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Hi,
I work with the kdl, but i dont know how to determine the angle Limits.
Someone an idea?
Thanks
Originally posted by Dante on ROS Answers with karma: 21 on 2014-06-16
Post score: 0
|
Hello ROS Community,
This is my first post to this forum. I am attempting to run the tutorial for moveit using python. Specifically the Move Group Interface/Python API tutorial. Sorry, my karma is not yet good enough to post links.
I am running python 2.7.
OS is Ubuntu 12.04
ROS and ROS packages are installed using apt-get
I have created a package called my_youbot_moveit with a simple python script. The script contains the following:
import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg
print("============ Starting tutorial setup")
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('move_group_python_interface_tutorial', anonymous=True)
When I run the code
source ~/catkin/develop/setup.bash
rosrun my_youbot_moveit my_youbot_moveit.py
I get the error
Exception in thread Thread-3:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 551, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 504, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 153, in run
(client_sock, client_addr) = self.server_sock.accept()
File "/usr/lib/python2.7/socket.py", line 202, in accept
sock, addr = self._sock.accept()
File "/usr/lib/python2.7/socket.py", line 170, in _dummy
raise error(EBADF, 'Bad file descriptor')
error: [Errno 9] Bad file descriptor
Please help me understand what is causing this problem and how to solve it.
Originally posted by Rick C NIST on ROS Answers with karma: 28 on 2014-06-16
Post score: 0
Original comments
Comment by Rick C NIST on 2014-06-25:
I reran the moveit setup assistant, and this problem went away. Must have been an error in one of my configuration files
|
I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics/IKFast for generating an ikfast moveit plugin for a ur5. I had to use a pre-made collada file from here: https://github.com/rdiankov/collada_robots/blob/master/universalrobots-ur6-85-5-a.zae and renamed it to the appropriate filename. I got to the step where i attempt to use this command:
python `openrave0.9-config --python-dir`/openravepy/_openravepy_0_9/ikfast.py --robot=ur5round.dae --iktype=transform6d --baselink=1 --eelink=6 --savefile=ikfast61_manipulator.cpp
it appears as though it begins to work, but it fails shortly after. Here is the terminal output:
INFO: moved translation Matrix([[0, 0, 19/400]]) to right end
INFO: moved translation Matrix([[0, 0, 1197/10000]]) to left end
INFO: moved translation on intersecting axis Matrix([[0, 0, 0]]) to left
INFO: [[1, 0, 0, 0],[0, 0, 1, -2/125],[0, -1, 0, 0]]
INFO: [[cos(j1), -sin(j1), 0, 0],[sin(j1), cos(j1), 0, 0],[0, 0, 1, 0]]
INFO: [[-1, 0, 0, 0],[0, -1, 0, 17/40],[0, 0, 1, 0]]
INFO: [[cos(j2), -sin(j2), 0, 0],[sin(j2), cos(j2), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -1, 0, 0],[1, 0, 0, -39243/100000],[0, 0, 1, -93/1000]]
INFO: [[cos(j3), -sin(j3), 0, 0],[sin(j3), cos(j3), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -1, 0, 0],[0, 0, -1, 93/1000],[1, 0, 0, 0]]
INFO: [[cos(j4), -sin(j4), 0, 0],[sin(j4), cos(j4), 0, 0],[0, 0, 1, 0]]
INFO: [[0, 0, -1, 0],[0, 1, 0, 0],[1, 0, 0, 0]]
INFO: [[cos(j5), -sin(j5), 0, 0],[sin(j5), cos(j5), 0, 0],[0, 0, 1, 0]]
INFO: [[0, -1, 0, 0],[0, 0, -1, 0],[1, 0, 0, 19/400]]
Traceback (most recent call last):
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 7478, in <module>
chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 1836, in generateIkSolver
chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 2306, in solveFullIK_6D
self.testconsistentvalues = self.ComputeConsistentValues(jointvars,self.Tfinal,numsolutions=4)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 1885, in ComputeConsistentValues
psubs.append((s,v.subs(psubs)))
File "/usr/local/lib/python2.7/dist-packages/sympy/core/basic.py", line 976, in subs
rv = rv._subs(old, new, **kwargs)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/cache.py", line 93, in wrapper
r = func(*args, **kw_args)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/basic.py", line 1090, in _subs
rv = fallback(self, old, new)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/basic.py", line 1062, in fallback
arg = arg._subs(old, new, **hints)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/cache.py", line 93, in wrapper
r = func(*args, **kw_args)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/basic.py", line 1088, in _subs
rv = self._eval_subs(old, new)
File "/usr/lib/python2.7/dist-packages/openravepy/_openravepy_0_9/ikfast.py", line 308, in Pow_eval_subs
return Pow(self.base._eval_subs(old, new), self.exp._eval_subs(old, new))
File "/usr/local/lib/python2.7/dist-packages/sympy/core/cache.py", line 93, in wrapper
r = func(*args, **kw_args)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/power.py", line 161, in __new__
b = _sympify(b)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/sympify.py", line 346, in _sympify
return sympify(a, strict=True)
File "/usr/local/lib/python2.7/dist-packages/sympy/core/sympify.py", line 239, in sympify
raise SympifyError(a)
sympy.core.sympify.SympifyError: SympifyError: None
Originally posted by airplanesrule on ROS Answers with karma: 110 on 2014-06-16
Post score: 0
|
Hi
I have noticed loops created in transform chain when I ask for a transform between the root to a child in a tree with multiple branches.
Eg: head -> imu_link
-> laser_link
-> camera_link -> camera_optical_frame
When I perform a tf_monitor from head to camera_optical_frame, I get a chain like this => head->laser_link->head->camera_link->camera_optical_frame.
The loop head->laser_link->head is unity when the links are stationary. It becomes a serious issue when the links are moving as this loop need not be unity. I understand TF is trying to match both time and frame and this might be a side effect of it as It is not taking a snapshot of the joint states before transforming but getting joint states as it computes. Is there any way to disable this. In a multi frame humanoid this is a serious cause of the TF to be slow. Currently in cases where I need TF lookup fast I use KDL and extract my chain of interest and perform the FK.
Please give me your opinions and suggestion on it. Could it be possible that the way I am setting up the robot might be wrong?
Thanking you,
Benzun
Originally posted by Benny on ROS Answers with karma: 132 on 2014-06-16
Post score: 0
|
I really wonder, if anyone figured out how to control multiple Ardrones.
I know How to spawn Multiple of them, but I still couldn't figure out how to control them.
The bad thing is that as soon as I spawn one more, Ardrone lost the control and takes off forever.
If anyone finds how to control them, could anyone please post it or comment?
Originally posted by Yonggun Lee on ROS Answers with karma: 11 on 2014-06-16
Post score: 1
|
Our robot is FANUC LR mate 200i, the controller is RJ3. I want to know if the ROS is applicable in this controller.
Thank you.
Edit: details from comments:
Controller: R-J3
System version: V5.2043 (V5.20-3)
Originally posted by shanekop on ROS Answers with karma: 1 on 2014-06-16
Post score: 0
Original comments
Comment by gvdhoorn on 2014-06-17:
Also: which 200i specifically? The fanuc_experimental package has support pkgs for the 200iC (base and /5H) and 200iD (base only).
|
With this commit in rosdep key that, now from Hydro there are at least 2 ROS ways to depend on OpenCV; via ROS 3rd package "[OpenCV2]" or Ubuntu system dependency libopencv-dev.
Should we update the all package.xml in Hydro that depend on OpenCV2 to replace with libopencv-dev?
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-06-16
Post score: 0
|
Hello guys!
I am trying to localize a sound source and use that information in matlab. I have integrated ROS with matlab (R2012b) and ROS with Hark. I am also able to visualize the localisation information in HARK. But I need the localisation data in Matlab (to control a robot in Gazebo). The problem I am facing is that the source localization data in hark is outputted as a data type ObjectRef. Can anyone help me how to convert this data structure to simple data types like vector, Int or float that can be published as std_msgs or any other technique by which I can subscribe localization data in Matlab. Information about the data type of source can be found at pg. no. 32 of hark-documentation (version2) . Any solution is welcome by which I can get the localization information in Matlab.
System Specs:
Ros Hydro, Ubuntu 12.04 64 bit, Matlab R2012b, Hark version 2
Originally posted by keshav_sarraf on ROS Answers with karma: 66 on 2014-06-17
Post score: 1
|
Hello everyone,
I am working on a robot to make autonomous navigation in an unknown flat environment.
The robot is equipped with a Hokuyo UTM-30LX and a Kinect.
My ultimate goal is to make a map of the place with the identification of objects that are present.
To achieve this, I use the tools provided by Hector team that really meet my needs: Hector Mapping, Hector Map Server, Hector Geotiff, Hector Trajectory Server, Hector Elevation Mapping for the Mapping part, and Hector Costmap, Hector Exploration node for the navigation part. Everything seems to work properly after my first tests.
Now - when I will found a tool to make efficient detection of objects - I would like to give a 'manual' goal for the planner. For example, if the robot recognizes objects in its database, it will go to them; otherwise the rest of the time continue the exploration.
I think it will be possible - I don't know how yet - to add the position of a detected object on the map thanks to Geotiff Node and Server Map node. So instead the planner gives a pose goal to generate the path as you can see in the following video :
www.youtube.com/watch?v=cd2FGMBj8iw
, it may sometimes give a goal to a recognized object.
I look in the source code hector_exploration_planner but I don't really know how to do. Do you have any idea?
I'm working on Ubuntu 12.04 and Groovy.
Thank you for your help,
Jeremy
Ps : Last question : do you know/have any idea for how to show the color on the map like in the Youtube video ? This colouring which seems indicate areas of importance.
Edit : I finally had the opportunity to test my implementation. Using makePlan function the robot calculates its trajectory towards my manual goal. However, there is always a call to the service GetRobotTrajectory with Hector Exploration Controller... Therefore, the robot never manages to move to my goal. Do you have an idea to fix this problem?
Originally posted by jeremy33 on ROS Answers with karma: 38 on 2014-06-17
Post score: 1
Original comments
Comment by RS on 2015-07-26:
I'm working on something very similar. That is to carry out exploration till it finds an object after which it should move to that goal. However I'm unable to find much documentation on hector_navigation stack.Can you tell me the nodes that need to be launched for hector exploration.
|
Hi to all,
I would like to generate a ".deb" file to share my ROS code with other. I have heard about Bloom and another ways to generate ".deb" files. However, this is not a good solution for me, I only need a local manner to generate a ".deb" file to obfuscate my source code and thereby, my colleague could install and use it in his computer, without see the source.
I only need to share my code with my colleague, no with the ROS community, because it is a very concrete (ad hoc) source code, is not valid for the rest of community.
Is there a "ROS" manner to compile my ROS package in a .deb file?
Edit (by @William):
The first step is correct, it generates a debian folder with rules and another files.
$ cd path/to/your/catkin/package
$ bloom-generate rosdebian --os-name ubuntu --os-version trusty --ros-distro indigo
Then, when i try to use the second command:
$ fakeroot debian/rules binary
I have problems with CMakeList.txt.
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package roscpp.
Set roscpp_DIR to the directory containing a CMake configuration file for
roscpp. The file will have one of the following names:
roscppConfig.cmake
roscpp-config.cmake
Call Stack (most recent call first):
CMakeLists.txt:7 (find_package)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package message_generation.
Set message_generation_DIR to the directory containing a CMake
configuration file for message_generation. The file will have one of the
following names:
message_generationConfig.cmake
message_generation-config.cmake
Call Stack (most recent call first):
CMakeLists.txt:7 (find_package)
CMake Error at CMakeLists.txt:26 (add_message_files):
Unknown CMake command "add_message_files".
-- Configuring incomplete, errors occurred!
dh_auto_configure: cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_VERBOSE_MAKEFILE=ON -DCATKIN_BUILD_BINARY_PACKAGE=1 -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_PREFIX_PATH=/usr returned exit code 1
make[1]: *** [override_dh_auto_configure] Error 2
make: *** [binary] Error 2
The compiler, among other errors, does not recognize "add_message_files" command.
Any idea?
Thank you very much for your help ;)
I am trying with a lot of configurations, but it doesn't work. I am sure that the solution is very simple.
I attach my CMakelist.txt and package.xml, order that you may check the files.
CMakelist.txt
cmake_minimum_required(VERSION 2.8.3)
project(br_modbus)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp message_generation std_msgs genmsg)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
# catkin_python_setup()
#######################################
## Declare ROS messages and services ##
#######################################
## Generate messages in the 'msg' folder
add_message_files(
FILES
BrInputStatus.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
setOutput.srv
setOutputEmpty.srv
setOutputString.srv
getOutput.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES br_modbus
CATKIN_DEPENDS message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include
${catkin_INCLUDE_DIRS}
)
#include/${PROJECT_NAME}
## Declare a cpp library
# add_library(br_modbus
# src/${PROJECT_NAME}/ClassIOModbusDev.cpp
# )
## Declare a cpp executable
add_executable(ClassIOModbusDev src/ClassIOModbusDev.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(ClassIOModbusDev /usr/lib/libmodbus.so ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(ClassIOModbusDev /usr/lib/libmodbus.so ${catkin_LIBRARIES})
Package.xml
<?xml version="1.0"?>
<package>
<name>br_modbus</name>
<version>0.0.0</version>
<description>The br_modbus package</description>
<maintainer email="[email protected]">Jose Luis</maintainer>
<license>TODO</license>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Use build_depend for packages you need at compile time: -->
<build_depend>message_generation</build_depend>
<build_depend>libmodbus-dev</build_depend>
<build_depend>genmsg</build_depend>
<build_depend>roscpp</build_depend>
<!-- Use run_depend for packages you need at runtime: -->
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<!-- Use buildtool_depend for build tool packages: -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Originally posted by Jose Luis on ROS Answers with karma: 375 on 2014-06-17
Post score: 12
|
Dear all.
I have a differential mobile robot and I am successfuly using SBPLLatticePlanner as a global planner as part of the navigation stack. I tested the robot with :
base_global_planner: SBPLLatticePlanner
base_local_planner: dwa_local_planner/DWAPlannerROS
SBPLLatticePlanner:
allocated_time: 10
initial_epsilon: 15.0
lethal_obstacle: 20.0
And I also tested the robot by commenting out # base_local_planner: dwa_local_planner/DWAPlannerROS
I am using genmprim_unicycle.m to generate motion primitives.
I have experience some issues.
1.- When I comment out base_local_planner: dwa_local_planner/DWAPlannerROS and then I set the goal behind the robot from the current position, the robot does not turn back towards the goal. It starts shaking left-right instead.
2.-The robot does not follow the path close enough, meaning that in crashes with obstacles even though I have set inflation_radius accordingly to the footprint of the robot.
The questions are:
1 .- Is there any local base planner that must be use together with SBPLLatticePlanner.
2.- Which parameters I need to tune or set in order for the robot to turn back when I set the goal behind it?
In advance thank you for your replay.
Originally posted by acp on ROS Answers with karma: 556 on 2014-06-17
Post score: 0
|
Although it sounds like something my wife probably wonders about me sometimes - why do I talk if no one is listening? - I've wondered the same thing many times about a ROS publisher. I've never ran into any problems as long as everything is running on the same computer, but when I'm using two computers communicating over wireless, having data flow across the network that isn't getting used is costly.
As an example, I have a pioneer with a kinect on it, most of the time the robot is in an autonomous mode and I don't use the wireless, but sometimes I want to teleoperate the robot and use the kinect's camera to see where I'm going. But running the openni node publishes a TON of data, even when I turn off almost everything in the launch file. There's so much data with all the different video feeds that the network gets flooded and the lag in the video makes it unuseable. Usually I'll just dive in hacking the code and cut out all unneeded topics and create a specialized node, but is there a better way?
When I'm creating my own nodes that produce a lot of data, I usually use the publisher.getNumSubscribers() function to check if anyone is listening to a topic before publishing anything. My question is, is there a reason that all publishers don't do something similar by default? Would it be possible to add this capability to the core publisher code? Or is there something I'm missing?
Thanks,
Aaron
Originally posted by Airuno2L on ROS Answers with karma: 3460 on 2014-06-17
Post score: 9
|
Currently I'm trying to update our code base to be used with Ubuntu 14.04 LTS and indigo. When building a package which uses PCL I hit this issue:
/usr/bin/ld:
/usr/local/lib/libqhull.a(mem.c.o)(.debug_info+0x701):
unresolvable R_X86_64_64 relocation
against symbol `qhmem' /usr/bin/ld:
final link failed: Nonrepresentable
section on output collect2: error:
ld returned 1 exit status
It seems there is something fatally broken/mixed up with headers and the pre-compiled 32/64 bit libraries. Reinstalling the libqhull packages won't resolve this issue. So, has anybody an idea how to solve this?
Best wishes,
Alex
Originally posted by a_stumpf on ROS Answers with karma: 41 on 2014-06-17
Post score: 0
|
gazebo2 and collada-dom can't be found in any of the ubuntu repositories and are typically found in the ros repo for other architectures. These will be useful for bootstrapping any of the armhf full builds.
PCL and sbcl are also missing, but I can build these in a PPA.
Originally posted by jolting on ROS Answers with karma: 21 on 2014-06-17
Post score: 1
|
Hello hello,
I've seen plenty of examples of building maps with ROS using Hokuyo laser scanners that can scan at wide angles (270 degrees!). However, from what I've seen, these scanners are way out of my budget, easily weighing in at over a thousand bucks.
Can you use a single-point laser range finder such as this one (http://www.fluke.com/fluke/m3en/Laser-Distance-Meters/Fluke-414D.htm?PID=74281) and still get usable data for mapping, it would just take longer to scan the walls of areas? This particular range finder can be fitted with an interface board (http://porcupineelectronics.com/Laserbotics.html) that allows for USB communication/interfacing with microcontrollers like Arduinos. Should I be able to send the sensor's data to ROS this way? The rangefinder and the interface board would normally cost about $300 in comparison to the $1000+ Hokuyo alternatives.
Originally posted by jc17 on ROS Answers with karma: 39 on 2014-06-17
Post score: 1
|
Hi,
i have a little problem when I launch calibration for my turtlebot :
" roslaunch turtlebot_calibration calibrate.launch "
I have this error on my screen :
File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 250, in <module>
main()
File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 228, in main
robot = CalibrateRobot()
File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 69, in __init__
self.has_gyro = rospy.get_param("turtlebot_node/has_gyro")
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 452, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/msproxy.py", line 117, in __getitem__
raise KeyError(key)
KeyError: 'turtlebot_node/has_gyro'
================================================================================REQUIRED process [turtlebot_calibration-15] has died!
process has died [pid 6846, exit code 1, cmd /home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py imu:=mobile_base/sensors/imu_data_raw cmd_vel:=mobile_base/commands/velocity scan_angle:=scan_angle odom:=odom __name:=turtlebot_calibration __log:=/home/sr1/.ros/log/b326776c-f689-11e3-bbee-6c881460500c/turtlebot_calibration-15.log].
log file: /home/sr1/.ros/log/b326776c-f689-11e3-bbee-6c881460500c/turtlebot_calibration-15*.log
Initiating shutdown!
================================================================================
[turtlebot_calibration-15] killing on exit
[scan_to_angle-14] killing on exit
[depthimage_to_laserscan-13] killing on exit
[camera/disparity_registered_hw-12] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
[camera/depth_metric_rect-6] killing on exit
[camera/rectify_ir-4] killing on exit
[camera/disparity_depth-11] killing on exit
[camera/rectify_color-3] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/driver-2] killing on exit
[camera/camera_nodelet_manager-1] killing on exit
Traceback (most recent call last):
File "/usr/lib/python2.7/site.py", line 562, in <module>
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
main()
File "/usr/lib/python2.7/site.py", line 544, in main
known_paths = addusersitepackages(known_paths)
File "/usr/lib/python2.7/site.py", line 271, in addusersitepackages
user_site = getusersitepackages()
File "/usr/lib/python2.7/site.py", line 246, in getusersitepackages
user_base = getuserbase() # this will also set USER_BASE
File "/usr/lib/python2.7/site.py", line 235, in getuserbase
from sysconfig import get_config_var
File "/usr/lib/python2.7/sysconfig.py", line 124, in <module>
_PROJECT_BASE = os.path.dirname(_safe_realpath(sys.executable))
File "/usr/lib/python2.7/sysconfig.py", line 119, in _safe_realpath
return realpath(path)
File "/usr/lib/python2.7/posixpath.py", line 367, in realpath
resolved = _resolve_link(component)
File "/usr/lib/python2.7/posixpath.py", line 392, in _resolve_link
dir = dirname(path)
File "/usr/lib/python2.7/posixpath.py", line 120, in dirname
i = p.rfind('/') + 1
KeyboardInterrupt
[camera/driver-2] escalating to SIGTERM
[camera/rectify_ir-4] escalating to SIGTERM
[camera/rectify_color-3] escalating to SIGTERM
[camera/camera_nodelet_manager-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
Thanks for your help!
Originally posted by guigui on ROS Answers with karma: 33 on 2014-06-17
Post score: 1
Original comments
Comment by kangnamtofu on 2017-03-06:
I am having the same problem. Can someone shed a light for a noob?
Comment by TravelAmerica on 2017-03-08:
I encounter exactly same problem.
KeyError: 'turtlebot_node/has_gyro'
Any thought?
Comment by vik748 on 2017-05-25:
Same here...
|
Hello all !
I am using Hydro version of ROS. I have created a node in which I made a variable and store the value in it. Now I have to pass that variable value to another node. So that it can access it.
Can any body tell me how I can do the above thing. I am working on python so it would be nice if anybody tells me in python
Thanks
Looking forward for answers !
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-06-18
Post score: 0
|
After updating to Hydro, the method mentioned in this answer does not work anymore, where I have to depend on cv_bridge to transfer sensor_msgs::Image to cv::Mat. The cmake will strike a warning:
Cannot generate a safe runtime search path for target my_custom_node
because there is a cycle in the constraint graph:
dir 0 is [/usr/local/lib]
dir 1 must precede it due to runtime library [libopencv_calib3d.so.2.4]
dir 1 is [/opt/ros/hydro/lib]
dir 0 must precede it due to runtime library [libopencv_videostab.so.2.4]
And the built binary is indeed linking the /opt/ros/hydro/lib/libopencv_xxx.so (checked with ldd).
So what is currently the right way to use custom built opencv, while I have dependency like cv_bride which depends on the opencv2 package?
Thanks for any suggestions.
Originally posted by K Chen on ROS Answers with karma: 391 on 2014-06-18
Post score: 1
|
Hi,
I have a problem when I make a map with my asus xtion.
http://zupimages.net/up/14/25/l08m.png
When I move my bot around a classroom " it's a square" , i have a problem because the robot create another way!
what is the problem? Gyro? Odometry? My asus?
thanks for your help
Originally posted by guigui on ROS Answers with karma: 33 on 2014-06-18
Post score: 0
|
Hi there,
I am pretty new to ROS and would like to have some books for introduction parts. I know there are plenty of tutorials in the net, but i just prefer books.
I already found following book:
Learning ROS for Robotics Programmin.
But this book is based on ROS Fuerte I guees.
Do you have any suggestions.
Best regards
Originally posted by schultza on ROS Answers with karma: 232 on 2014-06-18
Post score: 0
|
i am using ROS Hydro in ubuntu 12.04. and I want to create a subscriber of hark_msgs. whenever I run a simple publisher designed in HARK from batchflow, I am able to view the messages in the terminal (using rostopic echo). When I am trying to create a subscriber ,I get this message:
Could not find a configuration file for package hark_msgs.
Set hark_msgs_DIR to the directory containing a CMake configuration file
for hark_msgs. The file will have one of the following names:
hark_msgsConfig.cmake
hark_msgs-config.cmake
(whenever I include hark_msgs in the dependencies, I get the above error.)
I found the folder where hark_msg related (.msg) files are but .cmake files are no where to be seen. Any help would be appreciated.
Originally posted by keshav_sarraf on ROS Answers with karma: 66 on 2014-06-18
Post score: 0
|
This is my code for the publisher.
#include <ros.h>
#include <std_msgs/String.h>
ros::NodeHandle n;
std_msgs::String str_msg;
ros::Publisher pub_voltage("volts", &str_msg);
int left_IR_pin = 5;
int centre_IR_pin = 4;
int right_IR_pin = 10;
char right[12] ="right off";
char left[12] ="left off";
boolean directl,directr;
void setup()
{
n.initNode();
n.advertise(pub_voltage);
pinMode(left_IR_pin,INPUT);
pinMode(centre_IR_pin,INPUT);
pinMode(right_IR_pin,INPUT);
directl=digitalRead(left_IR_pin);
directr=digitalRead(right_IR_pin);
}
void loop(){
if (directl)
{ str_msg.data = left;
pub_voltage.publish(&std_msgs);
}
if (directr)
{ str_msg.data = right;
pub_voltage.publish(&std_msgs);
}
n.spinOnce();
delay(1000);
}
After compiling I get the following error:
sketch_jun18a.cpp: In function ‘void loop()’:
sketch_jun18a.cpp:31:34: error: expected primary-expression before ‘)’ token
sketch_jun18a.cpp:35:34: error: expected primary-expression before ‘)’ token
Originally posted by tejdeep on ROS Answers with karma: 1 on 2014-06-18
Post score: 0
Original comments
Comment by Wolf on 2014-06-19:\
My suggestion is to always try to recompile with arduino IDE, it occasionally fails for whatever reason... 2) if your problem persists 3 or 4 tries, please mark your code as code in the answers.ros.org editor. It is not really readable the way it is now.....
|
Hi there,
cv::Mat depth_clean(cv_depthptr->image.rows, cv_depthptr->image.cols, CV_32FC1);
cv::Mat img(cv_depthptr->image.rows, cv_depthptr->image.cols, CV_8UC1);
for(int i = 0; i < cv_depthptr->image.rows; i++)
{
float* Di = cv_depthptr->image.ptr<float>(i);
float* Ii = depth_clean.ptr<float>(i);
char* Ivi = img.ptr<char>(i);
for(int j = 0; j < cv_depthptr->image.cols; j++)
{
if(Di[j] > 0.0f){
Ii[j] = Di[j];
Ivi[j] = (char) (255*((Di[j])/(5.5))); // some suitable values..
}
else{
Ii[j] = 0.0f;
Ivi[j] = 0;
}
}
}
Can anyone explain to me using that program how the accessing to the pixel has been done ? using pointer and the two loops and what the different between cv_depthptr->image.ptr(i) and Di[j] ?
Thank you so much
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-06-18
Post score: 0
|
Hi all,
I am trying to use zeromq in ros as external library to communicate with other device(no ros on this device).
For testing i wrote a rosnode with zeromq reciever and zeromq sender with zeromq sample code and ran both on my pc .
i am using port tcp://10.64.7.220:9000
If i start rosnode first, zeromq sender not able to connect with and exits with below error.
terminate called after throwing an instance of 'zmq::error_t'
what(): Address already in use
Aborted (core dumped)
If i start zeromq sender first, rosnode not able to connect with and exits with error at
zmq_bind (responder, "tcp://10.64.7.220:9000");
I went through ros networking little but i couldn't figure it out why its not working.
thank you.
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-06-18
Post score: 1
|
I have a package into which I want to include dynamic_reconfigure code.
EDIT: I am running Fuerte on Ubuntu 12.04
The following .cfg is compiled into PACKAGENAMEParamsConfig.h without a problem.
#! /usr/bin/env python
PACKAGE='PACKAGENAME'
import roslib; roslib.load_manifest(PACKAGE)
from dynamic_reconfigure.parameter_generator import *
gen = ParameterGenerator()
gen.add("dummy", bool_t, 0, "", True)
exit(gen.generate(PACKAGE, "Config", "PACKAGENAMEParams"))
In my source code, after including
#include <dynamic_reconfigure/server.h>
#include "PACKAGENAME/PACKAGENAMEParamsConfig.h"
(and extending the cmake file(s)) I call ros::init and setup a dynamic_reconfigure::Server object:
dynamic_reconfigure::Server<PACKAGENAME::PACKAGENAMEParamsConfig> dynamic_reconfigure_server;
When run, the program locks itself in this last line. GDB reports:
Program received signal SIGINT, Interrupt.
__lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:132
132 ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S: Datei oder Verzeichnis nicht gefunden.
(gdb) bt
#0 __lll_lock_wait () at ../nptl/sysdeps/unix/sysv/linux/x86_64/lowlevellock.S:132
#1 0x00007ffff3a87065 in _L_lock_858 () from /lib/x86_64-linux-gnu/libpthread.so.0
#2 0x00007ffff3a86eba in __pthread_mutex_lock (mutex=0xe2a7f0) at pthread_mutex_lock.c:61
#3 0x00007ffff6c8978d in ros::TransportTCP::enableRead() ()
from /opt/ros/fuerte/lib/libroscpp.so
#4 0x00007ffff6c8c0e5 in ros::TransportTCP::listen(int, int, boost::function<void (boost::shared_
ptr<ros::TransportTCP> const&)> const&) () from /opt/ros/fuerte/lib/libroscpp.so
#5 0x00007ffff6c7cd79 in ros::ConnectionManager::start() ()
from /opt/ros/fuerte/lib/libroscpp.so
#6 0x00007ffff6ca33c4 in ros::start() () from /opt/ros/fuerte/lib/libroscpp.so
#7 0x00007ffff6c79c48 in ros::NodeHandle::construct(std::string const&, bool) ()
from /opt/ros/fuerte/lib/libroscpp.so
#8 0x00007ffff6c7adc5 in ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, st
d::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > co
nst&) () from /opt/ros/fuerte/lib/libroscpp.so
#9 0x00000000005223c3 in main (argc=1, argv=0x7fffffffdff8)
at /XXXXX/PACKAGENAME/src/main.cpp:448 [<--- 448 is where the ::Server is created]
If the server constructor line is commented out, everything works. However, if my code contains a NodeHandle constructor before that, e.g.
ros::NodeHandle nh_;
dynamic_reconfigure::Server<PACKAGENAME::PACKAGENAMEParamsConfig> dynamic_reconfigure_server;
then the lock happens in the first NodeHandle constructor.
Originally posted by Nikolaus Mayer on ROS Answers with karma: 23 on 2014-06-18
Post score: 1
Original comments
Comment by EddiEdward on 2014-06-24:
The same problem annoys me for 3 hours now... Hopefully someone can reply to this. I am using ROS Hydro btw...
Comment by tfoote on 2014-10-30:
Unless you can provide a way for use to reproduce we can't help much.
Comment by EddiEdward on 2014-10-30:
It was a bad idea in first place to build against Boost 1.52 with ROS-Hydro using 1.46
|
I have the gcc c++0x flag set for a few of my packages. All the packages that depend on these package also needs the c++0x flag if they must not throw warning when the header files are processed.
Is there a way for catkin to export the flags? I saw the CFG_EXTRAS option for catkin_package(), Do I set the CFG_EXTRAS? What does it stand for?
Thanking you,
Benzun
Originally posted by Benny on ROS Answers with karma: 132 on 2014-06-18
Post score: 0
|
I'm not sure if PCL specific questions are welcome here but:
I'm looking at doing standard set operations on indices of PCL point clouds. I can certainly implement such a thing myself, but would prefer to do it some standard/canonical way. Unfortunately after a bit of searching I'm seeing no evidence that such functionality exists natively.
Can someone verify one way or another: Is there a cannoical way to do set operations on PCL point cloud indices?
Originally posted by Asomerville on ROS Answers with karma: 2743 on 2014-06-18
Post score: 0
|
I released new package. Build on jenkins.ros.org successfully completes. Where i can get these package(s) for inspection?
Originally posted by vooon on ROS Answers with karma: 404 on 2014-06-18
Post score: 0
|
Hello I have the following class I'd like to serialize:
class Foo
{ int x;
std::vector<double> bars;
moveit_msgs::RobotState _startState;
}
in the absence of any ROS/MoveIt components, I am able to serialize out/in using the Boost serialization library. I resume that if all I had was the moveit message type then I could use the move_it serialization described on MessagesSerializationAndAdaptingTypes (assuming moveit_msgs are serializable by ROS?). But when I have a class containing both then I am not sure what to do. How do I go about serializing it now? I am using ROS Groovy
thanks
Originally posted by sned on ROS Answers with karma: 1 on 2014-06-18
Post score: 0
|
I have been working on improving/changing an existing package. Now that I am done, I have a package ready for use in my system. What should I consider when uploading it to a repository?
bin folder should probably not be uploaded. But what about msg_gen? is there anything special I should consider?
Is there also a tool that makes this process automatic?
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-06-18
Post score: 4
|
Hi,
I have a joint that is rotational controlled by a linear actuator as pictured:
These actuators have feedback indicating their displacement which i would like to use as the feedback for control.
In my current model i excluded the linear actuators and described the simple rotational joint and used rotary encoders in the joints for feedback. Now that i have actuators with position feedback i would rather use that and control these lengths directly.
My question is how should I describe this in SolidWorks so that the URDF exported will imported nicely into RVIZ?
I am not sure about the kinematic chain.
Thanks.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-06-18
Post score: 0
Original comments
Comment by anonymous8676 on 2014-06-19:
NB: Updated image with member labels.
To clarify the question, ow should I use the SW2URDF tool to describe this joint?
What i am not sure about is that A and B have the same parent (C) but is A is also a child of B?
|
Hi to All,
I am new to ROS. I am doing the navigation simulation based on the package of "navigation_stage". I replace the default map with mine and generate the .world file. But when I run the simulation, the maps in Rviz and that in Stage are not synchronous (they are not in the same coordinate). I notice the size, orientation can be adjusted in the .world file. But I do not know how to set the values for them.
Is any one know about this? Thanks in advance.
Fangwen
Originally posted by Cole on ROS Answers with karma: 61 on 2014-06-18
Post score: 3
Original comments
Comment by Itay.H on 2015-09-01:
Hi,
I am having the same problem.
Have you solved this yet?
Comment by naqi.nick on 2016-01-17:
i also need help in doing the same thing plz can someone help us all
|
When tried to install rosserial using sudo apt-get install ros-indigo-rosserial it returns an error E: Unable to locate package ros-indigo-rosserial
I am using ros indigo on ubuntu 14.04
Originally posted by robospace on ROS Answers with karma: 23 on 2014-06-18
Post score: 0
|
Let's say I have a file with stored information. I don't want to put the absolute path, neither do I want to roscd mypackage before executing my node so that the file can be found.
Is there an elegant way of doing that on both Python and C++?
If it is not possible, how can I then solve the problem when using roslaunch, because then the file is not found anymore even when change my directory to the packages directory before launching.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-06-19
Post score: 1
Original comments
Comment by Wolf on 2014-06-19:
Excellent question! I usually set the project source dir as define in CMakeLists.txt ( set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DLOCATION=${PROJECT_SOURCE_DIR}) ) and then use this define (LOCATION) in my code to locate the files. --> Works but what would be the proper way to do that??
Comment by Mehdi. on 2014-06-19:
is {PROJECT_SOURCE_DIR} a general flag recognized by CMake or do you replace it by the global path? In case of the latter option this doesn't fully solve the problem.
|
Hello everybody! I'm trying to use navigation stack on husky. Gmapping works great, pose estimate too but when I'm trying to do a nav goal, and the robot starts moving, in front of it there's always a block of occupied cells in the costmap, when ideed there are no obstacles. Why?
unfortunatly I cannot upload a photo
Originally posted by alex920a on ROS Answers with karma: 35 on 2014-06-19
Post score: 1
|
I'm trying to experiment on ROS to improve myself. I'm running ROS Groovy on Ubuntu 12.04 LTS. I have an analog Sharp sensor (4-30 cm range) connected to an Arduino Mega 2560. I'm using rosserial_arduino library, and the code in the arduino converts sensor data to cm and publishes on topic "/range_data".
I'm trying to write a node that is subscribed to the topic /range_data and publishes a boolean data to another topic "/order" with respect to the value of sensor data. I want to publish "0" when the sensor data is lower than 15 cm and "1" when higher.
My sharp listener code:
#include "ros/ros.h"
#include "sensor_msgs/Range.h"
#include "std_msgs/Bool.h"
float range = -1;
void rangeCallback(const sensor_msgs::Range::ConstPtr& range_data)
{
range = range_data->range;
ROS_INFO("I heard: [%f]", range);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "sharp_listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("range_data", 1000, rangeCallback);
ros::Publisher pub = n.advertise<std_msgs::Bool>("order", 1000);
std_msgs::Bool order;
while (ros::ok())
{
while(range =! -1)
{
if(range>=4 && range<=15)
{
order.data = 0;
pub.publish(order);
}
else if(range>15)
{
order.data = 1;
pub.publish(order);
}
range = -1;
}
ros::spin();
}
return 0;
}
Order_listener code:
#include "ros/ros.h"
#include "std_msgs/Bool.h"
void orderCallback(const std_msgs::Bool::ConstPtr& msg)
{
ROS_INFO("%d", msg->data);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "order_listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("order", 1000, orderCallback);
ros::spin();
return 0;
}
Sharp_listener node is succesfully subscribed to range_data. But it doesn't seem to publish on topic order. I can see that the rqt_graph is true but nothing happens when I start order_listener node or directly rostopic echo.
Originally posted by emreay on ROS Answers with karma: 90 on 2014-06-19
Post score: 0
Original comments
Comment by gtm on 2016-03-30:
HI emreay! I have used your code and was trying to subscribe "order" topic on another arduino. i was not able to blink the led on arduino based on the massage received. I am new to ros programming can you please help me.
|
Hi , I was wondering how i can publish topics and view them using rostopic from Pixy. What i am trying to do is , I would like pixy to publish data of it's signatures and view it using the rostopic echo command. However, I am stuck in trying to show the signature as I am not sure how to write the arduino code for it. So , can anyone please walk me through this process? I am completely lost.
Thanks in advance,
Steve
Originally posted by manaXmizery on ROS Answers with karma: 41 on 2014-06-19
Post score: 0
|
Hi folks,
I'd like to write simple global and local planner plugins for move_base. Is it possible to do that in Python? Or do they have to be written in C++? Is there any documentation about this? Tutorials? Anything besides already existing planners?
Thanks a lot!
Cheers,
Hendrik
Originally posted by Hendrik Wiese on ROS Answers with karma: 1145 on 2014-06-19
Post score: 5
|
This is my subscriber declaration followed by the callback function
message_filters::Subscriber<geometry_msgs::Point32>
point_sub(*nh, "tracked_point", 1);
point_sub.registerCallback(&visualservoing3D::pointCallback);
The callback declaration is
void
visualservoing3D::pointCallback(const
geometry_msgs::Point32ConstPtr& msg) {
//Some functions }
But the following error pops up. I know its something to do with my subscriber.
/usr/include/boost/function/function_template.hpp:225:
error: no match for call to
‘(boost::mfi::mf1<void,
visualservoing3D, const
boost::shared_ptr<const
geometry_msgs::Point32std::allocator<void
&>) (const boost::shared_ptr<const geometry_msgs::Point32_std::allocator<void
&)’
Thanks,
Nagsaver
Originally posted by Nagsaver on ROS Answers with karma: 1 on 2014-06-19
Post score: 0
Original comments
Comment by sterlingm on 2014-06-19:
It might be due to your subscriber having point32 rather than Point32.
Comment by Nagsaver on 2014-06-19:
It is capital P in the code. Dont know how it changed in my question. Everywhere I have Point32
|
In a .launch file inside a package, is it possible to omit the package name in a tag if the node package is the same as the package the launcher lives in? I mean, I have a launcher with lines like this:
<launch>
<rosparam command="load" file="$(find my_package)/config/config.yaml" ns="configuration" />
<node pkg="my_package" name="node1" type="node1.py" output="screen" />
<node pkg="my_package" name="node2" type="node2.py" output="screen" />
<node pkg="my_package" name="node3" type="node3.py" output="screen" />
<node pkg="my_package" name="gui" type="gui.py" output="screen" required="true"/>
</launch>
If I want to change the package's name, I'll have to change the pkg argument of all the nodes. Is there a way to omit that, or at least to replace with something like "this" (or "self", as Python programmers use)?
Thanks
Originally posted by crpizarr on ROS Answers with karma: 229 on 2014-06-19
Post score: 0
Original comments
Comment by dornhege on 2014-06-19:
My guess is no and if it was available I'd advise against it. If someone copies the launch to adapt it, everything will break. Changing all occurrences is an easy task for search and replace.
|
Hello: I am looking for end-effector pose constrained planning for the manipulator. I know that such functionalities have been provided in "MoveIt!" where you set your kinematics constraints and then give command to plan a path.
I believe that this type of end-effector constrained planning (in MoveIt!) is done in end-effector cartesian degree of freedom using Inverse Kinematics.
Can anyone please point me to: where this task-constrained code sits in OMPL (as MoveIt uses OMPL), or any pointer to the research paper of this implementation in MoveIt!
I want to understand how it is done and what are the steps involved in ROS implementation.
Thanks.
Originally posted by Victor22 on ROS Answers with karma: 51 on 2014-06-19
Post score: 5
Original comments
Comment by Rob.Chen on 2019-01-08:
Hello! I am also very interested in manipulator constraint motion planning, and have some problem about how moveit sent constraint information to ompl, and how ompl deal with it, if you have solve it, please help me, any help is very greatful!
Comment by JohnDoe on 2023-07-18:
@Rob.Chen Hi! Did you make progress on your question? I have the same confusion as you.
|
Hi,
I am trying to pass arguments to my launch file, but I can never get the values that I sent: for instance, I declared my variables this way:
<?xml version="1.0"?>
<launch>
<arg name="my_KP" />
<arg name="my_KI" />
<arg name="my_KD" />
<arg name="my_EL" />
<arg name="my_ADT" />
<node name="en_pub" pkg="driver" type="en_repub.py" />
<node name="left_motor" pkg="driver" type="left" output="screen">
<!--
<param name="KP" type="string" value="$(arg my_KP)" />
<param name="KI" type="string" value="$(arg my_KI)"/>
<param name="KD" type="string" value="$(arg my_KD)"/>
<param name="EL" type="string" value="$(arg my_EL)"/>
<param name="ADT" type="string" value="$(arg my_ADT)"/>
-->
</node>
<node name="right_motor" pkg="driver" type="right" output="screen">
<!--
<param name="KP" type="string" value="$(arg my_KP)" />
<param name="KI" type="string" value="$(arg my_KI)"/>
<param name="KD" type="string" value="$(arg my_KD)"/>
<param name="EL" type="string" value="$(arg my_EL)"/>
<param name="ADT" type="string" value="$(arg my_ADT)"/>
-->
</node>
And on my node I did this:
ros::NodeHandle p_nh;
string KP = "1000";
string KI = "240";
string KD = "12000";
string EL = "30000";
string ADT = "1";
//This allows for setting params instead of recompile to change
p_nh.param<string>("KP", KP, "1000");
p_nh.param<string>("KI", KI, "240");
p_nh.param<string>("KD", KD, "12000");
p_nh.param<string>("EL", EL, "30000");
p_nh.param<string>("ADT", ADT, "1");
But my program does not seem to catch them. I only get the assigned default values.
What am I doing wrong?
Originally posted by Pototo on ROS Answers with karma: 803 on 2014-06-19
Post score: 1
|
I am attempting to change the default planner for moveit from LBKPIECE1 to ESTkConfigDefault. I have tried appending:
default_planner_config: ESTkConfigDefault
to the end of my ompl_planning.yaml with no success. I have yet to find any other way to accomplish this from either the command line or through configuration files. My full ompl_planning.yaml file is copied below in case it is relevant.
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
ESTkConfigDefault:
type: geometric::EST
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
BKPIECEkConfigDefault:
type: geometric::BKPIECE
KPIECEkConfigDefault:
type: geometric::KPIECE
RRTkConfigDefault:
type: geometric::RRT
RRTConnectkConfigDefault:
type: geometric::RRTConnect
RRTstarkConfigDefault:
type: geometric::RRTstar
TRRTkConfigDefault:
type: geometric::TRRT
PRMkConfigDefault:
type: geometric::PRM
PRMstarkConfigDefault:
type: geometric::PRMstar
manipulator:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.05
default_planner_config: ESTkConfigDefault
Originally posted by airplanesrule on ROS Answers with karma: 110 on 2014-06-19
Post score: 3
|
Hi,
I am using ROS Groovy and have just implemented using tf_prefix for the /tf joint states. However, while RViz correctly interprets the transform data, it does not apply the tf_prefix argument to the Fixed Frame. Is there any way to do this? I've had a search but nothing jumps out at me.
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-06-19
Post score: 0
|
Hi , what do I need to install to make the following command : "rosrun robopluscom robopluscom" work? It shows command not found error in my ros Groovy.
Thanks in advance.
[edit] The full context of error is : [rospack] Error: stack/package robopluscom not found
Originally posted by manaXmizery on ROS Answers with karma: 41 on 2014-06-19
Post score: 0
|
Hi,
The default global planner plans outside the static map i.e. unexplored area. Is there any parameter I have missed out?
planner_params.yaml
base_local_planner: dwa_local_planner/DWAPlannerROS
recovery_behaviors: []
planner_frequency: 0
planner_patience: 1000.0
controller_patience: 1000.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
controller_frequency: 20.0
global_constmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
static_map: true
Unfortunately during mapping, not all parts of the room was bounded by a wall i.e. black color cells in the occupancy map. The planner found a path that goes outside the static map from one end and then into the other side of the room.
Originally posted by aswin on ROS Answers with karma: 528 on 2014-06-20
Post score: 0
|
Hi,
According to wiki.ros.org/hydro/Installation/Debian to install ROS on Debian, the GnuPG-key used to sign the repository should be installed by using
wget packages.ros.org/ros.key -O - | sudo apt-key add -
However, the key stored in ros.key hasn't been signed by anyone and the server doesn't support HTTPS. So this key doesn't provide much security against person-in-the-middle-attacks. Would it be possible to have this key signed by admins or developers actively using GnuPG/PGP (i.e. they already participated a key-signing-party or otherweise exchanged they public key with some people), who can assure, that this is the genuine archive's key? Is there any SSL-enabled webserver available which could be used to provide the key?
Kind regards,
B. Wildenhain
Originally posted by bwildenhain on ROS Answers with karma: 73 on 2014-06-20
Post score: 6
Original comments
Comment by demmeln on 2014-06-20:
@William @tfoote
|
I am working with a simulated robot in Gazebo that comes from a urdf.xacro
I expect to have multiple copies of it.
The thing is that I want to change the origin of my robots not manually (when I launch them). I know that there is a tag inside the robot.urdf.xacro file that specifies the origin, but I want to know if there is any parameter which I can modify without having to rewrite the urdf file.
Can you help me?
Thanks
Originally posted by arenillas on ROS Answers with karma: 223 on 2014-06-20
Post score: 0
|
Hi, I am having problems with the amount of time this loop iterates.
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
class GoStraight{
public:
GoStraight();
private:
void callback(const ros::TimerEvent&);
ros::NodeHandle ph_, nh_;
ros::Publisher vel_pub_;
geometry_msgs::Twist vel;
ros::Timer timer_;
};
GoStraight::GoStraight(){
vel_pub_ = ph_.advertise<geometry_msgs::Twist>(
"/cmd_vel_mux/input/navi", 1);
vel.angular.z = 0.0;
vel.linear.x = .2;
timer_ = nh_.createTimer(ros::Duration(3.0), &GoStraight::callback );
}
void callback(const ros::TimerEvent& event){
vel_pub_.publish(vel);
ROS_INFO_STREAM("Sending random velocity command:"
<< " linear=" << vel.linear.x
<< " angular=" << vel.angular.z);
}
int main(int argc, char** argv){
ros::init(argc, argv, "g_straight");
GoStraight g_straight;
ros::spin();
}
this is the output that I get:
[ INFO] [1403283564.623071038]: Sending random velocity command: linear=0.2 angular=0 at time =0.07
[ INFO] [1403283564.723195177]: Sending random velocity command: linear=0.2 angular=0 at time =0.07
[ INFO] [1403283564.823198861]: Sending random velocity command: linear=0.2 angular=0 at time =0.07
[ INFO] [140328
3564.923198642]: Sending random velocity command: linear=0.2 angular=0 at time =0.07
[ INFO] [1403283565.023199258]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.123149431]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.223199416]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.323155826]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.423198781]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.523200109]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
[ INFO] [1403283565.623197323]: Sending random velocity command: linear=0.2 angular=0 at time =0.08
I would like an output that goes like this:
[ INFO] [1403283565.523200109]: Sending random velocity command: linear=0.2 angular=0 at time =0.0
[ INFO] [1403283565.623197323]: Sending random velocity command: linear=0.2 angular=0 at time =1.0
[ INFO] [1403283565.523200109]: Sending random velocity command: linear=0.2 angular=0 at time =2.0
[ INFO] [1403283565.623197323]: Sending random velocity command: linear=0.2 angular=0 at time =3.0
[ INFO] [1403283565.523200109]: Sending random velocity command: linear=0.2 angular=0 at time =4.0
[ INFO] [1403283565.623197323]: Sending random velocity command: linear=0.0 angular=0 at time =5.0
I am having a hard time understand how the rate.sleep() affects the speed that the ROS loop iterates and help is greatly appreciated.
Originally posted by choog on ROS Answers with karma: 101 on 2014-06-20
Post score: 0
|
I'm having trouble running my RQT package. The error is:
**Couldn't find executable named rqt_mypkg below /home/ros_user/catkin_ws/src/rqt_mypkg
Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/ros_user/catkin_ws/src/rqt_mypkg
[rosrun] /home/ros_user/catkin_ws/src/rqt_mypkg/src/rqt_mypkg
[rosrun] /home/ros_user/catkin_ws/src/rqt_mypkg/scripts/rqt_mypkg
[rosrun] /home/ros_user/catkin_ws/src/rqt_mypkg/include/rqt_mypkg**
The catkin_make command is successful and I even tried adding in syntax errors purposely to make sure that the code was fine.
I'm using the rqt_image_view package with all the files included from the ros wiki site (I made changes to the path for my package name in files where necessary). Does anyone know a solution to this problem?
Originally posted by jhinton on ROS Answers with karma: 1 on 2014-06-20
Post score: 0
|
This the error i'm getting for the code m writting below.
I'm trying to write a subscriber to /scan and a callback function which prints the angle_min on the terminal (ranges[] later). However i guess im making a mistake in the ROS_INFO(....) part.
Please have a look and Please help.
Thank You.
In function ‘void poseMessageReceived(const ConstPtr&)’:
error: ‘const ConstPtr’ has no member named ‘angle_min’
make[2]: *** [beginner_tutorials/CMakeFiles/lms.dir/src/lms.cpp.o] Error 1
make[1]: *** [beginner_tutorials/CMakeFiles/lms.dir/all] Error 2
#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#include "std_msgs/String.h"
#include "iomanip"
void poseMessageReceived(const sensor_msgs::LaserScan::ConstPtr& scan)
{
ROS_INFO("position=: [%f]",scan.angle_min);
}
int main(int argc,char **argv)
{
ros::init(argc,argv,"subscribe_to_scan");
ros::NodeHandle n;
//Create a subscriber object
ros::Subscriber sub = n.subscribe("/Scan",1000, poseMessageReceived);
//Let ROS take over
ros::spin();
return 0;
}
Originally posted by aniket on ROS Answers with karma: 7 on 2014-06-20
Post score: 0
|
There seems a problem in the lookupTransform function. The code provided below... Please just ignore the other variables.. I just copied a code snippet from my ROS project. My concern is.. After publishing the transform, I tried looking up the transform to check and see if the transformation has indeed applied successfully! But what turns out was the x,y,z,roll and pitch are consistent but the yaw is inconsistent! First, I tried getting the ros::Time(0) latest available transformation but the yaw was inconsistent. Hoping that the yaw will be consistent if I lookupTransform at the exact time as when the transformation was published, it really just showed inconsistency.
Kindly go through the code and take special notice to the codes that I will highlight.
ros::Time now = ros::Time::now();
try
{
tf_.lookupTransform("/map", "/map1Origin", ros::Time(0), transform1);
map2_.x = transform1.getOrigin().x() - map2Origin_.x;
map2_.y = transform1.getOrigin().y() - map2Origin_.y;
map2_.z = transform1.getOrigin().z() - map2Origin_.z;
map2_.roll = transform1.getRotation().x() - map2Origin_.roll;
map2_.pitch = transform1.getRotation().y() - map2Origin_.pitch;
map2_.yaw = transform1.getRotation().z() + m.yaw * CV_PI/180 - map2Origin_.yaw;
transform_.setOrigin( tf::Vector3 (map2_.x, map2_.y, map2_.z));
tf::Quaternion q;
q.setRPY(map2_.roll, map2_.pitch, map2_.yaw);
transform_.setRotation(q);
br_.sendTransform(tf::StampedTransform(transform_, now, "/map", "/map2"));
std::cerr << "(y)Map Merge Successful [" << m.x << "," << m.y << "," << m.yaw << "].." << std::endl;
}
catch (tf::TransformException ex)
{
std::cerr << "Catched error" << std::endl;
}
// HIGHLIGHT: map2_ is the exact tf that was used to broadcast the transform.
std::cerr << "map2_="<<map2_.x << "," << map2_.y << "," << map2_.z << "," << map2_.roll << "," << map2_.pitch << "," << map2_.yaw << std::endl;
try
{
tf_.waitForTransform("/map", "/map2", now, ros::Duration(3.0));
tf_.lookupTransform("/map", "/map2", now, transform1);
}
catch (tf::TransformException ex)
{
std::cerr << "Catched error" << std::endl;
}
// HIGHLIGHT: Transform1 is the queried transform of the newly broadcasted transform.
std::cerr << transform1.getOrigin().x() << "," << transform1.getOrigin().y() << "," <<
transform1.getOrigin().z() << "," << transform1.getRotation().x() << "," <<
transform1.getRotation().y() << "," << transform1.getRotation().z() << std::endl;
Here is the output:
http://postimg.org/image/bc3k76vub/
Notice these lines:
map2_=-0.05,-0.45,0,0,0,1.93732
-0.05,-0.45,0,0,0,0.824126
The lookup transform is different. Why is that so?
Originally posted by Xegara on ROS Answers with karma: 52 on 2014-06-21
Post score: 0
|
Maybe this is a really general question about git and branches and i could put it somewhere else (stackoverflow) but I would like to know for the developers that are using hydro-devel and groovy-devel (for example) how do you synchronize changes one branch and another. Do you use something like cherry-picking to select exactly what files to synchronize? Can you even use the cherry-picking for merging??? So, what's the usual standard that you use? the question is mainly because when you develop something for some branch and you want to put that utility to the other branch, (i think) you won't do rebase, you will try to merge only some specific files which are not going to mess up some others.
Thanks!
Originally posted by silgon on ROS Answers with karma: 649 on 2014-06-21
Post score: 2
|
I'm just testing the pr2 simulation in hydro and I noticed that I cannot even do tuckarms. Is this normal? something changed in the way you do tuckarms now?
Originally posted by silgon on ROS Answers with karma: 649 on 2014-06-21
Post score: 0
Original comments
Comment by ahendrix on 2014-06-29:
Can you be more specific about the error you encounter when trying to use tuckarms in Hydro?
Comment by silgon on 2014-06-29:
It's just that in groovy there is the folder =/opt/ros/groovy/stacks/pr2_common_actions/pr2_tuck_arms_action= and not in hydro. So I cannot do the tuckarms
|
Hi
Which version of Android Studio should I download to develop apps with it?
I was successfully using Android Studio preview v. 0.4.2 with rosjava for quite a long time on my mac. I was able to develop android apps on osx without even thinking of installing ROS. That was amazing. Unfortunately recently my setup stopped working - IDE was unable to localize some files. So I updated Andriod studio to the newest dev build version - 0.4.6 and, as I had done with the 0.4.2, I followed this tutorial to set up ROS artifacts. No luck here. In the error output IDE said that I was trying to make impossible stuff that ends with pain suffering and lamentation (literally).
Newer versions (0.5.2, 0.6.0, 0.6.1) produced error saying that module 'org.ros.android_core:android_gingerbread_mr1:0.1.+' contains the same precompile algorithms as the standard library.
Of course currently I'm unable to compile my previously working projects. I have my apps on one device (everything's working perfectly) but I cannot even upload them to the other.
I'm sorry, I didn't provide copies of the IDE output but all day long I'm installing, configuring and trying different ways to make android studio work with row once again. Please let me know if you need the actual error output. I will install IDE once again and provide you with it.
Thank you for your help!
Originally posted by grzebyk on ROS Answers with karma: 141 on 2014-06-21
Post score: 0
|
On Ubuntu 14.04 Trusty I recently installed Ros Indigo using apt-get and the turtlebot packages from source following the instructions on turtlebot/indigo/instillation tutorial (but using rosdep install --from-paths src -i -y -r for the turtlebot modules). When I try to launch the turtlebot simulator using
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
the turtlebot does not show in the gazebo window nor does the majority of the expected topics get posted (ie any of the /camera/* topics or /odom topic).
I'm using Gazebo 2.2.2, Ubuntu 14.04 and ROS Indigo
I've sourced my the indigo setup.bash as well as the ones for the rocon, kobuki, and turtlebot modules from the instilation tutorial above.
After starting the program the gazebo window will open and you can pan/zoom but none of the models will show on the screen, including any that I add after the program starts.
Below is the output of running roslaunch turtlebot_gazebo turtlebot_empty_world.launch
... logging to /home/charlie/.ros/log/6fa28384-f9a2-11e3-b032-54271e5d091b/roslaunch-charlie-FANG-2014-28176.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:// charlie-FANG-2014:60719/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /home/charlie/tur...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 30.0
* /rosdistro: <...>
* /rosversion: <...>
* /use_sim_time: True
NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
depthimage_to_laserscan (nodelet/nodelet)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
laserscan_nodelet_manager (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_turtlebot_model (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [28191]
ROS_MASTER_URI=http:// localhost:11311
setting /run_id to 6fa28384-f9a2-11e3-b032-54271e5d091b
process[rosout-1]: started with pid [28204]
started core service [/rosout]
process[gazebo-2]: started with pid [28228]
/opt/ros/indigo/lib/gazebo_ros/gzserver: 5: [: Linux: unexpected operator
process[gazebo_gui-3]: started with pid [28234]
/opt/ros/indigo/lib/gazebo_ros/gzclient: 5: [: Linux: unexpected operator
process[spawn_turtlebot_model-4]: started with pid [28242]
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http:// gazebosim.org
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http:// gazebosim.org
Msg Waiting for master
Msg Connected to gazebo master @ http:// 127.0.0.1:11345
Msg Publicized address: 192.168.2.3
[ INFO] [1403396186.795938010]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1403396186.799826284]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http:// 127.0.0.1:11345
Msg Publicized address: 192.168.2.3
process[mobile_base_nodelet_manager-5]: started with pid [28281]
[ INFO] [1403396187.766250320, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
process[cmd_vel_mux-6]: started with pid [28415]
process[bumper2pointcloud-7]: started with pid [28495]
process[robot_state_publisher-8]: started with pid [28542]
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 28228, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver /home/charlie/turtlebot/turtlebot/src/turtlebot_simulator/turtlebot_gazebo/worlds/empty.world __name:=gazebo __log:=/home/charlie/.ros/log/6fa28384-f9a2-11e3-b032-54271e5d091b/gazebo-2.log].
log file: /home/charlie/.ros/log/6fa28384-f9a2-11e3-b032-54271e5d091b/gazebo-2*.log
process[laserscan_nodelet_manager-9]: started with pid [28620]
process[depthimage_to_laserscan-10]: started with pid [28947]
[gazebo_gui-3] process has finished cleanly
log file: /home/charlie/.ros/log/6fa28384-f9a2-11e3-b032-54271e5d091b/gazebo_gui-3*.log
The above is slightly modified to add a space between http:// and the name of the link to allow me to post the output above.
Originally posted by Charlie Murphy on ROS Answers with karma: 76 on 2014-06-21
Post score: 1
Original comments
Comment by tfoote on 2014-06-22:
TurtleBot packages haven't been released or tested on indigo yet. You're getting a segfault which suggests a memory issue. If you can run it in gdb to get a backtrace we could try to help you remotely. Otherwise you'll probably need to wait for it to be tested and released. PS if you can also provide the steps to reproduce someone might have a moment to test your problem specificcally.
Comment by Charlie Murphy on 2014-06-23:
Thank you, I'm actually unsure how to run roslaunch turtlebot_gazebo turtlebot_empty_world.launch command in gdb.
Comment by koenlek on 2014-06-25:
same issue here. @Charlie, it might also help to report this as an issue on the github of for example turtlebot_simulator (which contains turtlebot_gazebo).
|
It is supposed to be released in last month......cant wait~~~~~~ lol
Originally posted by 梓喵 on ROS Answers with karma: 1 on 2014-06-22
Post score: 0
|
Dear Ros Users,
I'm trying to use the ar track alvare package combined with data from kinect. However, I don't understand how I can use the depth camera data, as exposed in the description of the package:
"Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates."
Originally posted by Rahndall on ROS Answers with karma: 133 on 2014-06-22
Post score: 0
|
Hi i want to use gaussian process for obstacle prediction but i am not able to integrate gaussian_process package provided by freiburg_tools with my prediction package as this package doesn't have any cmake config file. Is there any way around it ?
Originally posted by akhil on ROS Answers with karma: 32 on 2014-06-22
Post score: 0
|
Hello !
I want to have a value to be returned when I call a callback function while subscribing to a topic. I am using ROS-Hydro
I have wrote a demo code that what I want. Please also suggest some new way to achieve this if callback function can't return anything !
def bridge_opencv():
image_pub = rospy.Publisher("quadrotor/videocamera1/camera_info",Image)
cv2.namedWindow("Image window", 1)
image_sub = rospy.Subscriber("quadrotor/videocamera1/image",Image, callback)
get value of y from callback function when it is returning
y = z
return z
def callback(data):
bridge = CvBridge()
try:
cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError, e:
print e
(rows,cols,channels) = cv_image.shape
if cols > 60 and rows > 60 :
cv2.circle(cv_image, (50,50), 10, 255)
cv2.imshow("Image window", cv_image)
return y
def my_function()
x=cv_bridge()
if x = 1:
return "true"
else:
perform the task
def pilot():
rospy.init_node("pilot")
my_value = my_function()
if my_value = true:
stop everything...
else: do the above process again
rospy.spin()
if __name__ == '__main__':
pilot()
Thanks a lot !
Looking forward for answers !
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-06-22
Post score: 4
Original comments
Comment by Tvlad on 2016-10-24:
Hello. I have the same issue. Do you have solutions? Please help.
|
After compiling a code with OMPL, I tried to move a turtlebot. However, next error arose.
process[map_server-1]: started with pid [14847]
process[amcl-2]: started with pid [14859]
process[navigation_velocity_smoother-3]: started with pid [14964]
process[kobuki_safety_controller-4]: started with pid [15018]
process[move_base-5]: started with pid [15044]
[ INFO] [1403471634.839981265]: Using plugin "static_layer"
[ INFO] [1403471635.013088475]: Requesting the map...
[ INFO] [1403471635.244269848]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1403471635.784022404]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1403471635.800435571]: Using plugin "obstacle_layer"
[ INFO] [1403471635.830502313]: Subscribed to Topics: scan bump
[ INFO] [1403471635.974988532]: Using plugin "inflation_layer"
/home/turtlebot/catkin_ws/devel/lib/move_base/move_base: symbol lookup error: /home/turtlebot/catkin_ws/devel/lib//libompl_planner_rrt.so: undefined symbol: _ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE
[move_base-5] process has died [pid 15044, exit code 127, cmd /home/turtlebot/catkin_ws/devel/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel __name:=move_base __log:=/home/turtlebot/.ros/log/6419a288-fa4f-11e3-9ded-dc85de8a0cd2/move_base-5.log].
log file: /home/turtlebot/.ros/log/6419a288-fa4f-11e3-9ded-dc85de8a0cd2/move_base-5*.log
I execute a command rospack plugins --attrib=plugin nav-core
The result is following.
navfn /home/turtlebot/catkin_ws/src/navfn/bgp_plugin.xml
ompl_planner_rrt /home/turtlebot/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml
base_local_planner /home/turtlebot/catkin_ws/src/base_local_planner/blp_plugin.xml
-- others --
I think that the result means that ompl_planner_rrt is available. But, the problem is undefined symbol: ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE. I don't understand the meaning of the error.
I guess that ZN18base_local_planner12CostmapModelC1ERKN10costmap_2d9Costmap2DE
points out world_model = new base_local_planner::CostmapModel(*costmap);.
However, as it is described on the tutorial (http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS), It probably doesn't have a problem.
Could anyone teach me something clue not to arise an error? Thank you in advance!
I followed ferg, editing CMakeLists.txt.
target_link_libraries(
ompl_planner_rrt
${catkin_LIBRARIES}
${OMPL_LIBRARIES}
base_local_planner
)
The error message has gone out.
[ INFO] [1403566019.155955441]: Using plugin "static_layer"
[ INFO] [1403566019.322259977]: Requesting the map...
[ INFO] [1403566019.650859797]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1403566020.184608226]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1403566020.201439022]: Using plugin "obstacle_layer"
[ INFO] [1403566020.228420634]: Subscribed to Topics: scan bump
[ INFO] [1403566020.372557447]: Using plugin "inflation_layer"
[ INFO] [1403566020.944125609]: Using plugin "obstacle_layer"
[ INFO] [1403566021.114137708]: Subscribed to Topics: scan bump
[ INFO] [1403566021.277011379]: Using plugin "inflation_layer"
[ INFO] [1403566021.585192241]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1403566021.620077400]: Sim period is set to 0.20
[ WARN] [1403566021.884131333]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.3869 seconds
[ INFO] [1403566022.889696351]: odom received!
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-22
Post score: 0
|
Hello, all.
My early experiences with ROS have taken me down some bumpy roads, finding obstacles regarding my platform of choice.
(Trying to) develop a robot using a Raspberry PI is a bit of a challenge, even to get the development environment up and running, left alone the robot itself.
Well, long story short, I saw myself forced to create SD images of ROS Hydro, running on Wheezy, but this was done using QEMU and other dirty tricks.
The very first image is about to be ready and I thought that it might be nice to share. My goal is to have Hydro running on Raspbian on a 4 GB image, ready to boot and go.
So, here are the questions:
a) Would you be interested in such an image to start using and eventually report back errors ? I need more stuff than "it boots" or "it works", as far as feedback goes. Would be really nice to have the details of the robot/application you used this image on.
b) Would there be someone interested in hosting this image, in case we have a big demand ?
c) I will be publishing a wiki-like tutorial of how I did it; In case someone wants to take a look at it and see if it is worth publishing here, I'll be more than glad to offer it.
So, just to be in the same page, this is NOT officially endorsement, but is a nice and practical way of having a working RPI system with ROS with the following:
"Vanilla" Raspbian (Debian Wheezy on Raspberry PI) image, with ROS Hydro installed, on an image to be used on 4 GB SD cards.
KR,
Carlos
Originally posted by ccapriotti on ROS Answers with karma: 255 on 2014-06-22
Post score: 0
|
Hi,
can i know what does param name="range_min" value="0.45" Means in the 3d sensor.launch
Thank in Advance.
Originally posted by vinod9910 on ROS Answers with karma: 61 on 2014-06-22
Post score: 0
|
Hi
I am trying to write a UI to reflect the current orientation of the robot using the tf information published. While printing the angle value using the getangle() function provided by tf::quaternion i noticed that the value is not in degree. I also noticed from the API that the angle() function returns half angles.
Do anyone knows what unit of measurmen does the getangle() function returns the angle value in?
Thanks
Originally posted by zenifed on ROS Answers with karma: 93 on 2014-06-22
Post score: 0
|
I have been trying to compile default_robot_hw_sim.cpp on Indigo under Ubuntu 14. I do not see any issue tracking this so I believe there is an issue with my environment. Can someone give me an idea where to look for resolution. I was able to compile in Hydro under Ubuntu 13.
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_;
^
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 2014-06-22
Post score: 0
Original comments
Comment by Enrico Villagrossi on 2014-07-04:
The problem seems to be in trasmission_info.h where the member hardware_interfaces_ in the struct ActuatorInfo has been changed from (in Hydro):
std::string> hardware_interface_;
to (in Indigo):
std::vectorstd::string hardware_interfaces_;
but the change was not receipt in default_robot_hw_sim.cpp
Enrico
|
Chef is my tool of choice for configuration management. It's pretty easy-to-use, has strong community and solid integration with VMs and clouds. I'd like to use it to provision all my ROS-based development VMs and physical nodes.
I found a couple uses of it with ROS:
https://github.com/ull-isaatc/grull_vagrant/blob/master/cookbooks/ros/
https://github.com/garaemon/garaemon-settings/tree/master/chef/site-cookbooks/ros
(sorry, not enough karma to publish links properly)
Both seem to be parts of personal/project setups that could be refactored/extracted into standalone cookbooks.
What would chef be good for? Building fully-configured systems that are ready to run:
building VMs with ROS: ready to run, do development, run tests
makes CI configuration easy
pulling 3rd party dependencies (bag files, models, etc) that project-specific and aren't part of an install
building boxes in the cloud with ROS
Q1: Is there interest?
Q2: Am I missing other existing examples?
Q3: What do people use right now?
Thanks a lot!
Originally posted by syrnick on ROS Answers with karma: 31 on 2014-06-23
Post score: 3
|
Hello,
I have ROS Hydro on Ubuntu 12.04.4.
I have made
$ sudo apt-get install ros-hydro-desktop-full
$ sudo apt-get install ros-hydro-gazebo-ros-pkgs ros-hydro-gazebo-ros-control
and I have downloaded the gazebo_ros_demos into my
catkin_ws/src
I want to try http://gazebosim.org/tutorials/?tut=ros_control .
Until I type
$ roslaunch rrbot_gazebo rrbot_world.launch
everything is fine.
But then, when I type
$ roslaunch rrbot_control rrbot_control.launch
then it says
[ERROR] [WallTime: 1403516339.376075] [33.377000] Failed to load joint_state_controller
[ERROR] [WallTime: 1403516340.379782] [34.378000] Failed to load joint1_position_controller
[ERROR] [WallTime: 1403516341.383720] [35.379000] Failed to load joint2_position_controller
What have I made wrong? What can I do, so that it works?
Originally posted by fhurlbrink on ROS Answers with karma: 25 on 2014-06-23
Post score: 1
|
Hey,
after finally getting deeper into ROS and understanding most of the things which are necessary for using the Gmapping-SLAM ( basics like tf, odom etc ) im now at the point of testing the whole thing. There is the Problem that Gmapping stops updating the map after serval scans. But first of all i want to give you a short overview:
What i want to do: Im trying to use a simulated 2D-Scanner in VREP as source for Gmapping.
Systemconfig: I use Groovy on a Ubuntu 12.04 LTS on a old IBM X41 Laptop (1.5Ghz Centrino SinglecoreCPU)
Progress:
I transfered the /scan and /odom-Topic from VREP to ROS.
I wrote some code (odom_baselink_tf.py) for tf of /base_link to /odom:
def metadata_odom(data):
global p, q, info
info = data
p = data.pose.pose.position
q = data.pose.pose.orientation
rospy.loginfo(Received odom)
...
broadcaster.sendTransform(
(p.x, p.y, 0),
(q.x, q.y, q.z, q.w),
rosnow,
base_lin,
odom
)
3 . I use a static tf transform between base_link and LaserScanner_Frame: rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link LaserScanner_Frame 100
This results in the following tf-tree:
I use Gmapping with the following Settings:
<param name="map_update_interval" value="2"/> <!--2-->
<param name="maxUrange" value="5.5"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1.0"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/><!--1.0-->
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="linearUpdate" value="0.1"/>
<param name="angularUpdate" value="0.1"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/> <!--80-->
<param name="xmin" value="-50.0"/>
<param name="ymin" value="-50.0"/>
<param name="xmax" value="50.0"/>
<param name="ymax" value="50.0"/>
<param name="delta" value="0.03"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
But if i use these settings, there is the problem that Gmapping stops updating the map after serval scans. If i look at the SLAM-Debug-Messages there are serval odd messages:
update frame 7
update ld=0.0495583 ad=0.179583
Laser Pose= 13.7771 3.96148 -0.695156
m_count 7
[DEBUG] [1403512083.321312113]: TF operating on not fully resolved frame id base_link, resolving using local prefix
[DEBUG] [1403512083.321624443]: TF operating on not fully resolved frame id odom, resolving using local prefix
Average Scan Matching Score=164.656
neff= 49.8545
Registering Scans:Done
[DEBUG] [1403512083.931338640]: scan processed
[DEBUG] [1403512083.933940439]: new best pose: 13.752 3.943 -0.644
[DEBUG] [1403512083.935263651]: odom pose: 13.777 3.961 -0.695
[DEBUG] [1403512083.936265942]: correction: -0.025 -0.018 0.051
[DEBUG] [1403512083.937573997]: Trajectory tree:
[DEBUG] [1403512083.938640263]: 13.752 3.943 -0.644
[DEBUG] [1403512084.006696687]: 13.513 4.059 -0.069
[DEBUG] [1403512084.010663464]: Reading is NULL
[DEBUG] [1403512085.983524674]: TF operating on not fully resolved frame id base_link, resolving using local prefix
[DEBUG] [1403512085.985853674]: TF operating on not fully resolved frame id odom, resolving using local prefix
[DEBUG] [1403512087.105476077]: Updated the map
[DEBUG] [1403512087.117026498]: MessageFilter [target=/odom ]: Added message in frame /LaserScanner_Frame at time 1403512075.593, count now 1
[DEBUG] [1403512087.118606658]: MessageFilter [target=/odom ]: Discarding Message, in frame /LaserScanner_Frame, Out of the back of Cache Time(stamp: 1403512072.685 + cache_length: 10.000 < latest_transform_time 1403512085.969. Message Count now: 1
[DEBUG] [1403512087.120816298]: MessageFilter [target=/odom ]: Added message in frame /LaserScanner_Frame at time 1403512078.106, count now 1
[DEBUG] [1403512087.121834794]: MessageFilter [target=/odom ]: Message ready in frame /LaserScanner_Frame at time 1403512080.746, count now 1
[DEBUG] [1403512087.122950160]: TF operating on not fully resolved frame id odom, resolving using local prefix
[DEBUG] [1403512087.126866647]: MessageFilter [target=/odom ]: Added message in frame /LaserScanner_Frame at time 1403512080.746, count now 1
[DEBUG] [1403512087.128059466]: Time jumped forward by [5.379792] for timer of period [0.010000], resetting timer (current=1403512087.128015, next_expected=1403512081.748223)
The messages show the last Map-Update (#7). There are also some "TF operating on not fully resolved frame id "-Messages which i dont understand, because i got all transformations in my tf tree. These messages occur as i start gmapping. What should i do against them? I think they are resulting in my problem.
Or maybe the processingpower of my old laptop is the problem? Top says its always 100%.
Does someone got a idea whats wrong with my setup? Any additional graphics needed to understand the whole thing?
EDIT:
Okey, is it right that the tf-Rate of my /odom_baselink_tf.py script needs to be higher, as the buffer is about 10s and the rate of the script is below 1Hz ? Could i reduce slam-tf-rates, as i cant increase the odom publish-rate of the VREP-Simulator ? Or i am complety wrong?
Additionally i switched over to a x200 Laptop with a Core2duo. This way i got a publish rate of about 3 Hz for odom via VREP.
EDIT2:
I found the transform_publish_period-Gmapping-parameter and set it to 10Hz. Additionally i changed my pythonscript to publish tf at 10Hz. Every tf in my tree uses now 10Hz for publishing. But the map still dont update.
Cheers
Julian
Originally posted by julled on ROS Answers with karma: 23 on 2014-06-23
Post score: 0
Original comments
Comment by dornhege on 2014-06-25:
Are you maybe mixing times from different sources? Is there a /clock topic or/and maybe a simulation time?
|
Hi there,
I wanna get the IR camera stream from the kinect but I get black screen when I launch this command:
rosrun image_view image_view image:=camera/ir/image_raw
PS: All the other topics work fine.
I don't really know what's going wrong ?
I'm working with ROS-Hydro in ubuntu 12.04 64bit.
Thank y'all
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-06-23
Post score: 0
|
Dear friends.
I am new in ROS and I am trying to track the human skeleton by two different Kinects (from different angles and distances).
But I can not run the "openni_tracker" with two different nods like :
List item rosrun openni_tracker openni_tracker image:=/Kinect_1/rgb/image_color
List item rosrun openni_tracker openni_tracker image:=/Kinect_2/rgb/image_color
Just one of them works... and the other stoped by the ROS telling :
List item [ WARN] [1403525116.319161909]: Shutdown request received.
[ WARN] [1403525116.319206167]: Reason given for shutdown: [new node registered with same name]
Does any one know how I could run this node two time paralleled in my computer?
Also, in case of the possible answer, the "openni_tracker" publish the output as a tfMessage on "/tf" topic. In case of two nodes working (by two different" camera, what will be the output of this node?
Thanks
Originally posted by Mobile_robot on ROS Answers with karma: 264 on 2014-06-23
Post score: 0
|
Hi all,
I'm quite new to ROS and we develop a vision android application for a daily-help robot and we re interested in reducing drastically the amount of bandwidth used by the image transport. So far we've been using the compressed topic of image transport but we would like to use the theora one for performance purposes.
My question is the following, is Theora image transport supported in RosJava ?
When subscribing to a Theora topic I get from the client side (android application) with the "classic" sensor_msgs.CompressedImage type I get :
Subscriber handshake failed: Incoming
MD5 checksum cannot be null.
And from the server side the error message is the following:
[ERROR] [1403525945.051196560]: Client
[/android/imgListener] wants topic
/image/UI/theora to have
datatype/md5sum
[sensor_msgs/CompressedImage/8f7a12909da2
c9d3332d540a0977563f], but our version
has
[theora_image_transport/Packet/33ac4e14a7cff32e7e0d65f18bb410f3].
Dropping connection.
Then I tried to import the image_transport Theora message type with:
dependencies {
...
compile 'org.ros.rosjava_messages:theora_image_transport:1.8.21.+'
}
But I still couldnt make use of the message library theora_image_transport.
Note: my ROS_PACKAGE_PATH include the rosjava folder
So if you have any idea, remarks or solution to this problem, I would be glad to hear it!
Thank you much!
Originally posted by Todd on ROS Answers with karma: 1 on 2014-06-23
Post score: 0
Original comments
Comment by Daniel Stonier on 2014-06-29:
How is it that you trying to connect a sensor_mgs/CompressedImage subscriber to a theora_image_transport/Packet publisher? That shouldn't work at all (need same type) and will throw exactly that error.
Comment by Todd on 2014-06-29:
Thank your for your comment. Yes I was just explaining what I tried and what I got out of it, and my question is, is it possible to handle the "theora_image_transport/Packet" type ?
|
After following the Create_a_MoveIt_Pkg_for_an_Industrial_Robot tutorial the launch demo will not work, it reports:
ResourceNotFound: ur5_moveit_config
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/opt/ros/groovy/share
ROS path [2]=/opt/ros/groovy/stacks
When I run:
roslaunch ur5_moveit_config/launch/demo.launch
Originally posted by PartyMaine on ROS Answers with karma: 1 on 2014-06-23
Post score: 0
|
I am trying to get moveit working for Barrett-WAM. WAM has an internal pc which is running wam_node. I have a driver that publishes on wam_node topics from an external PC on the same network via LAN.
Driver works perfectly. I can control the arm from an external PC via LAN. I think that means all the settings are correct.
settings on external PC:
ROS_IP=127.0.0.1
ROS_HOSTNAME=127.0.0.1
ROS_MASTER_URI=192.168.111.101
and in /etc/hosts I have an entry " 192.168.111.101 WAM"
I have never required to change any settings on WAM (internal PC) to send messages to wam_node via LAN.
But when I run the following command on external PC
roslaunch wam_moveit_config demo.launch
This is the Output: (Partial)
[ERROR] [1403555647.510816509]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class wam_arm_kinematics/IKFastKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin
and
[ERROR] [1403555690.896934602]: Unable to connect to action server within allotted time
and Moveit.rviz says:
NO PLANNING LIBRARY LOADED
Does moveit work on network ? Am I missing something ?
Thanks in advance.
Originally posted by rkitect on ROS Answers with karma: 15 on 2014-06-23
Post score: 0
|
I am beginner to ROS and gazebo and I have been trying to connect my gazebo 3.0 to ROS Hydro, both of them have been installed on ubuntu 12.04. I tried to follow the instruction on the gazebo website, but it always says you have broken package or something similar to that. Thank you.
Originally posted by KennyHimawan on ROS Answers with karma: 15 on 2014-06-23
Post score: 0
|
Hi everyone,
Is there an easy way to automatically generate a default parameter file (.yaml) for a given ROS package using the default parameter values and the descriptions of the parameters?
I was thinking this could be done for instance by parsing the text from the "parameters" section of the wiki page of the package, or maybe even directly from the source code.
Of course creating a file to set the parameters to their default values is redundant, but the generated file could be useful as a starting point for your own configuration, instead of going back and forth between your text editor and the wiki page to add parameters one by one and check their descriptions/default values.
For instance for the amcl package (see section 3.1.5 "Parameters" of the wiki page http://wiki.ros.org/amcl ) the generated amcl_config.yaml file would be something like:
min_particles: 100 #Minimum allowed number of particles.
max_particles: 5000 #Maximum allowed number of particles.
kld_err: 0.01 #Maximum error between the true distribution and the estimated distribution.
...
Am I missing something? Would it be practical/useful to add a "download default .yaml" link on the wiki pages?
Thanks!
Originally posted by al-dev on ROS Answers with karma: 883 on 2014-06-24
Post score: 0
|
Hello guys !
I want to stop a node, once its published message is subscribe by another node.
For example
Node 1(publisher)
def bridge_opencv():
image_pub = rospy.Publisher("quadrotor/videocamera1/camera_info",Image)
cv2.namedWindow("Image window", 1)
image_sub = rospy.Subscriber("quadrotor/videocamera1/image",Image, callback)
def callback(data):
bridge = CvBridge()
try:
cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError, e:
print e
(rows,cols,channels) = cv_image.shape
if cols > 60 and rows > 60 :
cv2.circle(cv_image, (50,50), 10, 255)
x=5
puba.publish(x)
cv2.imshow("Image window", cv_image)
cv2.waitKey(3)
def pilot():
puba = rospy.Publisher("box_positiona", Float64)
bridge_opencv()
rospy.spin()
if __name__ == '__main__':
pilot()
Node 2 :(subscriber)
def where1(msg):
global x1
x1 = msg.data
print x1
def ground():
global cmd
rospy.init_node("ground")
rospy.Subscriber("/box_positiona", Float64, where1)
>>once i subscribe to that topic,stop node 1 immediatley
if __name__ == '__main__':
ground()
Thanks a lot !
Looking forward for your answers
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-06-24
Post score: 0
|
I am migrating a packet to catkin. It contains a test.
The test runs successfully like this:
rostest my_navigation_test my_test_4_cob.test
but when i add
add_rostest(launch/my_test_4_cob.test)
to the equivalent CMakeLists.txt and call catkin_make test I get:
catkin_make test
Base path: /home/aub-ch/ros/hydro_mynavigationtest
Source space: /home/aub-ch/ros/hydro_mynavigationtest/src
Build space: /home/aub-ch/ros/hydro_mynavigationtest/build
Devel space: /home/aub-ch/ros/hydro_mynavigationtest/devel
Install space: /home/aub-ch/ros/hydro_mynavigationtest/install
####
#### Running command: "make cmake_check_build_system" in "/home/aub-ch/ros/hydro_mynavigationtest/build"
####
####
#### Running command: "make test -j8 -l8" in "/home/aub-ch/ros/hydro_mynavigationtest/build"
####
Running tests...
Test project /home/aub-ch/ros/hydro_mynavigationtest/build
Start 1: _ctest_my_navigation_test_rostest_launch_my_test_4_cob.test
1/1 Test #1: _ctest_my_navigation_test_rostest_launch_my_test_4_cob.test ...***Failed 5.64 sec
0% tests passed, 1 tests failed out of 1
Total Test time (real) = 5.66 sec
The following tests FAILED:
1 - _ctest_my_navigation_test_rostest_launch_my_test_4_cob.test (Failed)
Errors while running CTest
make: *** [test] Error 8
Invoking "make" failed
It is a bit hard to debug as it gives no feedback about what is really happening at all.
Any ideas?
Can you explain to me what the line '_ctest_my_navigation_test_rostest_launch_my_test_4_cob.test' means? Does it expect the launchfile to be called like this? (which it isn't)
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-06-24
Post score: 1
Original comments
Comment by ct2034 on 2014-06-24:
This might has been my fault, because i messed up my multiple workspaces. But I'll check it
|
I've got a robot setup with a very precise differential GPS (centimeter level). For technical reasons, I can't attach the GPS directly over the rotational center of the robot, but rather need to make an offset in both x- and y-direction.
There are two things I'd like to do:
First, infer the orientation of the robot from the measurements of the GPS
Secondly, infer the position of the robot on the UTM grid from the position of the GPS
Obviously, the first task is the harder one. Once it is solved, the second one is trivial.
I hope the picture illustrates the situation a bit. My robot has a differential drive, so the rotational center is located between the two wheels. My GPS is attached to a rod with offset delta_x and delta_y (in the picture, delta_x is negative). The green dots stand for the three last GPS measurements that were recorded. What I'd like to infer is angle alpha.
From what I've tried so far, I gather that there is no single solution if I take only the last two measurements into account. Therefore, I am thinking about using the last three measurements. They lie on exactly one circle with midpoint M. This means that my robot is currently moving on a circle with the same midpoint.
Apparently, my geometry skills simply aren't good enough - I've not been able to compute a solution. The solution is fairly simple if either delta_x or delta_y are equal to zero - but with both values != 0, I don't get anywhere.
Can anybody give me a hint whether this problem is solvable and how you'd go about solving it? On first glance it sounds like a fairly common usage of a GPS.
Originally posted by Simon Harst on ROS Answers with karma: 35 on 2014-06-24
Post score: 0
|
Hi all,
A couple of hours ago, I updated my system (sudo apt-get update; sudo apt-get upgrade). Updates included a lot of Hydro updates as well. However since then, catkin_make always ends in an error. I tried:
Reinstalling all ROS hydro packages
Rebooting computer
Create a new catkin ws and build the empty ws:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make -> this gives an error again.
Commenting out all my ROS related stuff in .bashrc and try again with the new catkin ws in a new terminal
The relevant lines of the error seem to be (find full output of cmake_ here: https://www.dropbox.com/s/sgw9whjn2cm91l8/catkin_make_error.txt):
CMake Error at /home/koenlek/catkin_ws/build/catkin_generated/order_packages.cmake:2 (message):
Invalid package manifest
/opt/ros/hydro/lib/python2.7/dist-packages/qt_create/templates/qt-ros/package.xml":
Package name "%(package)s does not follow naming conventions
Invalid email %(author)[email protected]" for person "%(author)s""
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_workspace.cmake:36 (include)
CMakeLists.txt:63 (catkin_workspace)
-- Configuring incomplete, errors occurred!
I checked the qt-ros and qt-create packages, it seems like nothing has changed in the last apt-get update (no changes on their github at least), so I think it is something else causing the issues.
Anybody has any ideas how to fix this? I need to perform some tests later today, so I badly need my system to get up and running again.
It seems that answers.ros.org is experiencing some spamming spree with loads of non-sense spambot messages coming in the latest hours. Is this some hacking/ddos attempt that has caused the servers to serve me some non-working updates?
I run Ubuntu 12.04 x64 with latest updates.
Originally posted by koenlek on ROS Answers with karma: 432 on 2014-06-24
Post score: 4
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I am trying to add some files to the location /opt/ros/hydro/share. But I am being denied permission. I have installed ROS as a debian package.
Originally posted by Abhishek Jha on ROS Answers with karma: 16 on 2014-06-24
Post score: 0
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Hello guy !
I am getting a following error
Global variable x is not defined.
def where1(msg):
global x1
x1 = msg.data
def where2(msg):
global y1
y1 = msg.data
def ground():
global cmd
cmd = rospy.Publisher("/atrv/motion", Twist)
rospy.init_node("ground")
rospy.Subscriber("/box_positiona", Float64, where1)
rospy.Subscriber("/box_positionb", Float64, where2)
print x1
print y1
rospy.spin() # this will block untill you hit Ctrl+C
if __name__ == '__main__':
ground()
Thanks, looking forward for answers
Originally posted by jashanvir on ROS Answers with karma: 68 on 2014-06-24
Post score: 0
Original comments
Comment by dornhege on 2014-06-24:
Please copy and paste error message directly.
Comment by jashanvir on 2014-06-24:
NameError: global name 'x1' is not defined
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Hi,
I have a Odroid-X2, which is a ARM platform, and I'm trying to install rviz on it (yes I know it can be a heavy task to a ARM board but it serves as testing for now). I have Linaro 12.11 installed with ROS Hydro. When trying to catkin_make my ws I get only the following errors, related to Ogre:
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/76a1dad3d5c06b63435441bb343c731b
I have ogre installed by debian packages, namely libogre-1.7.4, libogre-1.7.4-dbg, libogre-dev, libogre-perl and ogre-utils. Is there something missing here? Any tips?
Thanks in advance! Best regards
Originally posted by TSC on ROS Answers with karma: 180 on 2014-06-24
Post score: 1
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Hi all,
finally I managed to migrate this package into Hydro. For those who are wondering why, it's because I don't want to use MoveIt! for now.
If I launch the node, i receive the following WARNING:
[ WARN] [1403614003.986368439]: Some links were included for self mask but they do not exist in the model: lf_upper_leg lf_lower_leg lf_foot rf_upper_leg rf_lower_leg rf_foot lh_upper_leg lh_lower_leg lh_foot rh_upper_leg rh_lower_leg rh_foot
[ WARN] [1403614003.986465197]: No robot links will be checked for self mask
[ WARN] [1403614003.988725771]: No valid URDF frames available, not performing filtering.
Of course the links are existing and probably the missing part is the connection with the URDF which is running because I can see the robot on Rviz but maybe the node is not using it for some reason.
Originally posted by mark_vision on ROS Answers with karma: 275 on 2014-06-24
Post score: 1
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Hi! I am relatively new to the android and rosjava development environment. I am carrying out an experiment in which I am using the android_sensors_driver to publish the phone sensor readings to the master running on my Ubuntu PC. Now, I want to subscribe to the topic /android/imu (as published by the android_sensors_driver) carry out a couple of operations (inside the phone) and finally re-publish the readings as /android/modified_imu. Can someone please give me some advice on how to write the publisher and subscriber nodes? Can I somehow modify the pubsub tutorial for my purpose?
Any help would be greatly appreciated. Thanks!
Originally posted by Arjav on ROS Answers with karma: 1 on 2014-06-24
Post score: 0
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I want to hand arguments to a test script which I can do with a regular call:
rostest package_name testlaunchfile.test argument1:=vaule1 argument2:=value2
But what do I do in CMakeLists:
add_rostest(test/testlaunchfile.test argument1:=vaule1 argument2:=value2)
I realize that it wount be working like this because the arguments are interpreted as source files. But what can I do?
Edit: What I tried before:
I was giving the arguments to the launchfile via env vars. which seems to not work either. when i set them manually, it works. but catkin seems to fail setting them correctly. Any Ideas on that?
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-06-24
Post score: 1
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I am an instructor at the Southwest Indian Polytechnic Institute in Albuquerque, NM. We are about to start a large project in which we are building an indoor scale model of a Martian terrain on which we will have students build and test various rovers and robots. I am interested in using ROS and have successfully installed Ubuntu 12.04 and ROS Hydro on a laptop. I ran through several of the tutorials and I like what I see so far.
So I am just looking for some general advise on which tools are the latest and best for my application. Our basic system layout is:
1: A "Rover" will have a small laptop or similar computer onboard running Ubuntu/ROS
2: The rovers will be on a wireless network possibly 5 or 6 at a time each controlled by a different operator through the LAN
3: There will be a Desktop PC to serve as a web server/bridge so the rovers can be controlled/monitored over the LAN and possibly over the web. robotwebtools/rosbridge/ros3djs...
As our program proceeds we will hopefully be able to use ROS/Gazebo and contribute back to it as our students develop models and software to support it.
The program is going to start in July so I want to make sure I get going in the right direction. I need as stable/reliable platform as possible, so I assume the Hydro will be better than Indigo for now unless we will be missing out on too many new features.
Thanks for any feedback and we look forward to working with/joining your community.
Jonathan West
Originally posted by JWest on ROS Answers with karma: 66 on 2014-06-24
Post score: 0
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I am building a robot testbed at my community college and I inherited an iRobot ATRV-JR platform, but no documentation or other information. Does anyone here have experience or know who I can contact.
Thanks,
Jonathan West
Originally posted by JWest on ROS Answers with karma: 66 on 2014-06-24
Post score: 0
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I am trying to add the diagnostics package (from the git repo) that contains the python API. I have successfully added it to ROS fuerte but I cannot get it to work on the odroid that runs groovy built from source.
I added the diagnostics groovy-devel branch to my packages folder. I tried to catkin_make the whole workspace with the new package added, but since I have some fuerte packages (or maybe packages that were built from source), I get an error from catkin_make.
Is there a way to just compile or build one package in Groovy?
What do ROS+odroid users do for diagnostics?
EDIT 1
I tried to run sudo apt-get install ros-groovy-diagnostics to get the released version of diagnsotics, which has the python API but I got the following error:
Reading package lists... Done
Building dependency tree
Reading state information... Done
You might want to run 'apt-get -f install' to correct these:
The following packages have unmet dependencies:
libfontconfig1 : Depends: fontconfig-config (= 2.9.0-7.1) but 2.8.0-3ubuntu9.1 is to be installed
libfontconfig1-dev : Depends: libfontconfig1 (= 2.8.0-3ubuntu9.1) but 2.9.0-7.1 is to be installed
ros-groovy-diagnostics : Depends: ros-groovy-self-test but it is not going to be installed
Depends: ros-groovy-diagnostic-updater but it is not going to be installed
Depends: ros-groovy-diagnostic-common-diagnostics but it is not going to be installed
Depends: ros-groovy-diagnostic-analysis but it is not going to be installed
Depends: ros-groovy-diagnostic-aggregator but it is not going to be installed
E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).
I then ran apt-get -f install and got :
Reading package lists... Done
Building dependency tree
Reading state information... Done
Correcting dependencies... failed.
The following packages have unmet dependencies:
libfontconfig1 : Depends: fontconfig-config (= 2.9.0-7.1) but 2.8.0-3ubuntu9.1 is installed
libfontconfig1-dev : Depends: libfontconfig1 (= 2.8.0-3ubuntu9.1) but 2.9.0-7.1 is installed
E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
E: Unable to correct dependencies
Is there a way for me to add the diagnostics package that I download from the git repo to my groovy without dealing with these other issues?
EDIT 2
Before cloning the new diagnostics package I ran catkin_make_isolated and was succesful in making the current packages over again.
I then cloned the repo to my src file in my workspace (There was an old version of diagnostics packages there so I made a backup of them and deleted them before cloning the new package).
After this operation though I got the following error when I ran catkin_make_isolated:
==> Processing catkin package: 'diagnostics'
==> Building with env: '/media/home/ros/devel_isolated/cpp_common/env.sh'
==> cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated in '/media/home/ros/build_isolated/diagnostics'
CMake Error: The source "/media/home/ros/src/diagnostics/diagnostics/CMakeLists.txt" does not match the source "/media/home/ros/build_isolated/diagnostics/CMakeLists.txt" used to generate cache. Re-run cmake with a different source directory.
<== Failed to process package 'diagnostics':
Command '/media/home/ros/devel_isolated/cpp_common/env.sh cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated' returned non-zero exit status 1
Reproduce this error by running:
==> cd /media/home/ros/build_isolated/diagnostics && /media/home/ros/devel_isolated/cpp_common/env.sh cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated
Command failed, exiting.
I thought adding a package from source to the src folder would do the trick at first but now I realize that I need to delete the old built packages from build_isolated?
EDIT 3
Fixed that issue by deleting the old build version of diagnostics form build_isolated.
Now I ran catkin_make_isolated --install
Everything ran fine. When I run roscd diagnostic_updated it takes me to the directory under ros/install_isolated which has a cmake folder and a package.xml file in it.
I still cannot import the diagnostic_updater package in python though.
Here is the error that it gives me:
Traceback (most recent call last):
File "example.py", line 44, in <module>
import diagnostic_updater
ImportError: No module named diagnostic_updater
Maybe ros is pointing to the wrong place? Shouldn't it point to a directory of diagnostic_updater where the python library is in?
I am really confused now.
Thank you for all the answers.
Originally posted by goshawk on ROS Answers with karma: 70 on 2014-06-24
Post score: 0
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We are using a Sparkfun Razor IMU, and it produces Euler angles in yaw,pitch,roll order. We need the setEulerZYX method to put this into a quaternion, but compiling this produces a warning that it is deprecated. I cannot find an equivalent function, do anyone have any suggestions for replacement?
Originally posted by pdrews on ROS Answers with karma: 11 on 2014-06-24
Post score: 1
Original comments
Comment by Ken_in_JAPAN on 2014-06-24:
I use transform_datatypes.h to implement OMPL. The transform_datatypes.h includes createIdentityQuaternion() and createQuaternionFromRPY() and so on. There is the transform_datatypes.h in /opt/ros/***/include/tf/. It's my pleasure if my comment is useful for you.
Comment by pdrews on 2014-06-24:
Unfortunately, this has the same problem as Dan's answer. All of these methods are rotations around fixed angles, instead of sequential Euler angle rotations. I agree that Euler angle implementation can be ambiguous, but euler rotations and fixed angle rotations don't seem to be equivalent.
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I see that rospy.init_node() can only be called once per process in the official documentation on nodes.
I'm trying to write a script that allows for two-way communication (one message publisher and one message subscriber) to interact with a single object. If I have to keep the publisher in one script and the subscriber in another, I'll have a bit of a mess on my hands if I want to interact with the single object.
Is there a simple way of spawning multiple nodes (one talker, one listener, in this case) from one single process?
Originally posted by nckswt on ROS Answers with karma: 539 on 2014-06-24
Post score: 0
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After planning, ROS outputs a warn and an error on a terminal.
[WARN] [1403639144.542396993]: Rotate recovery behavior started.
[ERROR] [1403639144.542945771]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
What outputs these warning and error? I means which source file says error and warning? and What kind of problem happens on my plan?
Could anyone give me any clues? Thank you in advance?
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-06-24
Post score: 0
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I have some ROS nodes that take joystick data and translate it into CAN bus commands to command motor controllers on my robot. The motor commands buffered up too much because after I stopped moving the joystick, it would take several seconds for the final motor commands to stop the motors to occur. So, logically I reduced the buffer sizes on both the publisher and subscriber sides (mostly because I don't understand the difference or why both sides are configurable) but nothing seemed to change in responsiveness.
I stopped all nodes, performed a catkin make and started them all again and the heavy buffering continued. So I took all the buffers all the way down to 1 in all my ROS code. Stopped all nodes , catkin make , started all nodes. No joy. So I'm confused and frustrated at this point and starting to wonder what could be buffering up these motor commands if not ROS.
So I go into my CAN node code and add a debug message so I can see how quickly or how slowly the CAN messages are being sent. And all the sudden it's no longer buffering. Then I remove the debug message and it's still acting exactly as I wanted. As soon as I stop the joystick, the motors stop. No buffering.
So why didn't the buffer size of 1 take initially? Is there some sort of caching that I encountered? It ended up fine but it really threw me for a loop for a while.
P.S. I'm using ROS Hydro on Mint 13 Maya.
Originally posted by Kurt Leucht on ROS Answers with karma: 486 on 2014-06-24
Post score: 0
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Hi Stephan,
I am following the tutorial, but I have one thing that I still don't understand:
Why quaternion need to be conjugated first before conversion to rotation matrix?
For example in pose_sensor.cpp inside ssf_updates:
C_wv = state_old.q_wv_.conjugate().toRotationMatrix();
Why it's not just:
C_wv = state_old.q_wv_.toRotationMatrix();
I thought quarternion q_wv_ is already in the same reference frame as C_wv, as its name suggests???
Please give me some lights. Thanks a lot!
Best Regards,
Giovanni
Originally posted by giovanni.sutanto on ROS Answers with karma: 56 on 2014-06-24
Post score: 1
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I'm fairly new to ROS, so forgive me if this is a dumb question.
One of my Topics holds some initialization data that never really changes after several seconds of my node running. I noticed that when I run the rqt Topic Monitor plugin (rosrun rqt_topic rqt_topic) it does not show me a value for that topic if I click the checkbox after the last change was published.
Is this an rqt Topic Monitor bug or is this how all ROS Topics work? Do I need to actively cyclically publish the same data value over and over just for late subscribers to see? That seems lame. Does ROS have a means for late subscribers to grab the current value of a Topic?
Maybe I'm using the wrong tool for the job. Any advise would be appreciated. Thanks.
Originally posted by Kurt Leucht on ROS Answers with karma: 486 on 2014-06-24
Post score: 0
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Hi everyone.
I'm having a hard time with simulating the SLAM algorithms using KUKA YOUBOT and ROS GAZEBO and RVIZ.
At the first, following the tutorial and modifying it in according to use it on the YOUBOT I was able to move the robot around in the GAZEBO and see the map in the rviz, however the output map was an empty image but still I could see it in the RVIZ.
Afterward I messed up with tf and costmaps trying to have an output map... It didn't work and I couldn't bring it in the previous condition.. I changed TF tree and costmaps parameters.
this is the frames tree:
PDF:
docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text)
Image:
docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit (Link Text)
and then after I messed up with costs-map parameters. afterward I have Cost-maps as following texts:
Common Parameters:
> 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: {sensor_frame:
> base_laser_front_link,
> data_type: LaserScan,
> topic: /base_scan,
> expected_update_rate: 0.0,
> observation_persistence: 0.0,
> marking: true,
> clearing: true,
> min_obstacle_height: -0.10,
> max_obstacle_height: 2.0}
Global parameters
#Independent settings for the planner's costmap
global_costmap:
publish_voxel_map: true
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
And the Local one:
#Independent settings for the local costmap local_costmap:
publish_voxel_map: true
global_frame: /odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.5
origin_x: 0.0
origin_y: 0.0
Move_Base Parameters:
footprint: [[0.26, 0.18],
[0.26, 0.014],
[0.31, 0.014],
[0.31, -0.014],
[0.26, -0.014],
[0.26, -0.18],
[-0.27, -0.18],
[-0.27, 0.18]]
controller_frequency: 10.0
controller_patience: 15.0
clearing_radius: 0.25
footprint_padding: 0.03
Base local planner parameters:
# Robot Configuration Parameters
TrajectoryPlannerROS:
acc_lim_x: 1.25
acc_lim_y: 1.25
acc_lim_th: 1.6
max_vel_x: 0.5
min_vel_x: 0.1
max_rotational_vel: 1.2
min_in_place_rotational_vel: 0.1
escape_vel: -0.1
holonomic_robot: true
# Goal Tolerance Parameters
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
# Forward Simulation Parameters
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 6
# Trajectory Scoring Parameters
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: false
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.01
AMCL :
<node pkg="amcl" type="amcl" name="amcl">
<remap from="scan" to="base_scan"/>
<param name="odom_model_type" value="omni"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="1.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<param name="odom_alpha3" value="0.8"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="global_frame_id" value="/map"/>
<param name="base_frame_id" value="/base_link"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
</node>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="map_update_interval" value="5.0"/>
<param name="maxUrange" value="3.0"/>
<param name="maxRange" value="5.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.5"/>
<param name="temporalUpdate" value="3.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="30"/>
<param name="xmin" value="-30.0"/>
<param name="ymin" value="-30.0"/>
<param name="xmax" value="30.0"/>
<param name="ymax" value="30.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
</node>
every time I change something in cost-maps or even in AMCL I get different error.. that made me believe that the problem is because of Costs-map parameters or AMCL.. At the moment with parameters that were mentioned in above I get this warning:
[ INFO] [1403678029.195277414, 411.852000000]: MAP SIZE: 199, 199
[ INFO] [1403678029.212992584, 411.852000000]: Subscribed to Topics: base_scan
[ WARN] [1403678029.388813758, 411.911000000]: You have set an inflation radius that is less than the inscribed and circumscribed radii of the robot. This is dangerous and could casue the robot to hit obstacles. Please change your inflation radius setting appropraitely.
following by this error:
[ INFO] [1403678029.903436669, 412.011000000]: Sim period is set to 0.10
[ERROR] [1403678145.134253594, 438.395000000]: No Transform available Error looking up robot pose: The tf tree is invalid because it contains a loop.
Frame /laser exists with parent /base_laser_front_link.
Frame /base_laser_front_link exists with parent /base_link.
Frame /odom exists with parent /map.
Frame /map exists with parent NO_PARENT.
Frame /arm_link_1 exists with parent /arm_link_0.
Frame /arm_link_0 exists with parent /base_link.
Frame /arm_link_2 exists with parent /arm_link_1.
Frame /arm_link_3 exists with parent /arm_link_2.
Frame /arm_link_4 exists with parent /arm_link_3.
Frame /arm_link_5 exists with parent /arm_link_4.
Frame /caster_link_bl exists with parent /base_link.
Frame /base_link exists with parent /base_footprint.
Frame /caster_link_br exists with parent /base_link.
Frame /caster_link_fl exists with parent /base_link.
Frame /caster_link_fr exists with parent /base_link.
Frame /gripper_finger_link_l exists with parent /gripper_palm_link.
Frame /gripper_palm_link exists with parent /arm_link_5.
Frame /gripper_finger_link_r exists with parent /gripper_palm_link.
Frame /wheel_link_bl exists with parent /caster_link_bl.
Frame /wheel_link_br exists with parent /caster_link_br.
Frame /wheel_link_fl exists with parent /caster_link_fl.
Frame /wheel_link_fr exists with parent /caster_link_fr.
Frame /base_footprint exists with parent /odom.
Frame /plate_link exists with parent /base_link.
And when I set a goal in rviz... the robot start to turn around of itself.. and it doesn't go to the goal location.. although it looks the map in the Rviz is being generated caz I can see the edges of obstacles..
I'm almost beginner in ROS.. I followed many tutorials but still I'm stuck in this problem.. I'm really confused and I don't know which part exactly I'm doing wrong in...
if anyone can give me a hand or a hint I'll be so thankful
Cheers!
Hamid
Originally posted by Hamid on ROS Answers with karma: 11 on 2014-06-25
Post score: 1
Original comments
Comment by bvbdort on 2014-06-27:
Error log say tf has some problem. use these commands to see your tf
$ rosrun tf view_frames
$ evince frames.pdf
Comment by Hamid on 2014-06-29:
Thanks @bvbdort for reply... but I've already done that...
docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text) Image: docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit
this is frames... It seems to me that it's ok.
Comment by Hamid on 2014-06-29:
http://docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit
http://docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit
Comment by bvbdort on 2014-06-29:
change map to odom frequecy rate to 50hz and are you using bag file ?
Comment by Hamid on 2014-06-30:
@bvbdort How can I do it? no I'm not using any bag file
Comment by bvbdort on 2014-06-30:
As you can see from the field "most recent transform" , tf timestamps are very old see , did you try by changing map to odom frequency ?
Comment by Hamid on 2014-06-30:
To be honest I still don't understand... how to do that? I mean where exactly defines it?.. probably I didn't change it before.. because I don't know how should I do... is it a parameters in costs maps?
Comment by bvbdort on 2014-06-30:
In AMCL update these and try
Comment by Hamid on 2014-07-01:
now I get these: TF_OLD_DATA ignoring data from the past for frame /odom at time 0 according to authority /slam_gmapping Possible reasons are listed at ---------and this one:----------- The origin for the sensor at (0.27, -0.00) is out of map bounds. So, the costmap cannot raytrace for it.
Comment by Hamid on 2014-07-01:
update:
I removed those two lines and I checked in frames tree the odom is connected to the base_footprint... I suppose this line:
---------(((((----)))))----- is connecting frames.... then I added this line:-------((((((------))))))------ It's almost working fine except that with the mapserver code in terminal when I print the map... map is all empty and it's just a whole white image... besides in rviz when I choose the "/map" for the "fixed frame" the robot model turns to white and become ok all the time.. I can see the map in the rviz but I can not have it printed. hence I think the previouse problem was bc of the tf.. btw sometimes I get the errore that the sensor data is old and robot starts to turn around of itself.. but I point a new goal it startTOMOVE
Comment by Hamid on 2014-07-01:
plus I get sometimes the tf error as well..
Thanks you again dear @bvbdort .. it's so nice of you that you help me
Comment by bvbdort on 2014-07-01:
@Hamid are you using bag file for sensor reading do you have device attached?
Comment by Hamid on 2014-07-02:
no, I'm trying to make it through the simulation first. I don't use bag file. I mean I just bring up the navigation and the simulation world.. then I call gmapping and afterward I use the mapsaver, I'm trying to feel the process first then I'd like to simulate my slam algorithms and use the real robot
Comment by bvbdort on 2014-07-02:
@ if you are able to visualise laser in rviz and environment, you should get map
Comment by Hamid on 2014-07-03:
but I cannot. today I brought it up again but this time the map in rviz also is empty... I think there is something wrong either with the frame trees or with the AMCL.. I'm really confused now.. I don't know what should I do...
Comment by bvbdort on 2014-07-03:
are you able to view laser in rviz ?
Comment by Hamid on 2014-07-04:
yes.. I can see the obstacles in blue, the path in green and the goal in red.
Comment by bvbdort on 2014-07-04:
Can you share your recent error log
Comment by Hamid on 2014-07-05:
how can I do it?
Comment by bvbdort on 2014-07-05:
i mean in terminal what error it is showing , if any
Comment by donmrsir on 2014-07-06:
Hi hamid.
If you cant see the map in rviz its a problem with gmapping or even rviz, the costmap params are only for navegation. So you should post the params you use with gmapping. Furthermore i see that you are using amcl for localization, you dont need to do that if you are using slam_gmapping, because it solves SLAM (localization + mapping).
The only weird thing i see in costmap params, is that u set "publish_voxel_map: true" while you are using a costmap instead of a voxel map.
Comment by Hamid on 2014-07-08:
[ERROR] [1403678145.134253594, 438.395000000]: No Transform available Error looking up robot pose: The tf tree is invalid because it contains a loop.
However now I don't have this error anymore.I don't know how. but I changed everything and now it's solved. I dnt know wht was wrong.@bvbdort
Comment by Hamid on 2014-07-08:
Thanks @donmrsir for comment.
what about parameters related to frames? caz I thought maybe the problem was because of the parameters.. since every time that I have changed the costmap params the error was different. shouldn't be Map> Odom>base_footprint>base_link ... base_link included >laser
Comment by donmrsir on 2014-07-09:
Your tf tree is ok. I think that the error u get is for using AMCL and gmapping at the same time. Both publish the map -> odom transformation, so this can be the error. Try to use the same system again without using AMCL. Slam_gmapping will do the mapping and the localization.
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Hi!
I am using ROS Hydro on Ubuntu 12.04. I downloaded the segway-rmp-ros-pkg from here:
http://wiki.ros.org/segway_rmp
I followed all the steps up until doing the rosinstall. I put in the wrong path to the ros directory and got the according error message, until I realized that it was in /opt/ros/hydro. After running that command succesfuly, I was prompted to run a "source" command by rosinstall. After doing so, I was not able to proceed to the next step, which is running roscd segway_rmp. This is, however, not the main issue. I closed the terminal and tried opening a new one, but whenever I now open a Terminal, I don't get the $ sign with username, but the terminal is completely empty. Only when I hit ctrl-c do I get the command line back. Sometimes, when I hit ctrl-c, I get a message telling me about latest tracebacks, all going to python files. I am unsure what went wrong here, maybe someone can help me!
I already restarted the computer, but I keep getting the same issue with every new terminal I open.
Thanks,
Marc
Originally posted by Marc on ROS Answers with karma: 46 on 2014-06-25
Post score: 0
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Default format of time stamping in ROS logs are in unix time format
i.e [ INFO] [1403686233.193723830]:
i want this to be changed to ISO 8601 format
i.e 2014-06-19T19:12:32Z
i found a option to disable it using export ROSCONSOLE_FORMAT but not able to change format.
how can i do this ?
Originally posted by AbhishekMehta on ROS Answers with karma: 226 on 2014-06-25
Post score: 16
Original comments
Comment by SR on 2014-11-21:
I am interested in this as well. Did you find a solution?
Comment by Stephan on 2015-09-25:
I want that, too!
Comment by Stephan on 2015-09-25:
It looks like it just uses the output stream operator of ros::Time: https://github.com/ros/ros_comm/blame/ace5b9c11af766564441bad2cb08f5fca5b73784/tools/rosconsole/src/rosconsole/rosconsole.cpp#L196-L211
Comment by Orchaldir on 2016-04-22:
Did you find a solution? I am also looking for it.
Comment by shoemakerlevy9 on 2017-04-10:
Any update on this? I too would like this option
Comment by knxa on 2017-09-26:
I've been looking for this too. This seems like a significant flaw in the logging system, I am going nuts looking through log files constantly translating the timestamps to find out when things really occurred.
Comment by lucasw on 2019-08-21:
It would be nice if were possible to use bash to process the console string, like put a date -d@${time} to convert the time or ${${file}: -20} to lop off all but the last 20 characters of the file... though maybe that would slow down console output a lot.
Comment by longlongago on 2020-12-10:
It is fixed in the ROS Noetic: http://wiki.ros.org/rosconsole#Change_default_time_and_walltime_format
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Hello,
there exists a c++ open-source visual odometry library called "LIBVISO2" (cvlibs.net/software/libviso/)
which I would like to use in ROS. For the library there exists a ROS-package called "viso2_ros" which
is a ROS-wrapper for the library.
I am totally new to LINUX and ROS. In Windows I use VS2010 and the Flycap drivers for the two Point Grey Flea3 "gigE cameras" making the stereo-visual odometry work (using LIBVISO2).
Now I finished the 20 ROS beginner tutorials but still am confused how to get started.
Can you give me some tips regarding how to take the first steps?
Basically I need a tip how to
establish a camera node (with the Flea Linux drivers??) which will output images (I use a trigger)
rectify the images (I have all the parameters for initundistorstrectifymap from opencv)
use openCV in general
make my fist steps with viso2_ros
Thank You. All tips are well appreciated!
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-06-25
Post score: 0
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I try to design a GUI to handle stepper motors via ROS, kivy and python. You can find a minimal version of the GUI below.
Actually I want to use a ROS message to update a kivy text input field (read only).
In the minimal example, pressing the button should transfer the data of the first input field over a local ROS node to the second input field.
Actually it seems, that the Callback within the rospy.Subscriber() doesn't enter the Test class.
Thank You for any suggestions!
main.py
import kivy
kivy.require('1.7.2')
import rospy
from std_msgs.msg import String
from kivy.app import App
from kivy.core.window import Window
from kivy.uix.widget import Widget
from kivy.uix.boxlayout import BoxLayout
class Test(BoxLayout):
text_is = 'text before button press'
def Pub(self):
publish = self.ids.test_text_pub.text
try:
ROSNode.new_text_is.publish(publish)
except rospy.ROSInterruptException: pass
class ROSNode(Widget):
def Callback(publish):
print(publish.data) #check if Callback has been called
test.text_is = publish.data
new_text_is = rospy.Publisher('new_text_is', String, queue_size=10)
rospy.Subscriber('new_text_is', String, Callback)
rospy.init_node('talker', anonymous=True)
class TestApp(App):
def build(self):
return Test()
if __name__ == '__main__':
TestApp().run()
test.kv
#:kivy 1.0
<test>:
BoxLayout:
orientation: 'vertical'
Button:
id: test_button
text: 'publish'
on_press: root.Pub()
TextInput:
id: test_text_pub
text: 'text after button press'
TextInput:
id: test_text_sub
text: root.text_is
Originally posted by Hozer on ROS Answers with karma: 1 on 2014-06-25
Post score: 0
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[there's a question about this by ftrujillo on 27 oct 2013 but there's no answer. so i decided to bring this up again]
hello guys
I have a problem when bringing up the turtlebot. (just a warning)
after launching:
roslaunch turtlebot_bringup minimal_with_appmanager.launch
the warning is:
[WARN] [WallTime: 1382834834.456361] Gateway : uuid's disabled, using possibly non-unique name [turtlebot]
I am using hydro as ROS version on Ubuntu 12.04 LTS precise.
I have been looking for this problem in the ROS answers and in the web but I cannot find nothing.
Then, some suggestions?
Thanks in advance.
Originally posted by syaz nyp fyp on ROS Answers with karma: 167 on 2014-06-25
Post score: 2
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