslaunch learning_joy turtle_joy.launch
... logging to /home/richard/.ros/log/3b2f6bb6-e9cc-11e3-811a-00215c98e435/roslaunch-inga-12328.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://inga:38218/
SUMMARY
========
PARAMETERS
* /axis_angular
* /axis_linear
* /rosdistro
* /rosversion
* /scale_angular
* /scale_linear
* /turtle_joy/deadzone
* /turtle_joy/dev
NODES
/
sim (turtlesim/turtlesim_node)
teleop (turtle_teleop/turtle_teleop_joy)
turtle_joy (joy/joy)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[sim-1]: started with pid [12346]
ERROR: cannot launch node of type [joy/joy]: can't locate node [joy] in package [joy]
ERROR: cannot launch node of type [turtle_teleop/turtle_teleop_joy]: turtle_teleop
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/richard/catkin_ws/my_src
ROS path [2]=/home/richard/catkin_ws/src
ROS path [3]=/opt/ros/hydro/share
ROS path [4]=/opt/ros/hydro/stacks
A search of ROS answers (unless I missed something) yields nothing that I haven't already tried. Any ideas?
Originally posted by richkappler on ROS Answers with karma: 106 on 2014-06-01
Post score: 0
|
I am trying to create a subscriber which accepts a word (meaning a string of characters) and then collects those words into an array and then publish the array of these words.
I am trying to use numpy for this. The length of my array always has to be 3 with the latest word at the end. This way I wil have two previous words with the latest word at the end of the array.
This is the code :
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
from rospy.numpy_msg import numpy_msg
import numpy
#added
def callback(data):
global c
pub = rospy.Publisher('tag_history',numpy_msg(String))
c.append(str(data.data))
if len(c)>3:
c=c[1:4]
d=numpy.array(c,dtype=numpy.str)
print c
pub.publish(d)
rospy.sleep(0.5)
def listener():
rospy.init_node('tag_history', anonymous=True)
rospy.Subscriber("DA_tags", String, callback)
rospy.spin()
if __name__ == '__main__':
global c
c=[]
listener()
When I run this code, this is the error i get :
[ERROR] [WallTime: 1401656539.688481] bad callback: <function callback at 0x2456758>
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 682, in _invoke_callback
cb(msg)
File "./tag_history.py", line 17, in callback
pub.publish(d)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 802, in publish
raise ROSSerializationException(str(e))
ROSSerializationException: field data must be of type str
What does this error "field data must be of type str" mean? How do I remove it?
Originally posted by uzair on ROS Answers with karma: 87 on 2014-06-01
Post score: 0
|
I created a custom msg which is an array or strings. this is my declaration:
string[] data
However when I use this msg, i get a warning. I dont understand why I get this warning.
[WARN] [WallTime: 1401683261.952534] Could not process inbound connection: topic types do not match:[std_msgs/String] vs. [beginner_tutorials/StringArray]{'message_definition': 'string data\n\n', 'callerid': '/rostopic_3711_1401673205336', 'tcp_nodelay': '0', 'md5sum': '992ce8a1687cec8c8bd883ec73ca41d1', 'topic': '/tag_history', 'type': 'std_msgs/String'}
Can somebody please tell me how I can get rid of this? THanks
My code where i am using ths StringArray datatype:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
from beginner_tutorials.msg import StringArray
def callback(data):
global c
str=StringArray()
pub = rospy.Publisher('tag_history',StringArray)
c.append(data.data)
if len(c)>3:
c=c[1:4]
str.data=c
print str
pub.publish(str)
def listener():
rospy.init_node('tag_history', anonymous=True)
rospy.Subscriber("DA_tags", String, callback)
rospy.spin()
if __name__ == '__main__':
global c
c=[]
listener()
This is the data i see when i enter "rostopic echo DA_tags"
uahmed9@uahmed9-Lenovo-IdeaPad-U410-Touch:~$ rostopic echo DA_tags
data: Query-yn
---
data: Unknown
---
data: Unknown
---
data: Acknowledge
---
data: Unknown
---
data: Unknown
---
This is the output for rostopic info DA_tags
uahmed9@uahmed9-Lenovo-IdeaPad-U410-Touch:~$ rostopic info DA_tags
Type: std_msgs/String
Publishers:
* /rosjava_tutorial_pubsub/listener (http://127.0.0.1:59178/)
Subscribers:
* /tag_history_32168_1401828816089 (http://uahmed9-Lenovo-IdeaPad-U410-Touch:51087/)
Originally posted by uzair on ROS Answers with karma: 87 on 2014-06-01
Post score: 1
Original comments
Comment by BennyRe on 2014-06-02:
Seems like you're publishing to a topic of Type 'beginner_tutorials/StringArray'. Is this correct? If this is the case you have to use this type.
Comment by uzair on 2014-06-02:
yes I am publishing to that topic. I edited my post to paste my code for reference.
Comment by BennyRe on 2014-06-02:
Please post also the output of rostopic info /DA_tags. BTW: Why do you mention your custom message? I'm asking because you don't use it.
Comment by uzair on 2014-06-02:
the data on DA_tags consists of words like "check","acknowledge","unknown" etc. Thse are the outputs from the classifier that I am impelemnting in ROS. Also I am using my custom message. I created StringArray following the message creation tutorial in the ROS documentation.
Comment by BennyRe on 2014-06-03:
Please post also the output of rostopic info /DA_tags.
Comment by uzair on 2014-06-03:
I edited the question to post the output. Take a look.
Comment by uzair on 2014-06-03:
Also I ran both the nodes today and I dont see the warning anymore. wonder what the problem was.
|
Hello,
i started working with SMACH few days ago and I was wondering how I could control the transition between my states from external events. For example a transition would be triggered by the event "voice detected" or "light turned on" which could be published to a topic. I'm aware that it is possible to use acitonlib with SMACH but the tutorial is really confusing and not clear and there is no complete working example as far as I know. I'm also working with a central state machine where many smaller states are nested. Somebody has an idea how to implement event driven state transitions?
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-06-02
Post score: 2
|
I was able to install the Segwayrmp driver and get it to work properly. But now it is showing a 'checksum mismatch' error.
Any solution to this problem?
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-06-02
Post score: 0
|
I installed hokuyo driver on hydro usin
sudo apt-get intall ros-hydro-urg-node
When I type in rosrun urg_node urg_node
I get the error: Unknown error connecting to Hokuyo
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-06-02
Post score: 0
Original comments
Comment by dornhege on 2014-06-02:
I don't know how urg_node works, but I'm sure the information of what hokuyo you connect how to which system will be relevant.
|
Hello !
I am trying to install asctec_drivers so that I can control the quadrotor through ros in morse simulator.
When I try to run the
rosdep install asctec_drivers
i get the following error
ERROR: Rosdep experienced an error: 'NoneType' object has no attribute 'strip' Please go to the rosdep page [1] and file a bug report with the stack trace below. [1] :
rosdep version: 0.10.27
Traceback (most recent call last): File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 121, in rosdep_main
exit_code = _rosdep_main(args) File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 279, in _rosdep_main
return _package_args_handler(command, parser, options, args) File "/usr/local/lib/python2.7/dist-packages/rosdep2/main.py", line 335, in _package_args_handler
val = rospkg.expand_to_packages(args, rospack, rosstack) File "/usr/local/lib/python2.7/dist-packages/rospkg/rospack.py", line 419, in expand_to_packages
package_list = rospack.list() File "/usr/local/lib/python2.7/dist-packages/rospkg/rospack.py", line 179, in list
self._update_location_cache() File "/usr/local/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in _update_location_cache
list_by_path(self._manifest_name, path, cache) File "/usr/local/lib/python2.7/dist-packages/rospkg/rospack.py", line 68, in list_by_path
resource_name = root.findtext('name').strip(' \n\r\t') AttributeError: 'NoneType' object has no attribute 'strip'
I would really appreciate if anybody can tell me how to overcome this error
Thanks
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-06-02
Post score: 0
|
I just installed Ubuntu 14.04 (Trusty) on a new system and discovered that ROS Hydro does not support it. Instead, I see that ROS Indigo will support Ubuntu 14.04. Thus, I'm wondering when it will be released.
Originally posted by liangfok on ROS Answers with karma: 328 on 2014-06-02
Post score: 1
|
I am trying to connect a stargazer sensor, a laser scanner and a kinect sensor to the ROS laptop. The laptop has 3 usb ports and one is taken by the turtlebot (the robot platform), one by the kinect sensor and one by the laser scanner. I wish to know whether it is good to use a usb splitter to connect the stargazer. Any other suggestions on doing the same is appreciated.
Originally posted by Aravinda on ROS Answers with karma: 1 on 2014-06-02
Post score: 0
|
melab@melab1:~$ rosdep install sicktoolbox_wrapper
ERROR: Rosdep cannot find all required resources to answer your query
Missing resource sicktoolbox_wrapper
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks
this is what i get when i try to install, i am new to ROS, please help.
Also do i need matlab inorder the sicktoolbox to work ?
Originally posted by aniket on ROS Answers with karma: 7 on 2014-06-02
Post score: 0
|
I follow this tutorial for save a map : http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData#record
I create my own bag, and i see on rviz the Lidar data.
But when I launch the command " rosrun gmapping slam_gmapping scan:=base_scan " there are nothing on my terminal. is normal?
After that, I wrote "rosbag play --clock nameofmybag.bag" --->>> it's done, and " rosrun map_server map_saver". On my terminal, there are writing "waiting for de map" but nothing after that. What's the problem?
(When i launch the last command, in my another terminal " rosrun gmapping .." they are write : TF_OLD_DATA ignoring data from the past for frame base_footprint at time .... )
Thanks for your Help
Originally posted by guigui on ROS Answers with karma: 33 on 2014-06-02
Post score: 0
|
I'm trying to use my Asus Xtion Pro Live on Ubuntu 12.04, running ROS Groovy. When I try to use the command roslaunch openni_launch openni.launch, I'm faced with this error:
Number devices connected: 1
[ INFO] [1401772289.477038700]: 1. device on bus 001:02 is a Xtion Pro (600) from ASUS (1d27) with serial id ''
[ INFO] [1401772289.480929348]: Searching for device with index = 1
[ INFO] [1401772289.535944795]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /home/andrew/catkin_ws/src/openni_camera/src/openni_device.cpp @ 99 : creating depth generator failed. Reason: Device is in safe mode. Cannot start any stream!
I'm very puzzled because it was working perfectly fine just yesterday and I did not change anything at all. Running rosrun openni_camera openni_node produces the same error. I have OpenNI v1.5.7.10 installed, and Sensor-Bin v5.1.6.6 installed. I'm using the rollback_usb branch for openni_camera. Would anyone know what happened? Did my Asus Xtion Pro Live hardware itself malfunction?
Originally posted by Andrew.A on ROS Answers with karma: 324 on 2014-06-03
Post score: 0
Original comments
Comment by Andrew.A on 2014-06-05:
I replaced my device with a brand new one and it works, and when I replug the first one, I get the same error message again. What happened to my old Asus Xtion Pro Live?
|
Hi All,
I'm new to microcontrollers and after taking a look around thought that the Radxa Rock looked like a good board to use for my Turtlebot2. From what I know so far, it dual boots Android and an Ubuntu variant I think is called Linaro. It's and ARM based board so do I just follow the ARM tutorial on the preinstalled Ubuntu or is there a better way (booting from MicroSD etc)?
I'm familiar with how to install and configure ROS on a regular Ubuntu install (Just installing indigo on Trusty on another PC) so just wondering if there's anything different that I need to be aware of.
Appreciate any help!
Originally posted by Praetorian on ROS Answers with karma: 1 on 2014-06-03
Post score: 0
|
Dear all,
I'm trying to start up in Gazebo my arm manipulator with a fixed configuration. In order to, I have created an SRDF file, with a group for the arm, and a group_state with the homing position. However I don't know how to active this homing position. Could anybody help me?
Thanks in advance
Ane
Originally posted by Ane on ROS Answers with karma: 31 on 2014-06-03
Post score: 0
|
Hello, I try wiki.ros.org/ROS/Tutorials/UnderstandingTopics and want to run
$ rosrun rqt_plot rqt_plot
but it says
[rospack] Error: package 'rqt_plot' not found
In the rqt_gui it is not listed in the plugins. I have installed ros-indigo-desktop-full
Is it possible to get rqt_plot running?
Originally posted by fhurlbrink on ROS Answers with karma: 25 on 2014-06-03
Post score: 1
|
I want to know if there's a way to run rviz remotely.
I tried connecting to the PR2 and I'm just trying to use the rviz (just for some test, because i could actually use it from my computer connecting through the master). I'm connecting with -X option: ssh -X user@robot
So, trying to use rviz, this is what I get:
rosrun rviz rviz # launching rviz
(process:27710): GConf-WARNING **: Client failed to connect to the D-BUS daemon:
//bin/dbus-launch terminated abnormally without any error message
(process:27710): GConf-WARNING **: Client failed to connect to the D-BUS daemon:
//bin/dbus-launch terminated abnormally without any error message
(process:27710): GConf-WARNING **: Client failed to connect to the D-BUS daemon:
//bin/dbus-launch terminated abnormally without any error message
QGtkStyle was unable to detect the current GTK+ theme.
[ INFO] [1401799963.738721331]: rviz version 1.9.34
[ INFO] [1401799963.738810068]: compiled against OGRE version 1.7.4 (Cthugha)
Segmentation fault
Any thoughts?
Originally posted by silgon on ROS Answers with karma: 649 on 2014-06-03
Post score: 1
Original comments
Comment by dornhege on 2014-06-03:
Just a wild guess: Is there even X running on the PR2?
Comment by silgon on 2014-06-03:
I tried with xeyes (actually with tuxeyes) and it works pretty well the X server (as far as I can see)
|
Hi people!
This is really an easy question for the experts:
I am coding some roslisp/cram functions where I would like to change independently the angular and linear velocity of my robot in parallel threads. I first used the usual way of publishing the velocity in roslisp roslisp:advertise "/cmd_vel" "geometry_msgs/Twist" but then I realised that when publishing an angular velocity (roslisp:publish-msg (roslisp:advertise "/cmd_vel" "geometry_msgs/Twist") pub (z angular)) I would reset the linear speed to zero and the converse when publishing a linear speed.
Is there any [easy] way to modify the angular and linear velocity of the robot independently from one another in simultaneous processes?
The only solution I have is any time I want to modify only one component of the velocity is to read the current velocity and publish the values of the changed component together with the values that are not change. That is not ideal as with parallel threads changing simultaneously the same topic I might have problems.
Hey, thanks a lot.
Originally posted by LovedByJesus on ROS Answers with karma: 86 on 2014-06-03
Post score: 3
|
I would like to access the data of the internal master_grid of the obstacle_layer. I am working in another layer and right now I am reading the values out of the layered_costmap_, which works fine like that:
costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
Also, if I would be within the obstacle_layer, I would access the data of its own master_grid like that:
unsigned char* master_array = master_grid.getCharMap();
But how would I access the master_grid of the obstacle_layer from another layer? Thanks!
UPDATE:
I think I found a working piece of code which answers like 95 % of my question. So the code searches through all the layers of the COSTMAP (actually it is a layered costmap of type costmap_2d::Costmap2DROS) and operates on the one which matches a predefined string (layer_sear_string_). But can somebody help me how to find the name of the layered costmap global_planner when running move_base?
std::vector<boost::shared_ptr<costmap_2d::Layer> >* plugins = COSTMAP->getLayeredCostmap()->getPlugins();
for (std::vector<boost::shared_ptr<costmap_2d::Layer> >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) {
boost::shared_ptr<costmap_2d::Layer> plugin = *pluginp;
if(plugin->getName().find(layer_search_string_)!=std::string::npos) {
boost::shared_ptr<costmap_2d::ObstacleLayer> costmap;
costmap = boost::static_pointer_cast<costmap_2d::ObstacleLayer>(plugin);
unsigned char* grid = costmap->getCharMap();
// do sth with it
}
}
Code found here.
Originally posted by Luke_ROS on ROS Answers with karma: 116 on 2014-06-03
Post score: 1
Original comments
Comment by David Lu on 2014-06-13:
Can you clarify your updated question? Which name are you looking for?
Comment by Luke_ROS on 2014-06-17:
When running move_base you get a global_planner and a local_planner. Both of them should be of type costmap_2d::Costmap2DROS, right? So I am looking for a way to access the top layered costmap of the global_planner from within a layer. (In order to finally access the master_grid of another layer).
Comment by David Lu on 2014-06-17:
To clarify terminology: In move_base, there is a global planner and a local planner, which operate on the global costmap and local costmap respectively (both of which are Costmap2DROS). I believe you are looking for a way to access the layered costmap object of the global costmap...
Comment by David Lu on 2014-06-17:
...so that you can access an individual layer's private costmap.
(There is no such thing as a "top layered costmap" and the layered costmap has a master costmap, but the individual layers aren't referred to as master costmaps.)
Comment by Luke_ROS on 2014-06-17:
Yes. That's spot on. Sorry. I got confused by the different terminologies of the paper and the actual code.
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I've seen slightly similar questions regarding this node before (though I'm having trouble finding them now), but I wanted to put all of my findings in one place so I can hopefully get a definitive answer.
REP-103 states that the coordinate frames should be right-handed. By default, the 3DM-GX2 is right-handed, but is upside-down (with Z pointing into the ground), and so, according to the package's page,
The orientation matrix is the transpose of the orientation matrix returned by the hardware, rotated 180 degrees around the y axis. This corresponds to a transformation from the IMU frame to the world frame, with the z axis point up.
This causes the absolute orientation measurements to increase in the correct directions, but:
When I expect the IMU to read 0 heading (at magnetic north), it reads pi.
When I expect the IMU to read 0 roll (laying flat on a surface, with the logo facing up), it reads pi.
Rotating the sensor counter-clockwise (i.e., in the positive direction) causes the yaw angle to increase correctly, but the yaw velocity is reported as negative.
Pitching the sensor down (i.e., with the serial port moving towards the floor) causes the absolute pitch angle to increase correctly, but the pitch velocity is reported as negative.
When the sensor is flat on a table (as in 2 above), the yaw angle increases when I turn counter-clockwise, indicating that the Z-axis is meant to point up, thus agreeing with the wiki. In that case, the measured linear acceleration, which should be in the direction opposite the gravity force vector (i.e., parallel to the normal force vector), should be positive. It is negative.
If I assume the X-axis projects directly out the front of the sensor (through the serial port), then positive rotation would point the Y axis up away from the ground. In that configuration, the Y linear acceleration should also be positive. It is negative.
My questions are:
(A) Has anyone else had these issues, or is there something wrong with my sensor (or me!)?
(B) If I'm not the only one, is this working as intended, or are these bugs?
(C) Does the node attempt to correct the direction of angular increase only? In other words, by default, the sensor's axes have Z down and Y projecting to the right. This is still right-handed, but in order to get the Z-axis up and remain right-handed, all we'd have to do is invert the signs of yaw, yaw velocity, pitch, pitch velocity, Z acceleration, and Y acceleration as read straight from the sensor.
(D) Would it be possible to add a flag to the node that does everything in (C) instead of what's being done in the package's description excerpt above? I'm happy to add an issue to the repo and submit a PR against it if others would find it useful and the authors would want it that way.
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-06-03
Post score: 3
Original comments
Comment by Porti77 on 2015-03-04:
I have the orientation quaternion, how can I transform?
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Hi,
I have a bag file acquired from a mobile robot equipped with an Asus Xtion, that contains the following topics:
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/rgb/camera_info
/camera/rgb/image_rect
/clock
/odom
/tf
/ticks
I need to write a ROS node that subscribes to ticks, rgb- and depth-image topics and for each timestamp saves in a text file the encoder ticks and the the paths (in the filesystem) to the rgb- and depth-image. So, as a first step, I'm trying to use the TimeSynchronizer class from ROS message filters to see if I can get the images; I know that maybe this can be done with two separates callbacks but I need a synchronized one for later usage so this is what I wrote according to ROS wiki:
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
using namespace sensor_msgs;
using namespace message_filters;
void callback(const ImageConstPtr& msg,const ImageConstPtr& msg2)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg2, sensor_msgs::image_encodings::TYPE_32FC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
if(cv_ptr->image.empty())
std::cout << "Empty Image!!!\n";
else
std::cout << "Image size:" << cv_ptr->image.size() << "\n";
double minVal, maxVal;
cv::Mat blur_img;
minMaxLoc(cv_ptr->image, &minVal, &maxVal); //find minimum and maximum intensities
cv_ptr->image.convertTo(blur_img, CV_8U, 255.0/(maxVal - minVal), -minVal * 255.0/(maxVal - minVal));
cv::imshow("Image window", blur_img);
cv::waitKey(3);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "db_creator_node");
ros::NodeHandle nh;
message_filters::Subscriber<Image> rgb_sub(nh,"/camera/rgb/image_rect",1);
message_filters::Subscriber<Image> dpt_sub(nh,"/camera/depth/image_rect_raw",1);
TimeSynchronizer<Image,Image> sync(rgb_sub,dpt_sub,10);
sync.registerCallback(boost::bind(&callback, _1, _2));
cv::namedWindow("Image window");
cv::startWindowThread();
ros::spin();
cv::destroyWindow("Image window");
return 0;
}
when I run it, the node correctly subscribes to the desired topics, as shown by rqt_graph:
rqt_graph http://i60.tinypic.com/34zf0o7.png
but the callback is never executed because the statement
if(cv_ptr->image.empty())
std::cout << "Empty Image!!!\n";
else
std::cout << "Image size:" << cv_ptr->image.size() << "\n";
returns no output.
I'd be very glad if someone could point me out what I'm doing wrong and suggest a possible solution.
Thanks for your attention!!!
Originally posted by schizzz8 on ROS Answers with karma: 183 on 2014-06-03
Post score: 0
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LINK TO TUTORIAL
I am trying to figure out how to publish my robot's state using the 'robot_state_publisher'.
I fortunately found the tutorial linked to above, but unfortunately the author was rather vague in their example of a launch file (copied below from the tutorial).
<launch>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
<remap from="robot_description" to="different_robot_description" />
<remap from="joint_states" to="different_joint_states" />
</node>
</launch>
I would like to know if anyone can better explain what the difference is between 'robot_description' and 'different_robot_description' and exactly what information these are supposed to contain.
Originally posted by RigorMortis on ROS Answers with karma: 88 on 2014-06-03
Post score: 4
|
I need to collect messages from a topic, that is, subscribe to a topic, and then do something with some condition about the message is met (a flag on the message) with all the messages recibed previously. Since the callbacks are functions (and well-made functions should't have state), I don't see a straightforward way to do this. So, what can I do?
Thanks
Originally posted by crpizarr on ROS Answers with karma: 229 on 2014-06-03
Post score: 0
|
I have several nodelets, each subscribes to different messages (using the single threaded node handle). However, I realized one of my nodes, which subscribes to images and to odometry messages, and which takes long to process a single image (and therefore looses odometry messages in the mean time). Another nodelet, also subscribed to odometry messages, receives all of them while the first nodelet is busy with an image. So I understand the image callback of the first nodelet is being serviced by a different thread than of the second nodelet. However, inside a single nodelet, it appears that servicing one callback blocks the other callback.
I really don't understand how does the nodelet manager uses threads to service callbacks both between nodelets and inside the same nodelet.
What would be the difference between using the single-threaded and multi-threaded node handles of the nodelet manager?
Does the nodelet manager have a single queue which receives all messages that nodelets subscribes to, and then uses the worker threads to service these? Or does each nodelet have a separate callback queue?
What I should I do if I only want to process two specific callbacks in parallel (after making them thread-safe) of a single nodelet, but still call any other callback (from this nodelet or others) serially?
Originally posted by Matias on ROS Answers with karma: 122 on 2014-06-03
Post score: 6
Original comments
Comment by McMurdo on 2014-07-18:
No answers yet?
I have the same doubts.
|
Hello.
My development environment is Ubuntu14.04 and ROS Indigo.
I tried to execute ROS service as a smach state and it works correctly.
But, when I run smach_viewer, the following errors occured and print nothing.
(I think smach_viewer can print this graph in Ubuntu12.04 + ROS Hydro :'()
error message
Exception in thread Thread-6:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 763, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 848, in _update_graph
self.set_dotcode(dotstr,zoom=False)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 866, in set_dotcode
if self.widget.set_dotcode(dotcode, None):
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 455, in set_dotcode
self.set_xdotcode(xdotcode)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 483, in set_xdotcode
self.graph = parser.parse()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1146, in parse
DotParser.parse(self)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 951, in parse
self.parse_graph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 960, in parse_graph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1009, in parse_stmt
self.handle_node(id, attrs)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1120, in handle_node
shapes.extend(parser.parse())
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 608, in parse
points = self.read_polygon()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 503, in read_polygon
x, y = self.read_point()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 486, in read_point
x = self.read_number()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 480, in read_number
return int(self.read_code())
ValueError: invalid literal for int() with base 10: '274.67'
When I run the command below,
$ rostopic echo /server_name/smach/container_status
I receive msg like this.
header:
seq: 5
stamp:
secs: 1401776891
nsecs: 761457920
frame_id: ''
path: /SM_ROOT
initial_states: ['SPAWN']
active_states: ['None']
local_data: � }q.
info: HEARTBEAT
Many thanks,
Originally posted by hashi on ROS Answers with karma: 226 on 2014-06-03
Post score: 7
Original comments
Comment by Andreas T. on 2014-06-30:
Hey have you solve this problem? I have the same on Ubuntu 14.04. with Indigo.
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i'm able to connect to my sensor, i am also able to see the data using rostopic echo /scan, However rosrun rviz rviz gives me a blank map.
Please help
Originally posted by aniket on ROS Answers with karma: 7 on 2014-06-03
Post score: 0
Original comments
Comment by jbinney on 2014-06-03:
Did you add the laser topic in rviz? What frame is the laser scan in? What is your fixed_frame in rviz?
Comment by aniket on 2014-06-10:
these are my settings
https://www.dropbox.com/s/z9a6hcspwipq19q/rviz.jpg
the error under LaserScan Status is :- Transform [sender=/sicklms] For frame [laser]: Fixed Frame [base_laser] does not exist
i tried editing the fixed_frame as map , still didnt work
|
I want to move a turtlebot with OMPL. I understand that OMPL is standalone and source file I edit should calls the library of planner as global planner. OMPL includes geometric/planners and control/planners. When moving a turtlebot, which should I choose geometric/planners or control/planners? I think I should choose control/planners, because control/planners outputs velocity command. I want to estimate a performance of PRM and RRT, but source and header files of PRM doesn't exist in control/planners. So, I can't estimate them. Am I correct?
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-03
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-06-03:
plan_node.cpp uses geometry_msgs as namespace. This shows that I'm wrong? I"m not sure.
|
Hi everyone,
I get the warning "Mesh definition is empty" when I run this code, Is there any problem?
I have tried with a lot of .dae and .stl files, but the result is the same.
moveit_msgs::CollisionObject co;
shapes::Mesh* m = shapes::createMeshFromResource("file://...");
shape_msgs::Mesh co_mesh;
shapes::ShapeMsg co_mesh_msg = co_mesh;
shapes::constructMsgFromShape(m,co_mesh_msg);
co.meshes.resize(1);
co.meshes[0] = co_mesh;
co.mesh_poses.resize(1);
co.mesh_poses[0].position.x = 1.0;
co.mesh_poses[0].position.y = 1.0;
co.mesh_poses[0].position.z = 0.0;
co.mesh_poses[0].orientation.w= 1.0;
co.mesh_poses[0].orientation.x= 0.0;
co.mesh_poses[0].orientation.y= 0.0;
co.mesh_poses[0].orientation.z= 0.0;
pub_co.publish(co);
Thanks for your help
Best
Originally posted by Fran Marquez on ROS Answers with karma: 13 on 2014-06-03
Post score: 1
Original comments
Comment by bluefish on 2015-03-22:
Hi!
I tried to compile your code. But I get the error:
error: ‘pub_co’ was not declared in this scope
pub_co.publish(co);
Could you help me out here? Do I need to implement a some header I forgot?
Thanks
|
I know moveit provide it.
Is there any else?
I want to try more and compare.
Thank you~
Originally posted by sam on ROS Answers with karma: 2570 on 2014-06-03
Post score: 0
|
Is it possible somebody who has a functional UDP Subscriber implemented can perform a Wireshark trace on the XML in the XMLRPC call and post it as the answer to this question?
It will help me out greatly, as I will be able to cross reference what my client is sending vs what is supposed to be sent.
My Java client calls requestTopic by passing in an array of String Protocol names (I am aware the ROS Java client does not support UDPROS, this is a different client). If I pass in using TCPROS, followed by UDPROS, then XMLRPC returns correct protocol information on TCPROS the default protocol. If I reverse the order, or only specify UDPROS, ROS returns an Unknown Error message. I've traced it back to a ROS cpp method called requestTopicCallback (or something like that, I was debugging this morning, and may be off on the exact method name).
All help will be appreciated!
Sincerely,
Aaron
Originally posted by unknown_entity1 on ROS Answers with karma: 104 on 2014-06-03
Post score: 0
|
The pcl_ros tutorial example doesn't work:
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
int main(int argc, char** argv)
{
ros::init (argc, argv, "pub_pcl");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
PointCloud::Ptr msg (new PointCloud);
msg->header.frame_id = "some_tf_frame";
msg->height = msg->width = 1;
msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));
ros::Rate loop_rate(4);
while (nh.ok())
{
msg->header.stamp = ros::Time::now ();
pub.publish (msg);
ros::spinOnce ();
loop_rate.sleep ();
}
}
The compiler complains with the following:
error: no se puede convertir ‘ros::Time’ a ‘uint64_t {aka long unsigned int}’ en la asignación (it's in Spanish, I don't know how to change my compiler language)
which is something like:
error: 'ros::Time' cannot be converted to 'uint64_t {aka long unsigned int}' in assignment
Has somebody else faced this problem? I am running ROS Hydro, on Ubuntu 12.04.
Thanks
Originally posted by crpizarr on ROS Answers with karma: 229 on 2014-06-03
Post score: 6
|
Hello,
after installing pi_face_tracker and running it I don't have any image showed on the screen.
I run it on groovy using
roslaunch pi_face_tracker face_tracker_uvc_cam.launch
EDIT:
After adding waitkey to the ros2opencv.py node the window is now shown. but the face tracker keeps waiting for published images to "input_rgb_image". I checked with rostopic echo /input_rgb_image and there was indeed images published to this topic from my webcam. Why is my programm idle not doing anything?
I'm using a recent logitech C525 webcam.
here is the face_tracker_uvc_cam.launch
<launch>
<arg name="auto_face_tracking" default="True" />
<node pkg="pi_face_tracker" name="pi_face_tracker" type="face_tracker.py" output="screen">
<remap from="input_rgb_image" to="/camera/image_raw" />
<remap from="output_image" to="/pi_face_tracker/image" />
<param name="auto_face_tracking" value="$(arg auto_face_tracking)" />
<rosparam>
use_haar_only: False
use_depth_for_detection: False
use_depth_for_tracking: False
auto_min_features: True
min_features: 50
abs_min_features: 6
good_feature_distance: 5
add_feature_distance: 10
std_err_xy: 3.0
max_mse: 10000
show_text: True
show_features: True
fov_width: 1.094
fov_height: 1.094
max_face_size: 0.28
expand_roi: 1.02
flip_image: False
feature_type: 0 <!-- 0 = Good Features To Track, 1 = SURF -->
surf_hessian_quality: 100
</rosparam>
<param name="cascade_frontal_alt" value="$(find pi_face_tracker)/params/haarcascade_frontalface_alt.xml" />
<param name="cascade_frontal_alt2" value="$(find pi_face_tracker)/params/haarcascade_frontalface_alt2.xml" />
<param name="cascade_profile" value="$(find pi_face_tracker)/params/haarcascade_profileface.xml" />
</node>
</launch>
And Rqt_graph shows also that the subscription between both nodes is working well
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-06-04
Post score: 0
Original comments
Comment by Pi Robot on 2014-06-05:
Are you running the 'roslaunch ros2opencv uvc_cam.launch' command first to connect to your webcam?
Comment by Mehdi. on 2014-06-05:
yes this node is publishing images to /camera/image_raw and I can view them using rosrun image_view image_view image:=/camera/image_raw . So I am really wondering why pi_face_tracker gets stuck at rospy.wait_for_message in init
Comment by Pi Robot on 2014-06-05:
That is very odd because the face_tracker_uvc_cam.launch file remaps the /input_rgb_image topic to the /camera/image_raw topic which works fine on my machine. Can you post your version of the face_tracker_uvc_cam.launch file along with your original question?
Comment by Mehdi. on 2014-06-05:
I just posted it. If i understood well the remapping is only in pi_face_tracker.py and only tells ros2opencv.py that input_rgb_image means /camera/image_raw and if I do rostopic list there is no "real" input_rgb_image. My problem is not the remapping but the code being stuck not seeing the messages
Comment by Pi Robot on 2014-06-08:
I just tried checking out the pi_vision stack from scratch and it works with two different cameras on my Ubuntu 12.04 machine running ROS Groovy. If you haven't already done so, can you try checking out pi_vision from scratch and starting again? I'm wondering if your modifications to ros2opencv.py are causing it to hang.
Comment by Mehdi. on 2014-06-08:
I deleted pi_vision and uvc_cam and recloned pi_vision. I installed a more recent uvc_cam driver using apt-get install ros-groovy-camera_umd and changed the dependencies in manifest.xml from uvc_cam to uvc_camera. rosmake pi_vision works. then:
$ roslaunch pi_face_tracker camera_node.launch
$ roslaunch pi_face_tracker face_tracker_uvc_cam.launch
Still Idle, last log info is "Starting pi_face_tracker", I can see the camera images using image_view. Using OpenCV 2.4.6.
Comment by Mehdi. on 2014-06-08:
Using dmesg l on another terminal I saw the error messages. Everytime I run $ roslaunch pi_face_tracker camera_node.launch, I get the error : uvcvideo: Failed to query (SET_CUR) UVC control 10 on unit 2: -32 (exp. 2). but the program doesn't crash. And when I run the face tracker I get: python[20138]: segfault at 10 ip 00007fa14649d321 sp 00007fa1019c2d80 error 4 in libopencv_highgui.so.2.4.8[7fa146456000+8d000]
But the program doesn't crash either, weird.
|
Hello folks
I need to convert the Laserscanner data from my Hokuyo Laser Range Finder into a PointCloud.
I know there is a package called laser_assembler which should do this.
But i can't manage to make it working. There's a launch file in the test directory, but this one didnt what i expected.
What I need is a launch file, which converts the laserscanners topic /scan to a pointcloud topic /scan_pointcloud for example, so I can visualize it in Rviz as a first step.
I will appreciate any kind of help!
Regards,
Timo
Originally posted by cobhc999 on ROS Answers with karma: 38 on 2014-06-04
Post score: 1
Original comments
Comment by dornhege on 2014-06-04:
Do you need a single scan as points or multiple merged ones? The latter is what laser_assembler does. Converting a single scan is rather simple. For visualization in rviz, just use a LaserScan display.
Comment by cobhc999 on 2014-06-04:
I don't need merged ones. Just the actual ones, but not as polar coordinates. I need them as Cartesian coordinates. I know, I can visualize just the laserscan topic in Rviz. But I need them as a pointcloud. In a later approach I have to detect circles in the pointcloud, thats why I need Cartesian coordinates.
Comment by dornhege on 2014-06-04:
In that case I'd suggest to just to that manually in the code, unless that is something that you cannot change and needs pointcloud input. Then you could just write a simple node that does the conversion.
Comment by cobhc999 on 2014-06-06:
Ok, I managed to run the assembler and the periodic snapshotter. But it only gets new points after about 4sec. But I cant find the variable to change, which makes the snapshotter publish the points more often.
|
Hi,
I'm trying to implement a 3D SLAM algorithm based on octomap, however, my particle class which contains an octree as the map, cannot be resized or pushed onto a vector of particles. My class construct for the particles is:
struct SLAMParticle
{
SLAMParticle():m_octree(0.05){
}
octomap::OcTree m_octree;
double weight;
tf::Pose pose;
};
typedef std::vector<SLAMParticle> SLAMParticles;
I get an error when building that seems to be due to the lack of a default constructor, for movement and copying. For example there is no definition of an &operator= for octree, to transfer data between two octrees.
The error is:
/opt/ros/hydro/include/octomap/OcTreeBaseImpl.h:468:37: error: ‘octomap::OcTreeBaseImpl<NODE, INTERFACE>& octomap::OcTreeBaseImpl<NODE, INTERFACE>::operator=(const octomap::OcTreeBaseImpl<NODE, INTERFACE>&) [with NODE = octomap::OcTreeNode, INTERFACE = octomap::AbstractOccupancyOcTree]’ is private
/opt/ros/hydro/include/octomap/OccupancyOcTreeBase.h:69:9: error: within this context
and seems to relate to a point in the code where the SLAMParticles type is resized.
So my question is, is this a problem with using octomap::OcTree and that it is not designed to work within a vector structure or is it due to some other issue. If it is some other issue, can I just create a default constructor or &operator= for OcTree and its parent OccupancyOcTreeBase for use in vectors and general assignments?
Originally posted by PeterMilani on ROS Answers with karma: 1493 on 2014-06-04
Post score: 0
|
It has plan ?
thanks
Originally posted by Robotics123 on ROS Answers with karma: 1 on 2014-06-04
Post score: -2
|
Hi all,
I have followed the navigation tutorial for ros hydro this link and other link. I can see the obstacles are updated in the obstacle_layer. However the "clearing observation" task is not clear enough. For example, When I move in an move out the laser field of view, there are still several points can not be removed.
Here is the link picture of obstacle_layer
Did anyone have same problem before?
Here are my jaml and launch:
Costmap_common_params
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.225,-0.225],[-0.225,0.225], [0.225, 0.225], [0.225,-0.225]]
#robot_radius: 0.225
inflation_radius: 0.55
obstacle_layer:
observation_sources: laser
laser: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true, inf_is_valid: true}
Local_costmap_params
local_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.01
plugins:
- {name: footprint_layer, type: "costmap_2d::FootprintLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer" }
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
Global_costmap_params
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 5.0
static_map: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
Move_base
enter code here
<!-- -->
<launch>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find robot_platform)/maps/map.yaml" output="screen" clear_params="true"/>
<include file="$(find amcl)/examples/amcl_diff.launch" >
</include>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find robot_platform)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find robot_platform)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find robot_platform)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_platform)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_platform)/params/base_local_planner_params.yaml" command="load" />
</node>
</launch>
Originally posted by tl20003 on ROS Answers with karma: 11 on 2014-06-04
Post score: 1
Original comments
Comment by Yuichi Chu on 2014-06-05:
Hi ,tl20003 ,I am coming across the same problem with you now .And I have tried almost all the ways that proposed by others,but in vain.Have you worked out the problem?
Comment by tl20003 on 2014-06-08:
Hi, Yuichi, Have you solved that problem? I think our case is similar to this problem (http://answers.ros.org/question/30014/costmap-clearing-of-obstacles/). DimitriProsser suggested that we should use filter for laser scanner. However I did not check it by now.
Comment by David Lu on 2014-06-13:
Can you clarify what obstacles you want removed and why you want them removed, please?
Comment by tl20003 on 2014-06-16:
Thanks David for your updating the post!
The story is that,
(1) I configure the navigation package using the jaml and launch file above
(2) Then I run the program
(3) I move around the laser field of view.
Normally, when I move form one position to other position the program should clear the obstacles "laser points" from previous position. However as you can see in the picture, there are still several "laser points". That points are maintained until when I stop program.
Comment by tl20003 on 2014-06-16:
According to DimitriProsser suggestion. I also used the range filter for laser data to remove the "inf", "nan" points. However I got the same result. What should I do to solve that problem?
|
Hey,
I have multiple (3 to be precise) hokuyo cameras all going through usb. My problem is that I want each of them to have a specific name (i.e. the back camera is AMC0 and the side camera is AMC1 etc.). I have looked into writing a udev rule for that but I haven't been lucky in that department. I have the specific ID for each camera but I do not know how to link that to a name.
Any help is appreciated!
Originally posted by GWall on ROS Answers with karma: 27 on 2014-06-04
Post score: 0
|
Hi,
I have the following code:
#include ....
using namespace sensor_msgs;
using namespace message_filters;
std::vector<boost::shared_ptr<capygroovy::Ticks const> > ticks;
ros::Time last = ros::Time::now();
void callback(const ImageConstPtr& msg,const ImageConstPtr& msg2,const capygroovy::TicksConstPtr& msg3)
{
......
ticks = ticks_cache.getInterval(last,msg3->header.stamp);
......
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "db_creator_node");
ros::NodeHandle nh;
message_filters::Subscriber<capygroovy::Ticks> ticks_sub(nh,"/ticks",1);
message_filters::Cache<capygroovy::Ticks> ticks_cache(ticks_sub,10);
message_filters::Subscriber<Image> rgb_sub(nh,"/camera/rgb/image_rect",1);
message_filters::Subscriber<Image> dpt_sub(nh,"/camera/depth/image_rect_raw",1);
typedef sync_policies::ApproximateTime<Image, Image, capygroovy::Ticks> MySyncPolicy;
Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), rgb_sub, dpt_sub, ticks_sub);
sync.registerCallback(boost::bind(&callback, _1, _2, _3));
......
return 0;
}
That, of course, is wrong because I declare ticks_cache in the main and when I call the method getInterval() in the callback I get the error:
/home/dede/catkin_ws/src/db_creator/src/db_creator_node.cpp:24:
error: ‘ticks_cache’ was not declared
in this scope
I suppose that a nice solution would be to write a class with the message_filters as members but in order to initialize them you need to pass to their constructor the node handle and the topic names. The problem is that I really can't figure out how this could be done, so any help would be appreciated! Thanks!
Originally posted by schizzz8 on ROS Answers with karma: 183 on 2014-06-04
Post score: 1
|
Hi,
I'm trying to install ROS Groovy (but the error also exists with Hydro), but it won't install unless I uninstall my new version of Boost. However, I also want to use the newer Boost library, since only the latest version supports the algorithm I use. I tried apt-get install, which complained that I held broken packages, and aptitude install, which simply stated that I should remove the new Boost version and let it uninstall the old one.
Any way I can still install ROS with a newer version of Boost?
Originally posted by sanchises on ROS Answers with karma: 13 on 2014-06-04
Post score: 1
|
I have installed the hydro-devel-c-api branch of the universal_robot package from the ros-industrial github and am attempting to run the demonstration commands from the readme file. The python demonstration runs fine and controls the UR5 well. However, when I use the roslaunch ur5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=IP_OF_THE_ROBOT command (with the proper ip address there), rviz begins to start, and then crashes. This is the terminal output from this command: pastebin.com/wTUu5xQN.
Originally posted by airplanesrule on ROS Answers with karma: 110 on 2014-06-04
Post score: 0
|
Hi all,
I receive the following error:
[WARN] [WallTime: 1401915353.147587]
Could not process inbound connection:
Client [/rostopic_4474_1401915352624]
wants topic [/feedback_states] to have
datatype/md5sum
[control_msgs/FollowJointTrajectoryFeedback/10817c60c2486ef6b33e97dcd87f4474],
but our version has
[control_msgs/FollowJointTrajectoryFeedback/b11d532a92ee589417fdd76559eb1d9e]
Dropping
connection.{'message_definition': '#
====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION
======\nHeader header\nstring[] joint_names\ntrajectory_msgs/JointTrajectoryPoint
desired\ntrajectory_msgs/JointTrajectoryPoint
actual\ntrajectory_msgs/JointTrajectoryPoint
error\n\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata
for higher-level stamped data
types.\n# This is generally used to
communicate timestamped data \n# in a
particular coordinate frame.\n# \n#
sequence ID: consecutively increasing
ID \nuint32 seq\n#Two-integer
timestamp that is expressed as:\n# *
stamp.secs: seconds (stamp_secs) since
epoch\n# * stamp.nsecs: nanoseconds
since stamp_secs\n# time-handling
sugar is provided by the client
library\ntime stamp\n#Frame this data
is associated with\n# 0: no frame\n#
1: global frame\nstring
frame_id\n\n================================================================================\nMSG: trajectory_msgs/JointTrajectoryPoint\n#
Each trajectory point specifies either
positions[, velocities[,
accelerations]]\n# or positions[,
effort] for the trajectory to be
executed.\n# All specified values are
in the same order as the joint names
in JointTrajectory.msg\n\nfloat64[]
positions\nfloat64[]
velocities\nfloat64[]
accelerations\nfloat64[]
effort\nduration time_from_start\n\n',
'callerid':
'/rostopic_4474_1401915352624',
'tcp_nodelay': '0', 'md5sum':
'10817c60c2486ef6b33e97dcd87f4474',
'topic': '/feedback_states', 'type':
'control_msgs/FollowJointTrajectoryFeedback'}
I have a machine publishing on the feedback_states topic using the code shown below. The error is raised when, on another machine, i run rostopic echo "feedback_states". The publisher is Groovy whist the receiver is Hydro.
Code to publish on feedback_states:
b_msg = FollowJointTrajectoryFeedback()
time = rospy.Time.now()
fb_msg.header.stamp = time
fb_msg.joint_names = 'j_wrist1_arm1'
fb_msg.actual.positions = val
pub_fb_state.publish(fb_msg)
My initial thinking is that perhaps there is an issue with the different distributions for the control_msgs.
If this is the case or not i have no idea how to resolve this.
Should i update the Groovy version to Hydro?
Any help is appreciated it.
Regards.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-06-04
Post score: 0
|
Hello,
The tutorial for Navigation Stack states, since the Global Planner assumes circular robots, it produces waypoints that are optimistic for the actual robot footprint, and therefore the generated path may be infeasible to follow.
I was wondering if it is still the case if we consider the circumscribed circle of the robot's footprint. In this case, is it not even more conservative?
Thanks.
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-06-04
Post score: 0
|
Could not find gazebo_ros_control so lib...cloned gazebo_ros_pkgs into my catkskin. Get the following compile error: My question is , is this package ready for indigo ...I though it would pull from indigo-devel? I am running gazebo2.
default_robot_hw_sim.dir/src/default_robot_hw_sim.cpp.o
Built target gazebo_ros_control
/home/richard/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp: In member function ‘virtual bool gazebo_ros_control::DefaultRobotHWSim::initSim(const string&, ros::NodeHandle, gazebo::physics::ModelPtr, const urdf::Model*, std::vector<transmission_interface::TransmissionInfo>)’:
/home/richard/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:155:78: error: ‘struct transmission_interface::ActuatorInfo’ has no member named ‘hardware_interface_’
const std::string& hardware_interface = transmissions[j].actuators_[0].hardware_interface_;
^
/home/richard/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:220:45: error: no matching function for call to ‘control_toolbox::Pid::init(const ros::NodeHandle&, bool)’
if (pid_controllers_[j].init(nh,true))
^
/home/richard/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:220:45: note: candidate is:
In file included from /home/richard/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp:45:0:
/opt/ros/indigo/include/control_toolbox/pid.h:201:8: note: bool control_toolbox::Pid::init(const ros::NodeHandle&)
bool init(const ros::NodeHandle &n);
^
/opt/ros/indigo/include/control_toolbox/pid.h:201:8: note: candidate expects 1 argument, 2 provided
make[2]: ***
[gazebo_ros_pkgs/gazebo_ros_control/CMakeFiles/default_robot_hw_sim.dir/src/default_robot_hw_sim.cpp.o] Error 1
make[1]: *** [gazebo_ros_pkgs/gazebo_ros_control/CMakeFiles/default_robot_hw_sim.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by rnunziata on ROS Answers with karma: 713 on 2014-06-04
Post score: 0
Original comments
Comment by rnunziata on 2014-06-05:
Is this question more suited for the gazebo question board?
|
I'm a super ROS noob, started recently. So here's what I've done.
I created a workspace at a directory called 1-RoShop. At this directory's src folder I placed the P2os stack, I ran "cd .." and "catkin_make", It gave me this:
The truth is that I don't really know if I'm performing a third-party package install correctly.
Base path: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop
Source space: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/src
Build space: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/build
Devel space: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/devel
Install space: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/install
####
#### Running command: "make cmake_check_build_system" in "/home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/devel
-- Using CMAKE_PREFIX_PATH: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/devel;/opt/ros/hydro
-- This workspace overlays: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/devel;/opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 6 packages in topological order:
-- ~~ - liblms1xx
-- ~~ - lms1xx
-- ~~ - p2os_driver
-- ~~ - p2os_launch
-- ~~ - p2os_teleop
-- ~~ - p2os_urdf
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'liblms1xx'
-- ==> add_subdirectory(liblms1xx)
-- +++ processing catkin package: 'lms1xx'
-- ==> add_subdirectory(lms1xx)
-- +++ processing catkin package: 'p2os_driver'
-- ==> add_subdirectory(p2os/p2os_driver)
CMake Error at /home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/devel/share/diagnostic_updater/cmake/diagnostic_updaterConfig.cmake:106 (message):
Project 'diagnostic_updater' specifies
'/home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/src/diagnostic_updater/include'
as an include dir, which is not found. It does neither exist as an
absolute directory nor in
'/home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/src/diagnostic_updater//home/gabriel/Dropbox/1-UFAM/1-PROJETO_LVC/1-DESENVOLVIMENTO/5-ROS/1-RoShop/src/diagnostic_updater/include'.
Ask the maintainer 'Austin Hendrix <[email protected]>, Brice Rebsamen
<[email protected]>' to fix it.
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
p2os/p2os_driver/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
make: ** [cmake_check_build_system] Erro 1
Invoking "make cmake_check_build_system" failed
Originally posted by RodriguesGabriel on ROS Answers with karma: 11 on 2014-06-04
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-06-04:
Please update your question to preserve the format of the output in order to make it readable.
|
I was wondering whether using Python 3 was the right choice to package Indigo on Arch Linux. Indeed, Python 3 has been the default Python version on Arch Linux for nearly 4 years, so this is a question worth asking. According to REP 3:
Indigo Igloo (May 2014)
Ubuntu Saucy (13.10)
Ubuntu Trusty (14.04 LTS)
C++03
Boost 1.53
Lisp SBCL 1.0.x
Python 2.7 (Additional testing against Python 3.3 recommended)
CMake 2.8.11
And:
Python
Our intent with Python is to track the
minimum version provided in the
supported Ubuntu platforms, as well as
survey other commonly used OS
platforms that support ROS to
determine a reasonable minimum target.
Ubuntu has announced plans to release
14.04 in April 2014 with Python 3 as its default interpreter. Some ROS
infrastructure and core scripts
already work with Python 3 since
Groovy. But, it remains difficult to
set up a test environment so ROS
package developers can also port to
Python 3.
The preferred migration strategy is to
support both Python 2.7 and Python >=
3.2 in each source script. Supporting any version earlier than 2.6 makes
that task harder. Python 3.0 and 3.1
will probably never be supported
explicitly, although some things may
work.
Also in the Wiki:
Python 3 support
While Indigo Debian packages will still use Python 2 by default all packages should aim to make their Python code work with both Python 2.7 as well as Python 3.3. Please see a list of common changes necessary: How to make your Python code compatible with version 2.7 and 3.3
Background research can be found here: http://lists.ros.org/pipermail/ros-release/2013-December/004327.html
So would it really be wise to move to Python 3 for Indigo on Arch Linux? Or is that clearly too soon if even Debian/Ubuntu stick with Python 2 for now anyway? I already upgraded the script we use to generate our PKGBUILDs to work with both versions, so this is just a matter of "how stable/reliable will it be with Python 3".
Also note that the current Python version on Arch is 3.4.1, not 3.3. Moreover, since Arch Linux is a rolling release, this is a choice that would matter until the end of Indigo support on Arch, since switching from Python 2 to Python 3 in a few months would certainly be a nightmare for the users.
Originally posted by bchr on ROS Answers with karma: 596 on 2014-06-05
Post score: 0
|
Dear all,
I am wondering what hardware tech is most used to interface with ROS. I have drawn a little diagram which I believe is typical of most ROS control architectures and I am wondering which particular technology you use for the items shown in white. The idea is to understand if there is a typical "kind of standard" control architecture. I guess this will be interesting for many among us.
Specifically:
The communication between the ROS PC and the controller
I expect most people use Ethernet, or I2C, SPI... But is it really the case?
The motor controller
I expect hobbyist use custom-made controllers or cheap ones from the internet and professionals use proprietary ones such as EPOS from Maxon... What do you use?
The communication between the encoders and the ROS PC
You also use Ethernet, or I2C, SPI?
I believe it would be great to indicate your skills level as well: whether you are a hobbyist, a researcher, or someone working in the industry...
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-06-05
Post score: 3
Original comments
Comment by dornhege on 2014-06-05:
From my point of view there is no clear answer besides: Whatever the hardware dictates. The one thing I'd change in your diagram: Encoders are usually not directly connected to the PC.
Comment by arennuit on 2014-06-05:
Yep you are right, I have updated the diagram accordingly. Thanks.
Comment by AxisRobotics on 2018-09-19:
In our model, our encoders don't even directly connect to the motor controller. Point being, it's up to the designer of the robot and there are a lot of variables. When we first got started with ROS, it was the high level of abstraction that was difficult to digest. Start small!
|
Migrating from groovy to hydro, I encountered the following problem:
When I try to load an urdf model from the parameter server with the following code:
urdf::Model urdfModel;
if(!nh.hasParam(urdfName))
{
return;
}
if(!urdfModel.initParam(urdfName))
{
return;
}
where urdfName is a std::string (e.g., "/robot_description"), using hydro the program dies and I receive the following error message (with gdb):
Program received signal SIGILL, Illegal instruction.
0x00007ffff4e6af0f in std::vector<float, std::allocator<float> >::_M_insert_aux(__gnu_cxx::__normal_iterator<float*, std::vector<float, std::allocator<float> > >, float const&) ()
from /usr/lib/libpcl_common.so.1.7
(gdb) bt
#0 0x00007ffff4e6af0f in std::vector<float, std::allocator<float> >::_M_insert_aux(__gnu_cxx::__normal_iterator<float*, std::vector<float, std::allocator<float> > >, float const&) ()
from /usr/lib/libpcl_common.so.1.7
#1 0x00007ffff3005cbb in ?? () from /opt/ros/hydro/lib/liburdfdom_world.so
#2 0x00007ffff2fff447 in ?? () from /opt/ros/hydro/lib/liburdfdom_world.so
#3 0x00007ffff2ff3d97 in urdf::parseURDF(std::string const&) () from /opt/ros/hydro/lib/liburdfdom_world.so
#4 0x00007ffff32503a3 in urdf::Model::initString(std::string const&) () from /opt/ros/hydro/lib/liburdf.so
#5 0x00007ffff324f60e in urdf::Model::initParam(std::string const&) () from /opt/ros/hydro/lib/liburdf.so
The same code and urdf model work fine with groovy.
I am running Lubuntu 12.10 with ROS hydro (urdf 1.10.18, urdfdom 0.2.10).
Edit:
I am using an i7 CPU. The output of valgrind is:
vex amd64->IR: unhandled instruction bytes: 0xC5 0xFA 0x10 0x2 0xC5 0xFA 0x11 0x0
==28164== valgrind: Unrecognised instruction at address 0x7bd2f0f.
==28164== at 0x7BD2F0F: std::vector<float, std::allocator<float> >::_M_insert_aux(__gnu_cxx::__normal_iterator<float*, std::vector<float, std::allocator<float> > >, float const&) (in /usr/lib/libpcl_common.so.1.7.0)
==28164== by 0x9A13CBA: ??? (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x9A0D446: ??? (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x9A01D96: urdf::parseURDF(std::string const&) (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x97C83A2: urdf::Model::initString(std::string const&) (in /opt/ros/hydro/lib/liburdf.so)
==28164== by 0x97C760D: urdf::Model::initParam(std::string const&) (in /opt/ros/hydro/lib/liburdf.so)
==28164== by 0x7703F0A: <my_code>
==28164== Your program just tried to execute an instruction that Valgrind
==28164== did not recognise. There are two possible reasons for this.
==28164== 1. Your program has a bug and erroneously jumped to a non-code
==28164== location. If you are running Memcheck and you just saw a
==28164== warning about a bad jump, it's probably your program's fault.
==28164== 2. The instruction is legitimate but Valgrind doesn't handle it,
==28164== i.e. it's Valgrind's fault. If you think this is the case or
==28164== you are not sure, please let us know and we'll try to fix it.
==28164== Either way, Valgrind will now raise a SIGILL signal which will
==28164== probably kill your program.
==28164==
==28164== Process terminating with default action of signal 4 (SIGILL)
==28164== Illegal opcode at address 0x7BD2F0F
==28164== at 0x7BD2F0F: std::vector<float, std::allocator<float> >::_M_insert_aux(__gnu_cxx::__normal_iterator<float*, std::vector<float, std::allocator<float> > >, float const&) (in /usr/lib/libpcl_common.so.1.7.0)
==28164== by 0x9A13CBA: ??? (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x9A0D446: ??? (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x9A01D96: urdf::parseURDF(std::string const&) (in /opt/ros/hydro/lib/liburdfdom_world.so)
==28164== by 0x97C83A2: urdf::Model::initString(std::string const&) (in /opt/ros/hydro/lib/liburdf.so)
==28164== by 0x97C760D: urdf::Model::initParam(std::string const&) (in /opt/ros/hydro/lib/liburdf.so)
==28164== by 0x7703F0A: <my_code>
==28164==
==28164== HEAP SUMMARY:
==28164== in use at exit: 414,808 bytes in 6,624 blocks
==28164== total heap usage: 13,630 allocs, 7,006 frees, 807,298 bytes allocated
==28164==
==28164== LEAK SUMMARY:
==28164== definitely lost: 4 bytes in 1 blocks
==28164== indirectly lost: 0 bytes in 0 blocks
==28164== possibly lost: 148,127 bytes in 1,866 blocks
==28164== still reachable: 266,677 bytes in 4,757 blocks
==28164== suppressed: 0 bytes in 0 blocks
==28164== Rerun with --leak-check=full to see details of leaked memory
==28164==
==28164== For counts of detected and suppressed errors, rerun with: -v
==28164== ERROR SUMMARY: 0 errors from 0 contexts (suppressed: 0 from 0)
I am wondering, why the code runs with groovy but not with hydro. Have there been made any changes that could explain this behavior?
Originally posted by alice on ROS Answers with karma: 11 on 2014-06-05
Post score: 1
Original comments
Comment by bchr on 2014-06-05:
+1, and memory corruption is more likely. You may want to run valgrind on your code, but it might not be able to find the source of the error.
|
I'm trying to figure out how to run ROS on the Nao. I've tried using ROS Hydro and the Nao Python SDK (although had little luck) so I installed ROS Fuerte and am trying to follow the instructions provided by the ROS wiki.
At one point it says to check the installation by executing naoqi:
$ ~/naoqi/naoqi-sdk-1.12.3-linux32/naoqi
This does not work, even when I replace naoqi-sdk-1.12.3-linux32 with my corresponding version (pynaoqi-python-2.7-naoqi-1.14-linux64). My question is: how do I execute naoqi? Is there some command that I should be typing into the command line?
Originally posted by ROSwithNao on ROS Answers with karma: 151 on 2014-06-05
Post score: 1
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I keep getting this error message when trying to run roscore:
roscore cannot run as another roscore/master is already running.
Please kill other roscore/master processes before relaunching.
However, I only have one terminal window open. How could there already be a roscore running? I've tried quitting Terminal and restarting it and I've tried restarting my computer. It doesn't matter what I do - my computer thinks there is a roscore running even though there are no terminal windows open with roscore running in them. Is there a way to kill this invisible roscore so that I can run one in a window?
Originally posted by ROSwithNao on ROS Answers with karma: 151 on 2014-06-05
Post score: 14
Original comments
Comment by ToughMind on 2017-06-04:
I met the same problem. There is no roscore or rosmaster running. But I met this error whenever I run roscore.
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Hello,
I'am trying to use the turtlebot on hydro (all packets up to date).
Gmapping need a huge time to update the map, is it a normal behavior ?
This a sceencast example of rviz based on the demo :
youtu.be/z-ZeBIad1YI
Thanks for your help !
Originally posted by Jérôme on ROS Answers with karma: 36 on 2014-06-05
Post score: 0
Original comments
Comment by bvbdort on 2014-06-27:
Mapping needs much computation power but gmapping is not slow as your video shows
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Hi, all,
I am calling move_base to navigate my robot, by calling "rosrun move_base move_base _global_costmap/global_frame:=world".
move_base Diagram
But I could not find the parameter to define the laser_scan input topic and odometry topic. How do I pass these two parameters? I scan thru move_base.cpp, but cannot find any clue.
all comment appreciated!
thanks
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-06-05
Post score: 0
Original comments
Comment by pkohout on 2014-06-11:
hi, i only have done this in groovy, but take a look at http://wiki.ros.org/costmap_2d#costmap_2d.2BAC8-flat.Parameters, you can pass the laser scan topic as a observation_source to the costmap, which move_base is using.
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I read how to write a new global planner on this web.( http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS ).
and asked a question about how to implement OMPL. In the question, I said that OMPL is standalone. but, I don't make sense of standalone. I begin to write a code. Could anyone tell me if my description in ompl_planner_rrt.h is correct?
Thank you in advance!
ompl_planner_rrt.h
#ifndef OMPL_PLANNER_RRT_H_
#define OMPL_PLANNER_RRT_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_core/base_global_planner.h>
#include <geometry_msgs/PoseStamped.h>
#include <angles/angles.h>
#include <tf/tf.h>
#include <tf/transform_datatypes.h>
#include <base_local_planner/world_model.h>
#include <base_local_planner/costmap_model.h>
#include <ompl/geometric/planners/rrt/RRT.h>
ompl_planner_rrt.cpp
#include <ompl_planner_rrt/ompl_planner_rrt.h>
#include <pluginlib/class_list_macros.h>
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-05
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-06-05:
I should post this question on OMPL Mailing List?
Comment by Ken_in_JAPAN on 2014-06-05:
Above files are based on carrot_planner.cpp *.h. here I change namespace of carrot_planner to one of ompl_planner_rrt and I quoted CMakeLists.txt and package.xml in Problem with new BaseGlobalPlanner plugin. After catkin_make, it created libompl_planner_rrt.so. I don't use a function of ompl.
Comment by Ken_in_JAPAN on 2014-06-05:
It might be important for me to look through sample code of OMPL.
Comment by Ken_in_JAPAN on 2014-06-05:
I should edit only makePlan in ompl_planner_rrt.cpp with ob = ompl;;base and og = ompl::geometric?
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Hi There,
I don't know why I'm losing my depth data when I display it from the Kinect through my program, it's appears like black and whit I'm losing the grayscale
void imageCallbackdepth(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_16SC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::imshow("OpenCV viewer Kinect depth", cv_ptr->image);
cv::waitKey(3);
}
In the main function:
image_transport::Subscriber sub = it.subscribe("/camera/depth/sw_registered/image_rect_raw", 1, imageCallbackdepth);
http://s9.postimg.org/6b800dbn3/Imagedepth.jpg
I think that the problem is here: image_encodings::TYPE_16SC1 !!?
How can I solve this ?
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-06-05
Post score: 0
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I am trying to test the driver package for Razor IMU 9DOF (Degree of freedom) sensors board based from this site: http://wiki.ros.org/razor_imu_9dof . I have installed Arduino and confirmed that it is working, as well as the python visual package. I installed wine v1.4 to get the python visual package working. After downloading and "rosmake"-ing the razor git repository without errors and running the command "roslaunch razor_imu_9dof razor.launch", i get the following error:
viki@ROS:/home/paralax2$ roslaunch razor_imu_9dof razor.launch
WARNING: unable to configure logging. No log files will be generated
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Invalid tag: Cannot load command parameter [rosversion]: command [rosversion roslaunch] returned with code [1].
Param xml is < param command="rosversion roslaunch" name="rosversion"/>
Are there any prerequisites that I may be unaware of? Why are the scripts unable to configure logging? Any guidance would be greatly appreciated.
Originally posted by musik on ROS Answers with karma: 19 on 2014-06-05
Post score: 0
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turtlebot_teleop not working with Logitech joystick
Logitech joystick connected
roslaunch turtlebot_teleop logitech.launch
rostopic echo /joy
Does not change when I move the joystick. Any missing step?
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-06-05
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-06-05:
Hi @pnambiar, I think you need to execute some command like a playstation3 on the web( http://ros.informatik.uni-freiburg.de/roswiki/turtlebot_teleop%282f%29Tutorials%282f%29PS3%2820%29Joystick%2820%29Teleop.html ).
Comment by Ken_in_JAPAN on 2014-06-05:
Is your joystick connected with workstation? I think joystick is used instead of keyboard, because you need kind of like driver to communicate with your turtlebot. I have moved a turtlebot with PS3joystick.
Comment by Ken_in_JAPAN on 2014-06-06:
@pnambiar, Could you tell me more detailed information about your using joystick? I think there is a few information on ROS tutorial too. Does your joystick have either a USB cable or USB wireless? I think it doesn't have a bluetooth.
Comment by Ken_in_JAPAN on 2014-06-09:
@pnambiar, I think you should write your answer. Please inform all of your solution.
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I've been looking into displaying a point cloud in the browser using ros3djs and rosbridge. There's a tutorial for streaming point cloud data from a Kinect, but I just want to take a pointcloud2 message and render it with ros3djs. As documented, it seems like it can only take a stream directly from a camera, but is there a way within the current framework to just display directly from a pointcloud2 message?
Originally posted by jdreic on ROS Answers with karma: 11 on 2014-06-05
Post score: 1
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Hello everyone, I am an absolute beginner when it comes to ROS or Homebrew or even using the Terminal! Please bear with me here.
I've been following this tutorial (wiki.ros.org/hydro/Installation/OSX/Homebrew/Source) to the letter trying to install ROS Hydro to my Mac OSX 10.9. I am stuck at section 2.1.3 where I'm told to run ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release. Upon running it, the command fails with this error:
-- Configuring incomplete, errors occurred!
See also "/Users/jcRebanal/ros_catkin_ws/build_isolated/catkin/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'catkin':
Command 'cmake /Users/jcRebanal/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/jcRebanal/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/jcRebanal/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/jcRebanal/ros_catkin_ws/build_isolated/catkin && cmake /Users/jcRebanal/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/jcRebanal/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/jcRebanal/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release
Command failed, exiting.
I have no idea how I can continue installation from here, may it have something to do with the command cmake /...Release ending with returned non-zero exit status 1? Like I said, I'm an absolute beginner here and can't make sense of this or how to proceed.
I DID try running brew doctor and I was told my system is ready to brew with no warnings.
The rest of the installation up to this point was relatively smooth and was only met with one other major warning/error. At tutorial section 2.1.2 I'm told to resolve dependencies. I ran rosdep install --from-paths src --ignore-src --rosdistro hydro -y and at the end of the command I was asked my sudo password. I was met with this error:
Could not find any downloads that satisfy the requirement PIL
Some externally hosted files were ignored (use --allow-external PIL to allow).
No distributions at all found for PIL.
Storing debug log for failure in /Users/.../pip.log
Error: the following rosdeps failed to install: pip: command [sudo pip install -U PIL] failed
Not sure if that's relevant or not but it does provide more detail on my situation. I could not find anyone else having the same problem, I have no idea if this is easily fixable or if this is a hard compatibility issue.
Please, if you can provide any insight, I would appreciate it very much. I can provide other details if needed. Thank you!!
edit 1: Using both William's and demmein's answers did solve my original PIL install issue. However, I still ended up getting stuck installing the rosdeps, mainly pcl. I dropped trying to install ROS on OSX 10.9 and installed it on Ubuntu and ran than on OSX through VirtualBox. I used a .ova file with ROS Hydro pre-installed and have been able to use it without issue since. Here is the link I used: (nootrix.com/downloads/#RosVM) (I used the 3.7 GB torrent). Thanks again everyone for the help!
Originally posted by jc17 on ROS Answers with karma: 39 on 2014-06-05
Post score: 0
Original comments
Comment by William on 2014-06-09:
I actually think it did solve your original issue, you just ran into a different, similar error later with PCL...
Comment by jc17 on 2014-06-09:
My original issue was not being able to run './src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release' and I still wasn't able to run it and continue with the installation. But your answer and demmein's helped and definitely resolved the PIL issue. And they're both appreciated! (:
Comment by demmeln on 2014-06-10:
Feel free to post a new question with more details about the pcl issue. In general ROS on Ubuntu will be more of smooth sailing than on OS X, however some things don't always work great in a VM, such as visualization in rviz.
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Hi All,
I have created a custom CAN bus message but I would like to change the way that the information is printed out.
My .msg file is:
# Custom message for sending the IMU data to the hydraulic test system
# BJEM 19th May 2014.
Header header
uint32 time_ms
uint16 time_us
uint32 id # 11/29 bit code
uint8 msgtype # bits of MSGTYPE_*
uint8 len # count of data bytes (0..8)
uint8[] data # data bytes, up to 8
##### END OF FILE #####
I would like the fields id, and data to be printed out as hexadecimal numbers. There doesn't seem to be an obvious way to do that. Here's an example header sequence obtained using rostopic echo:
header:
seq: 48533
stamp:
secs: 1402018614
nsecs: 775459838
frame_id: ''
time_ms: 132547
time_us: 476
id: 2565877120
msgtype: 0
len: 7
data: [237, 124, 82, 122, 107, 122, 0]
---
Hexadecimal for the id and data makes it much easier to comprehend.
Thanks in Advance
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-06-05
Post score: 0
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