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Hi
My application requires a configuration file and a resource folder placed in the same directory as the executable. Those are located at : ~/workspace/src/project/cfg/. I want to copy this file and this directory at ~/workspace/devel/lib/project/, where my executable is located.
What can I add to my CMakeLists.txt to achieve that? I have tried using ${CATKIN_PACKAGE_BIN_DESTINATION}, but it creates a lib subdirectory in build.
Thank you
Originally posted by gariepya on ROS Answers with karma: 43 on 2014-07-02
Post score: 1
|
I am trying to make an ethernet-based omni work on ROS. It seems all the packages are for firewire versions. Does anybody know how to run an omni on ROS?
Originally posted by Hossein on ROS Answers with karma: 45 on 2014-07-02
Post score: 0
Original comments
Comment by TRS on 2015-01-28:
I'm also interested in this solution - did you find one?
|
Hi guys,
Sorry for my stupid question. :)
I watched a video on youtube about object detection and roboearth. I want to use that software but I do not know the steps I have to take. Can someone PLEASE just tell me the steps I have to take. I only need this object detection and and I dont use ros generally. I have kienct and I really need this software for my project. So please someone tell me the steps from the scratch.
Thanks
Originally posted by farhad on ROS Answers with karma: 3 on 2014-07-02
Post score: 0
|
I am using librviz in a GUI using python (PyQt/PySide) I started with the librviz tutorial (docs.ros.org/hydro/api/rviz_python_tutorial/html/) and was able to use my own config files to show the panels and views that I want. The problem is that it is extremely sporadic.
I have tried:
alternating config files
downloading the tutorial and testing my config file with the tutorial script
using the tutorial config file (raw.githubusercontent.com/ros-visualization/visualization_tutorials/hydro-devel/rviz_python_tutorial/config.myviz) with my script
using the tutorial config file with the original tutorial code.
restarting the computer
Loading the config files into rviz (this works)
When it doesn't work, it looks something like this (tutorial script + tutorial config file):
Broken image- i.imgur.com/j1rlQsf.png)
I note that it probably isn't reading the config file properly, because one of the first functions in the tutorial pulls from the file and changes the title, and it does not manage to even do that.
When it is working (my code + my config):
Working image: (i.imgur.com/nN7vKkF.png)
Originally posted by Xiuda on ROS Answers with karma: 36 on 2014-07-02
Post score: 1
|
I install sudo apt-get install ros-hydro-pr2-* successfully.
I found that pr2_teleop is suitable for groovy...
Where can I find teleop package for Hydro?
Thank you~
Originally posted by sam on ROS Answers with karma: 2570 on 2014-07-02
Post score: 0
|
Hi everyone
I'm trying to understand the reasons of using 'static' tf transformBroadcaster (static tf::TransformBroadcaster br;) in the tf tutorials page (http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29). I understand what does a static member do, but I really cannot understand the reasons of using it in that example!
Thank you in advance!
Originally posted by emacsd on ROS Answers with karma: 194 on 2014-07-02
Post score: 0
|
i need a turtorial of rosbuild for ros electric, idon't want change ros version for hydro, fuerte ... i want work in ros electric thanks
Originally posted by SEBASSALSA on ROS Answers with karma: 16 on 2014-07-02
Post score: 0
Original comments
Comment by Mehdi. on 2014-07-02:
what is your problem? can you clarify where you are stuck and what do you want to do exactly?
|
I am attempting to use David Lu's people branch and am running into an error when I run:
$rostopic echo people_tracker_measurement //or leg_tracker_measurement
Cannot load message class for [people_msgs/PositionMeasurement]. Are your messages built?
I know that this question has been asked before, but I believe that I am having a separate issue. I believe that my class paths are set up right, but I am still unable to use the messages. For example:
rosmsg show PositionMeasurement
Yields the details of the message. Using the script suggested in another link, I get:
<class 'people_msgs.msg._PositionMeasurement.PositionMeasurement'>
I am kind of stumped as to where to go.
EDIT:: As I say below (and forgot to say in the original post) I am able to roscd to both the people package and the people_msgs package.
Originally posted by jc2016 on ROS Answers with karma: 150 on 2014-07-02
Post score: 2
Original comments
Comment by McMurdo on 2014-07-03:
Could it be a problem with sourcing the "devel/setup.bash"?
Comment by jc2016 on 2014-07-03:
I don't think so. All of the signs of checking that (i.e. roscd, etc.) seem to show that the package is mapped to right. I did build it with rosbuild however, I'm not sure if that would be an issue.
Comment by ahendrix on 2014-07-03:
rostopic is a catkin tool; it's possible that it can't find the messages because catkin tools can't depend on rosbuild packages. This is probably a bug in rostopic.
Comment by jc2016 on 2014-07-03:
Oh, that makes sense, is there a rostopic-like tool for rosbuild applications? I'm going to try to build it in catkin and see if that changes the issue at all.
Comment by David Lu on 2014-07-03:
Which branch are you using?
Comment by jc2016 on 2014-07-03:
The master branch with some changes to the leg_detector/src/leg_detector.cpp file to make it work with the people_tracking_filter. I was going to switch over to the hydro_devel branch to catkinize it though.
Comment by David Lu on 2014-07-03:
You may have better luck with the hydro_devel branch, since it is already catkinized. Although rostopic works fine for me in the non-catkinized version, so I would double check how you built your workspaces/package paths.
Comment by jc2016 on 2014-07-03:
Alright, thanks for all of the responses. I'll probably try rebuilding my workspaces and return with any updates.
|
I make a simulation to check if my program is correct. After I transferred my code on Turtlebot PC to one on Another PC, I executed catkin_make. After that, I checked that there is libompl_planner_rrt.so in /catkin_ws/devel/lib.
I got the next error message, but I'm not sure.
[FATAL] [1404362140.989502266, 6.774000000]: Failed to create the ompl_planner_rrt/OMPLPlannerRRT planner, are you sure it is properly registered and that the containing library is built? Exception: Could not find library corresponding to plugin ompl_planner_rrt/OMPLPlannerRRT. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
Could anybody tell me a clue?
I have already added plugin.xml to package.xml.
<export>
<nav_core plugin="/home/kmurata/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml"/>
</export>
I executed rospack plugins --attrib=plugin nav_core.
navfn /home/kmurata/catkin_ws/src/navfn/bgp_plugin.xml
goal_passer /home/kmurata/catkin_ws/src/goal_passer/bgp_plugin.xml
ompl_planner_rrt /home/kmurata/catkin_ws/src/ompl_planner_rrt/bgp_plugin.xml
base_local_planner /home/kmurata/catkin_ws/src/base_local_planner/blp_plugin.xml
carrot_planner /home/kmurata/catkin_ws/src/carrot_planner/bgp_plugin.xml
global_planner /home/kmurata/catkin_ws/src/global_planner/bgp_plugin.xml
clear_costmap_recovery /home/kmurata/catkin_ws/src/clear_costmap_recovery/ccr_plugin.xml
rotate_recovery /home/kmurata/catkin_ws/src/rotate_recovery/rotate_plugin.xml
dwa_local_planner /home/kmurata/catkin_ws/src/dwa_local_planner/blp_plugin.xml
move_slow_and_clear /home/kmurata/catkin_ws/src/move_slow_and_clear/recovery_plugin.xml
eband_local_planner /home/kmurata/catkin_ws/src/eband_local_planner/elp_plugin.xml
This means that ompl_planner_rrt is registered. Am I wrong?
Now I'm trying simulation with Gazebo, rviz and Turtlebot3D model.
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-07-02
Post score: 4
|
I recently changes the os on my nexus 4 to Ubuntu touch and i tried installing ROS the traditional way onto the device. But everytime i try to install i keep getting errors saying that the package was not found or cannot be installed. I havent found much documentation on this topic. How would i be able to install ROS on the device ?. I need to install it on my robot to control the bot and carry out all the processing.
Please help
Originally posted by raghu.s1211 on ROS Answers with karma: 1 on 2014-07-03
Post score: 0
Original comments
Comment by TillScout on 2014-07-12:
Have you been successful already? I am curious about the performance of ROS on Ubuntu Touch devices.
Comment by pendragon on 2019-03-26:
Anybody figured out a way to do this yet? I got a project coming up and we need to use a portable device capable of running ROS.
Any and all suggestions are welcomed. Thanks
Comment by dpills on 2022-08-14:
Hi any one who has succeeded to run ROS on Ubuntu touch or on any of the newest version OTA22/23 UBports on any mobile devices ?
Thanks for any hints
|
Hello,
I'm using the fedora repo given by @cottsay. I might be doing something stupid but it seems to me that the messages are not working fine.
if I do :
roscore
then
rostopic echo /search
then
rostopic pub -1 /search std_msgs/Bool 'data : False'
Nothing is received.
I got the good number of node if I do a rosnode list and when using rostopic info search I can see a node subscribing to the topic. I might do something incredibly stupid, but for now I did not find what is the problem and I don't really know what to do to debug it...
EDIT : Still having that problem. This is my repolist :
$ yum repolist
Modules complémentaires chargés : langpacks, refresh-packagekit
bumblebee/20
bumblebee-nonfree/20
fedora/20/x86_64
google-talkplugin
planetccrma/20/x86_64
planetcore/20/x86_64
rpmfusion-free/20/x86_64
rpmfusion-free-updates/20/x86_64
rpmfusion-nonfree/20/x86_64
rpmfusion-nonfree-updates/20/x86_64
russianfedora-free/20/x86_64
russianfedora-free-updates/20/x86_64
russianfedora-nonfree/20/x86_64
russianfedora-nonfree-updates/20/x86_64
smd-ros-shadow-fixed/20/x86_64
smd-ros-staging/20/x86_64
*updates/20/x86_64
virtualbox/20/x86_64
I did yum install ros-hydro-desktop-full. I think it might be depend on my computer and not on ros itself but I have no idea what causes this. Here is a screenshot of what I'm doing :
And nothing is received.
Here is my .bashrc as well concerning hydro :
alias hydro='source /opt/ros/hydro/setup.bash && source /home/malcolm/ros_ws/catkin_hydro/devel/setup.bash && export EDITOR='nano' && export ROS_PACKAGE_PATH=/home/malcolm/ros_ws/catkin_hydro/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks
and the env variable of my system :
declare -x ROSLISP_PACKAGE_DIRECTORIES="/home/malcolm/ros_ws/catkin_hydro/devel/share/common-lisp"
declare -x ROS_DISTRO="hydro"
declare -x ROS_ETC_DIR="/opt/ros/hydro/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/malcolm/ros_ws/catkin_hydro/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks"
declare -x ROS_ROOT="/opt/ros/hydro/share/ros"
declare -x ROS_TEST_RESULTS_DIR="/home/malcolm/ros_ws/catkin_hydro/build/test_results"
EDIT : It seems more like my system is strangely slow. I'v launch a bunch of node right now and each time I'm trying to have the tf with this command : cd /var/tmp && rosrun tf view_frames && evince frames.pdf I either have no tf data, or partial tf data, not always the sames... which makes me thing that it may just be very slow...
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-07-03
Post score: 0
Original comments
Comment by cottsay on 2014-07-03:
Are you sure the command you posted is correct? The usage for rostopic pub is:
Usage: rostopic pub /topic type [args...]
so I used the command:
rostopic pub -1 /search std_msgs/Bool 'data : False'
which was successful. What are you trying to do with the --?
Comment by Maya on 2014-07-11:
Woups I had the same thing again today...
Just to be sure I just need : smd-ros-shadow-fixed/20/x86_64 and smd-ros-staging/20/x86_64 as repo or do I miss something ?
I'm reinstalling it now...
Comment by Maya on 2014-07-14:
I'm pretty sure you're right and it has nothing to do with the repo since after after some trying the problem tend to appear and go depending on when. When it's working it seem kinda slow to me compare to my ubuntu and I'm wondering if it has smthg to do with it. I'll try your suggestion next time.
|
I have a node that queries move_group to get the end effector name, but uses move_group for nothing else. Ideally I would like to run this node without having to bring up move_group at all, and I don't want to hard code the name of the end effector. Is there a trivial way to solve this? I looked at the C++ code for getEndEffector in move_group_interface.cpp, but it needs some other libraries.
Is there a simple way to get this information by using only TransformListener, for instance?
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-07-03
Post score: 1
|
Hi there,
I wondered why my one of my nodes did not terminate on SIGINT Crtl+C when /use_sim_time is true and tracked it down to a call of TransformListener::waitForTransform. In the waiting loop of this function, which calls Buffer::canTransform, no polling of ros::ok() is involved.
The respective loop is (see https://github.com/tulku/tf2_ros/blob/master/src/buffer.cpp):
while (now_fallback_to_wall() < start_time + timeout &&
!canTransform(target_frame, source_frame, time) &&
now_fallback_to_wall() >= start_time) //don't wait if time jumped backwards
ros::Duration(0.01).sleep();
Omitting the poll of ros::ok() here causes the following behaviour after a SIGINT:
If /use_sim_time is false, the function call still blocks the entire given duration if a SIGINT happens during the waiting duration and does not immediately return false (the result won't change, though, because after the SIGINT subscriber callbacks are no longer called....)
If /use_sim_time is true, the function blocks forever after a SIGINT because the clock subscriber is not called anymore and the end of the timeout will never be reached.....
The following snippet is a minimal example which has this behaviour an my machine (ubuntu 12.04 64Bit + ROS Hydro)
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
int main ( int argc, char** argv )
{
ros::init( argc, argv, "tf_test" );
ros::NodeHandle lo_nh;
tf::TransformListener lo_listener;
// only to get sim time and tf listener in sync before waiting
ros::spinOnce();
ros::Duration(1).sleep();
ros::spinOnce();
ros::Duration(1).sleep();
ros::spinOnce();
ros::Duration(1).sleep();
ros::spinOnce();
ROS_INFO( "init" );
ros::Time lo_t1 = ros::Time::now();
ros::Time lo_t2 = lo_t1 - ros::Duration( 1.0 );
// returns true if tf is broadcasted in sync with time
// returns false after 10 sec if no tf and no SIGINT
// returns false after 10 sec if no tf and SIGINT and /use_sim_time false
// blocks forever if no tf and SIGINT and /use_sim_time true
if ( lo_listener.waitForTransform("/base_footprint", lo_t1, "/base_footprint", lo_t2, "/odom", ros::Duration( 10 ) ) )
{
ROS_INFO( "tf available" );
}
else
{
ROS_INFO( "tf not available" );
}
ROS_INFO( "spin" );
ros::spin();
return 0;
}
Is this intended/accepted or should a ros::ok() be included in the loop condition??
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-07-03
Post score: 2
|
Hi,
My system is Ubuntu 12.04. In the 3rd step of the installation instructions, a get an error about the missing siftgpu library. I execute "catkin_make" command again but I'm still having same problem;
...
[ 67%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/header.o
[ 69%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/sift_gpu_wrapper.o
Linking CXX executable /home/oguzhan/rgbdslam_catkin_ws/devel/lib/rgbdslam/rgbdslam
/usr/bin/ld: cannot find -lsiftgpu
collect2: error: ld returned 1 exit status
make[2]: *** [/home/oguzhan/rgbdslam_catkin_ws/devel/lib/rgbdslam/rgbdslam] Error 1
make[1]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
second make:
oguzhan@ubuntu:~/rgbdslam_catkin_ws$ catkin_make
Base path: /home/oguzhan/rgbdslam_catkin_ws
Source space: /home/oguzhan/rgbdslam_catkin_ws/src
Build space: /home/oguzhan/rgbdslam_catkin_ws/build
Devel space: /home/oguzhan/rgbdslam_catkin_ws/devel
Install space: /home/oguzhan/rgbdslam_catkin_ws/install
Running command: "make cmake_check_build_system" in "/home/oguzhan/rgbdslam_catkin_ws/build"
Running command: "make -j1 -l1" in "/home/oguzhan/rgbdslam_catkin_ws/build"
[ 7%] Built target rgbdslam_generate_messages_cpp
[ 7%] Built target rgbdslam_gencpp
Linking CXX executable /home/oguzhan/rgbdslam_catkin_ws/devel/lib/rgbdslam/rgbdslam
/usr/bin/ld: cannot find -lsiftgpu
collect2: error: ld returned 1 exit status
make[2]: *** [/home/oguzhan/rgbdslam_catkin_ws/devel/lib/rgbdslam/rgbdslam] Error 1
make[1]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by Oguzhan Pierre on ROS Answers with karma: 1 on 2014-07-03
Post score: 0
Original comments
Comment by Felix Endres on 2014-07-07:
Is SiftGPU built? Do you have the file ../src/rgbdslam/external/SiftGPU/bin/libsiftgpu.so (within the rgbdslam package directory)? Otherwise try executing make in ../src/rgbdslam/external/SiftGPU/
|
In my rosfile i want to use alproxies, which is in naoqi, but when i try to compile the almotionproxy.h is not find.
in my cmkaelist.txt i insert:
catkin_package(
INCLUDE_DIRS naoqi
)
include_directories(naoqi)
include_directories(
${catkin_INCLUDE_DIRS}
)
in my ros.cpp
include almotionproxy.h
have i forget something?
Originally posted by Dante on ROS Answers with karma: 21 on 2014-07-03
Post score: 0
|
Hi guys
Can you explain to me how the accessing pixel has been done in the double loop ? how do they change rows and cols and pixel's value?
for(int i=0;i<cv_ptr->image.rows;i++)
{
float* ptr_img_A = cv_ptr->image.ptr<float>(i);
for(int j=0;j<cv_ptr->image.cols;j++)
{
*ptr_img_B=255*(*ptr_img_A)/3.5;
ptr_img_A++;
}
}
Thank you.
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-07-03
Post score: 0
Original comments
Comment by dornhege on 2014-07-03:
ptr_img_B seems to be missing here.
Comment by ROSkinect on 2014-07-04:
how so ?..
Comment by dornhege on 2014-07-04:
It is neither declared nor advanced ever.
Comment by ROSkinect on 2014-07-04:
Ya I just pick up this part of code just to understand the accessing pixel
|
Hey Guys,
I am using a Baxter and ROS Groovy. I am given a box with one side missing. I want to use both the arm cameras to detect which side is missing and then be able to use the appropriate arm to go in and out of the box.
How can i achieve this task ?
Originally posted by ktiwari9 on ROS Answers with karma: 61 on 2014-07-03
Post score: 0
|
I am looking at the frames that tf is providing. In rgbdslam, it is shown that /camera_link -> /map, which is ambiguous. I understand that /map is what octomap_server is listening on. However, I have another node up and running that contains the transform /map -> /odom -> /base_link -> /camera_link , which is the suggested transform given by REP105. How do I reconcile the differences? or are these are conflicting transforms that I should run separately (I.e. obtain octomap via rgbdslam first)?
Sidenote: I see that rgbdslam's fixed frame is /map. Is there a switcheroo that I can change to so that the differences are reconciled?
Thanks!
Originally posted by xuningy on ROS Answers with karma: 101 on 2014-07-03
Post score: 1
|
Hi all,
I have a map of the environment my robot has to move in. The map is stored in the standard way as an occupancy grid
map and served via map_server service. I want to implement a PRM on top of this map so I need to access the value of
the occupancy grid from the world coordinate. To be more precise, given a point in the map frame (say [x0,y0]), I need
to access the value of the occupancy grid of [x0,y0], that is, I need a conversion from the world coordinate to the index
of the vector that represents the occupancy grid.
Do I have to implement everything from scratch or there are already some api that perform this conversion?
Regards
Originally posted by Federico on ROS Answers with karma: 100 on 2014-07-03
Post score: 0
|
hi, I used to hydro distribution of ros. I take to following error therefore I leave no stone unturned unfortunately I didn't correct. how can I correct this error?
Thank you in advance.
**"$rosrun my_pcl_tutorial example input:=/narrow_stereo_textured/points2
[rosrun] Couldn't find executable named example below /home/esetron/catkin_ws/src/my_pcl_tutorial
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/esetron/catkin_ws/src/my_pcl_tutorial/src/example"**
Originally posted by hamdi on ROS Answers with karma: 73 on 2014-07-03
Post score: 0
|
I have a concern regarding getting the Pioneer P3-AT to move. I have rosaria successfully installed, and I'm running on GROOVY. I run roscore in one terminal. Then I start rosaria in a second terminal and I receive the following:
viki@ROS:~/catkin_ws$ rosrun rosaria RosAria _port:=/dev/ttyS0
'[ INFO] [1404333851.509725930]: RosAria: using port: [/dev/ttyS0]
Could not connect to simulator, connecting to robot through serial port /dev/ttyS0.
Syncing 0
Syncing 1
Syncing 2
Connected to robot.
Name: PSU_3773
Type: Pioneer
Subtype: p3at-sh
Using default parameters for a p3at-sh robot
ArRobotConnector: Connecting to MTX batteries (if neccesary)...
ArRobotConnector: Connecting to MTX sonar (if neccesary)...
'[ INFO] [1404333852.481173839]: Setting TicksMM from ROS Parameter: 138
'[ INFO] [1404333852.493839324]: Setting DriftFactor from ROS Parameter: 0
'[ INFO] [1404333852.506890756]: Setting RevCount from ROS Parameter: 32550
'[ INFO] [1404333852.687692264]: RosAria: publishing new recharge state 0.
'[ INFO] [1404333852.690871777]: RosAria: publishing new motors state 0.
'[ INFO] [1404333854.139017779]: RosAria: publishing new motors state 1.
This is my issue,I am attempting to move the robot. I have tried the following command
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
no errors are displayed, but the robot doesn't move.
I then saw a similar post with a different model pioneer so I followed one of the suggestions and removed the readParameters() function from RosAria.cpp and received the following when I ran RosAria again:
viki@ROS:~/catkin_ws$ rosrun rosaria RosAria _port:=/dev/ttyS0
'[ INFO] [1404405147.590012597]: RosAria: using port: [/dev/ttyS0]
Could not connect to simulator, connecting to robot through serial port /dev/ttyS0.
Syncing 0
Syncing 1
Syncing 2
Connected to robot.
Name: PSU_3773
Type: Pioneer
Subtype: p3at-sh
Using default parameters for a p3at-sh robot
ArRobotConnector: Connecting to MTX batteries (if neccesary)...
ArRobotConnector: Connecting to MTX sonar (if neccesary)...
'[ INFO] [1404405148.654086464]: Setting TicksMM from Dynamic Reconfigure: 0 -> 138
'[ INFO] [1404405148.656896634]: Setting RevCount from Dynamic Reconfigure: 0 -> 32550
'[ INFO] [1404405148.723689412]: RosAria: publishing new recharge state 0.
'[ INFO] [1404405148.732294984]: RosAria: publishing new motors state 0.
'[ INFO] [1404405150.196582428]: RosAria: publishing new motors state 1.
I then tried to run the above rostopic command again a but again did not work.
I have also written a program that is intended to move the robot as well. That program compiles fine and runs, but again the robot doesn't move, with and without the readParameters() function. Do I have any calibration settings are not properly set? Any guidance would be greatly appreciated.
Originally posted by musik on ROS Answers with karma: 19 on 2014-07-03
Post score: 0
|
I have been working on a Python node that essentially publishes one-off messages and then exits. Due, I believe, to the threading in rospy, messages are not always sent if the script exits soon after publishing a message. I have also found no ways of truly guaranteeing that messages that sent messages are received.
Here is some example code based roughly on the nodes demonstrated in the ROS tutorials:
Publisher
#!/usr/bin/python
from std_msgs.msg import Header
import rospy
import math
topic = 'foo'
publisher = rospy.Publisher(topic, Header, queue_size = 10)
rospy.init_node('publisher',anonymous = True)
msg = Header()
msg.frame_id = "Hello World!"
publisher.publish(msg)
Subscriber:
#!/usr/bin/python
import rospy
from std_msgs.msg import Header
def callback(data):
rospy.loginfo(rospy.get_caller_id()+"I heard %s",data.frame_id)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("foo", Header, callback)
rospy.spin()
if __name__ == '__main__':
listener()
There are a number of modifications I have found that will get the messages to send:
Use a rospy.Rate object with sufficiently low rate and sleep after publishing
Sending messages in a loop with no other calls to ROS functionality will result in most messages being received.
edit I tried a loop while not rorpy.is_shutdown() containing rospy.signal_shutdown('stuff') after the message is sent. This method results in the message being received some of the time.
There are also some exceptions where the message may otherwise be expected to be received:
Sleeping using a rospy.Duration object will not allow sends to complete
rospy.signal_shutdown does not guarantee that pending messages are sent
Pending sends are not completed when using a Rate object with too high a rate
On top of all this, I have found that rostopic echo will often (but not always) get messages when a subscribing node does not.
I would like to know if there is any (hopefully documented) way that I can exit a python script with the guarantee that every subscriber to a topic that node publishes will have received every message that has been published. So far I have not been able to find anything to this effect.
Originally posted by micah.corah on ROS Answers with karma: 66 on 2014-07-03
Post score: 1
|
Hi all,
I'm trying to register a map using point clouds that are coming from a Stereo Camera at 20 Hz and a pose estimator that fires at 160 Hz. My first code is something like:
tl.waitForTransform("odom", "bumblebee_optical_frame", time, ros::Duration(1.0));
tl.lookupTransform("odom", "bumblebee_optical_frame", ros::Time::now(), st);
Eigen::Affine3d e;
tf::transformTFToEigen(st, e);
pcl::transformPointCloud(*tmp, buffer, e);
where tl is a TransformListener, odom is the fixed world frame, tmp is the cloud that comes from the message (the piece of code is inside a callback function) and buffer is the output cloud that I will use with something like map += buffer;
where map is the global map.
Of course is a naive approach and I don't expect a perfect map, but what I see is that it seems like the every new cloud that is coming is registered, but with a delay so the effect is that I see the same object on the ground repeated many many times, while in Rviz I clearly see that the objects change during the trip.
If I remove the line waitForTransform, I see a very sparse map, but synchronized correctly (I can see one cloud every one or two meters).
Why is this happening? The pose is published with a very high frequency so the chance to have two close messages (cloud and pose) should be high.
Anyway, my question is: MessageFilter should take care of this synchronization, but in the tutorial here is using the TransformListener class directly to transform, but I can't because I need to transform a cloud using the PCL methods.
So what should I do to use it?
Something similar to what I did before with lookupTransform?
What is the difference in this case?
I use Ubuntu 12.04 on Hydro
Thanks
Originally posted by mark_vision on ROS Answers with karma: 275 on 2014-07-03
Post score: 0
|
Hello, I am using a SICK LMS151 laser scanner that I am trying to set up with ROS. I downloaded this driver:
https://github.com/clearpathrobotics/LMS1xx
initially just with sudo apt-get, but that didn't download all the correct files, so I ended up creating my own LMS1xx directory, and copying all the text from the package.xml, CMakeLists, nodes, launch files, etc. directly into the files on my computer. THen I compiled it with catkin_make (no errors), and ran it with my laser scanner plugged in (with the correct ip address). Everything seemed to be going correctly; it said it connected to the laser at the correct ip address, but then it proceeded to not do anything else. I thought this driver was supposed to run laser scans and print the data, so I checked the LMS1xx_node file, and I saw that indeed, after printing that ROS has connected to the laser, the node is supposed to do other things ti (that look to me like performing scans, but I' not sure).
In between the command to print "connected to laser" and the scan loop however, I see the following code:
do //wait for ready status
{
stat = laser.queryStatus();
ros::Duration(1.0).sleep();
}
while (stat != read_for_measurement);
So apparently for some reason the laser is not returning a ready status to the node, and thus the scans are not beginning. Anyone know why this could be? I am running ROS hydro on ubuntu 12.04 on virtualbox on windows 7 (maybe this is the problem, if the virtual machine is somehow messing up the laser/computer communication).
Thanks,
Randy
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-07-03
Post score: 0
Original comments
Comment by mysteriousmonkey29 on 2014-07-14:
Hey, sorry for taking so long to get back to you, I was switching to a dual boot and then solving the new problems that came along. However, I am now successfully running ubuntu 12.04 directly and tried your suggestion.
Turns out you were right; although the node isn't announcing that it's publishing anything, it is. Scan was listed on rostopic list, and subscribing to it produced a real looking data stream (not all 0's).
Thanks a lot! Now I'm gonna see if I can get this data to display in rviz
|
Hi there,
I'm trying to get a simulation working with hector_quadrotor, which urdf model is the on with only an Asus Xtion camera. I adapted the pr2_teleop code so to have a altitude control of the quad in the simulation on Gazebo (thorugh twist off course, sending /cmd_vel).
It appears to work good, for example, to the quad with the hokuyo only, but when I spawn any quadrotor with asus, giving it a throttle command (which influences the vertical linear vel), it tombs and rolls straight in front, without being able to control it... then it crashes off course. With the hokuyo only, for example, that doesn't happen.
I thought that could be a substantial difference between the to urdf's (by the way, I converted from xacro to urdf using the xacro tool) but the only difference I found is in the sensor being used, of course. Here are propulsion model parameters for both quads:
k_m = -7.01163e-05
k_t = 0.0153369
CT2s = -0.013077
CT1s = -0.00025224
CT0s = 1.53819e-05
Psi = 0.00724218
J_M = 2.57305e-05
R_A = 0.201084
l_m = 0.275
alpha_m = 0.104864
beta_m = 0.549262
and the quadrotor drag model parameters for both quads also:
C_wxy = 0.12
C_wz = 0.1
C_mxy = 0.0741562
C_mz = 0.0506433
Any tips on finding the problem? Thanks in advance!
Originally posted by TSC on ROS Answers with karma: 210 on 2014-07-03
Post score: 0
|
what is an affordable (good enough quality) laser scanner or depth camera (to support navigation, path planning, and obstacle avoidance)? we plan to buy a few hundred units.
currently, we're using kinect for our prototype. did anyone use kinect for final product? would microsoft sell a few hundred kinects at a time at bulk pricing?
or is there an alternative product ou there that is more suitable for mass production vs prototyping?
any recommendation is much appreciated
Originally posted by d on ROS Answers with karma: 121 on 2014-07-03
Post score: 0
Original comments
Comment by dornhege on 2014-07-03:
Define affordable and your requirements (e.g. 2D vs. 3D). From a research perspective the smallest Hokuyo around $1000 is very affordable and considered cheap and that's only 2D data. If you think Kinect is already too much, you might need to go down with your expectations.
Comment by dornhege on 2014-07-03:
My feeling says that lasers are usually more expensive than (depth) cameras. If those are still too much, maybe look into some other sensor modalities.
|
Is there a way for defining private parameters for an included launch file that has multiple private namespaces? My scenario is that I have three PID modules running in parallel that uses three identical node types but with different namespaces and parameter mappings. The topic remapping arguments are in the private namespace for the nodes.
There is no mention of this situation on Roslaunch tips for larger projects.
There is mention of a similar scenario in this question.
Do I need to do something like passing topic remappings as a series of defined $(arg ...) constructs?
Thanks,
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-07-03
Post score: 0
|
I was wondering if the administrators could permit direct messages to people on ROS answers (based on people accepting requests or some other form of privacy protection of course). Because some times, you are stuck at a single point and it makes sense to directly interact with someone who has solved the problem before without having to use answers and comments which are way less efficient and might be spam-like to others.
Cheers!
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-03
Post score: 1
|
hi. we really love turtlebot 2 and ros. we plan to to build our robot based on turtlebot 2 and ros. our first production run will be around 300 - 500 units.
what would be a good way to source the parts effectively? buying kobuki base and kinect at single unit retail prices don't seem to make sense. they also seem like products for research and prototyping. we also want to keep our product cost as low as possible by buying wholesale/direct rather thay paying for retail prices.
where should we look for parts that are similar to kobuki and kinect? where do you usually go to source for robot parts in bulk? or do you have to deal with kobuki and microsoft to get bulk pricing?
any advice/comment/feedback is much appreciated.
Originally posted by d on ROS Answers with karma: 121 on 2014-07-03
Post score: 1
|
Hi,
Thank you so much for providing this valuable open-source package on ccny_rgbd! ! It goes well when I followed the installing procedure: http://wiki.ros.org/ccny_rgbd_tools.
However, it encountered some rosmake errors as the following:
make[3]: *** [CMakeFiles/rgbdtools.dir/src/rgbd_frame.cpp.o] Error 1
make[3]: Leaving directory `/home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
make[2]: *** [CMakeFiles/rgbdtools.dir/all] Error 2
make[2]: Leaving directory `/home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
Could anyone provide some suggestions? Thanks in advance!
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2014-07-03
Post score: 0
|
http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29#preview
So on this page, the CodeRef macro didn't work, and I've even tried to copy-paste the corresponding section in
http://wiki.ros.org/WritingTutorials#preview
==== CodeRef ====
In a tutorial, you want to reference a code block that you have created earlier in the tutorial you can use `CodeRef`.
{{{start
{{{
#!cplusplus block=blockname
code....
is super
and awesome
}}}
start}}}
You can then use the `CodeRef` macro to refer to it
{{{
<<CodeRef(blockname,1,2)>>
}}}
This then looks like:
<<CodeRef(blockname,1,2)>>
the exact same section which works on the "writing tutorials" page didn't work on "writing a tf listener" page.
Originally posted by AzureViolin on ROS Answers with karma: 67 on 2014-07-03
Post score: 0
|
rostopic echo is telling me there is a topic gathering data
when I use the exact same topic name I get a message that "header" is non-numeric. Now on the command line display I see the 'value: " and the topic being updated. So I don't know the magic way to name the topic so rqt_plot can magically chop the title information and just get the data. I've tied various forms of appending the 'field" name to the topic without success.
BTW this is on indigo, Ubuntu 14.04.
Originally posted by DrBot on ROS Answers with karma: 147 on 2014-07-03
Post score: 0
|
Hello. I am new on ROS and I am trying to display two lasers on ROS. I have been trying with tf with no results.
The problem is that I have the same origin for both, so the data of on is over the data of the other. I want to explain somehow that one of them is one meter to the left of the other.
Do you have any hint for doing this?
Now i am getting one laser data over the other, as you can see here: https://www.dropbox.com/s/bwk8718wykwzwd7/lasers.png
Thanks
Edit:
I am using this as launch file:
<launch>
<node pkg="sicktoolbox_wrapper2" name="lms5xx_110" type="sicklms_5xx">
<remap from="scan" to="laser1" />
<param name="ip_add" value="192.168.0.110" />
<param name="frame_id" value="world" />
</node>
<node pkg="sicktoolbox_wrapper2" name="lms5xx_111" type="sicklms_5xx">
<remap from="scan" to="laser2" />
<param name="ip_add" value="192.168.0.111" />
<param name="frame_id" value="world" />
</node>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 world laser1 100" />
<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="4 0 0 0 0 0 world laser2 100" />
</launch>
Originally posted by Rodolfo on ROS Answers with karma: 11 on 2014-07-04
Post score: 0
Original comments
Comment by Rodolfo on 2014-07-04:
The problem is that I have the same origin for both, so the data of on is over the data of the other. I want to explain somehow that one of them is one meter to the left of the other.
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Hi Everybody,
Does anybody know how complex of a process it is to get a Ubuntu, Kinect and ROS running on a BeagleBone Black? I would like to do this for my humanoid robot project.
Thanks.
Originally posted by buihaduong on ROS Answers with karma: 5 on 2014-07-04
Post score: 0
Original comments
Comment by sai on 2014-07-04:
https://roboticsclub.org/redmine/projects/quadrotor/wiki/Installing_ROS_and_the_Kinect_stack_on_the_Pandaboard
http://wiki.ros.org/groovy/Installation/PandaBoard/Source
|
Hello
is it possible to use for example a listener build of hydro and on a other machine a talker build with indigo? On which machine has the roscore running?
Thanks
Originally posted by Yeti2 on ROS Answers with karma: 1 on 2014-07-04
Post score: 0
|
I'm trying to convert a Image taken by a Kinect into a LaserScan, but I have the following compile error when creating an instance of DepthImageToLaserScan:
undefined reference to `depthimage_to_laserscan::DepthImageToLaserScan::DepthImageToLaserScan()'
I found out that it is a linker issue, but I don't know how to fix it. I would really appreciate any help.
Code to create the instance of DepthImageToLaserScan:
depthimage_to_laserscan::DepthImageToLaserScan image_to_laser_converter_;
Originally posted by HyEnd on ROS Answers with karma: 5 on 2014-07-04
Post score: 0
|
Hey guys,
Is there a way to automatically "decay" the octomap somehow in MoveIt? I have the problem that sometimes obstacles don't get deleted, because the obstacle moved towards the sensor, casting a shadow on the previously occupied space and therefore preventing it from realizing the space is now free.
If any information older than x in the octomap would get deleted, this problem could be prevented. Is there already an option implemented to do this? Or am I on the wrong path and there is another solution to this problem?
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-07-04
Post score: 1
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arpit@arpit-HP-Pavilion-15-Notebook-PC:~$ rosrun rviz rviz
[ INFO] [1404470033.425833738]: rviz version 1.10.16
[ INFO] [1404470033.425932691]: compiled against OGRE version 1.7.4 (Cthugha)
Segmentation fault (core dumped)
Originally posted by arpitbhateley on ROS Answers with karma: 1 on 2014-07-04
Post score: 0
|
I mean global path and local path. as i know Amcl for robot localized known map and i use move base 4 files are base local planner, costmap common, global costmap, local costmap
Please explain me
Thank
Originally posted by gdist on ROS Answers with karma: 1 on 2014-07-04
Post score: 0
|
Hello,
I'm completely new to ROS (and Ubuntu) and I'm having some trouble when trying to use the command catkin_make (I'm following the tutorial to configure ROS environment).
The error message is the following:
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - beginner_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by "std/-msgs" with
any of the following names:
std/-msgsConfig.cmake
std/-msgs-config.cmake
Add the installation prefix of "std/-msgs" to CMAKE_PREFIX_PATH or set
"std/-msgs_DIR" to a directory containing one of the above files. If
"std/-msgs" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
beginner_tutorials/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
I'm not sure, but I think I did something wrong when I created the beginner_tutorials package in another tutorial. Maybe I mistyped the name of the package std_msgs in the dependencies field? Anyway, even if this is the case, I don't know how to proceed to fix it.
How should I proceed to fix this error?
Originally posted by gerhenz on ROS Answers with karma: 53 on 2014-07-04
Post score: 0
Original comments
Comment by BennyRe on 2014-07-04:
Please post your CMakeLists.txt
|
Hello, i am running ubuntu 13.04 on UDOO and ros hydro. I have been trying to install sicktoolbox_wrapper on udoo since yesterday by following the "using sicklms" guide but unfortunately i get stuck at the first step, when i try to do "rosdep update" i get an error which says "AssertionError: unable to handle 'index' format version '2' please update rosdistro.
But when i try to update it tells me "python-rosdistro is already the newest version".Any help would be greatly appreciated. Thank you.
Originally posted by asusrog on ROS Answers with karma: 63 on 2014-07-04
Post score: 0
Original comments
Comment by Wolf on 2014-07-04:
Plz split your tags by spaces not #
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I install ros_lib into the arduino environment. When I try compile HellowWorld, I have error:
In file included from /home/tuuzdu/sketchbook/libraries/ros_lib/ros/node_handle.h:38:0,
from /home/tuuzdu/sketchbook/libraries/ros_lib/ros.h:38,
from HelloWorld.pde:6:
/opt/ros/hydro/include/std_msgs/Time.h:42:18: fatal error: string: No such file or directory
compilation terminated.
File /opt/ros/hydro/include/std_msgs/Time.h exists.
Originally posted by tuuzdu on ROS Answers with karma: 85 on 2014-07-04
Post score: 1
Original comments
Comment by Wolf on 2014-07-05:
Did your rosrun rosserial_arduino make_libraries.py call run without errors/warnings? Does Time.h exist somewhere in a subfolder of your /home/tuuzdu/sketchbook/libraries/ros_lib/?
Comment by tuuzdu on 2014-07-06:
I have this problem on 64bit machine and I have not problem on 32bit machine. Both machines with Ubuntu 13.04 and ROS Hydro. On 32bit make_libraries.py creates headers in ros_lib folder: std_msgs, rosserial_msgs and others.But on 64bit not! I try copy header primary-to-secondary, but it hasnt effect
|
Hi,
Has anyone encountered the problem in which rgbdslam does not display as showed in the picture? I am running hydro. Thanks a lot!
Originally posted by Lili Meng on ROS Answers with karma: 286 on 2014-07-04
Post score: 0
|
Hello,
I am new to ROS and I would like to know whether it is possible to get the graph visualization of ROS nodes like in rqt_graph in a file format which can be further modified manually (nodes rearranged, etc.) and printed properly?
Thank you very much
myro
EDIT: I simply want a graph file of my current running nodes in order to print the visualization on paper in a proper format. For that, I need some graph description file where i can visually move nodes in order to fit them on a A4-paper. (It also makes sense for documenting the "stack". I cannot influence the layout in rqt_graph.)
I do not want to change my actual running nodes/topics. It just would be nice to get a file describing the nodes-graph which can be postprocessed.
Originally posted by myro on ROS Answers with karma: 3 on 2014-07-05
Post score: 0
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In a ROS system run across different computers in a network, when does a topic really being transported? Let's say in computer A, I publish 100 topics.. Do all the topics transported to all ROS device in the network? Or only the ROS nodes in different computers subscribed to a subset of topics should those subset of topics be transported??
Originally posted by Xegara on ROS Answers with karma: 52 on 2014-07-06
Post score: 0
|
Hey,
So I'm fairly new at ROS, QT and RQT, and I'm trying to figure out how everything "fits together."
I've looked at the guide for making RQT plugins yourself, but I'm still having some trouble figuring out how to actually set everything up.
Once I have a QT widget made, say with a couple of buttons and a text label, how do I actually add ROS functions to those? I thought I'd just add the ROS-related code to my QT project, but it keeps telling me it can't find the ros/ros.h header file that it needs when I try to build, and I can't find that file anywhere on my ros install.
Do I need my entire QT project to be in a catkin workspace, maybe? And how am I supposed to build it--using QT's built in "build" button, or through the catkin build commands?
So what I'm really looking for is some guide to get me from the start (e.g. no code) to maybe some hello world RQT widget; I just need to understand how I'm supposed to structure everything/ make everything fit together.
My setup: I need to work in C++ because some libraries I'm going to end up needing aren't available for python; I also want to "hard code" my QT widget (so not using a .ui file) because I need to populate some menus and drop downs while the program is running, which is hard to do when a .ui file is involved; I'm on ROS Indigo (can't use Hydro on Ubuntu 14.04)
Thanks a lot for any input you may have. :)
Originally posted by leon2014 on ROS Answers with karma: 1 on 2014-07-06
Post score: 0
|
I am developing an educational robot program at a community college using ROS as the software platform and am looking for the best hardware interface for my design. I need something that is easy to implement so that students can add/remove functionality with minimal software implications. My robots will contain laptop computers with ethernet, usb and bluetooth capabilities.
So far I am looking at the RoNex as a possibility, but would like some feedback if this is the best approach? I have also looked at simply buying USB GPIO modules, but I want to keep the custom software to a minimum so simple integration with ROS would be a great feature. We will be interfacing all kinds of analog and digital sensors, encoders, cameras and such.
If anyone has experience in this area, advise would be greatly appreciated.
Thanks,
Jonathan West
Southwest Indian Polytechnic Institute
Originally posted by JWest on ROS Answers with karma: 66 on 2014-07-06
Post score: 1
|
I'm trying to install nxt_lejos on ubuntu 12.04 with ROS Hydro following the official ROS documentation and by also referring to some answers found on forums. I've followed these steps:
successfully installed rosjava following this
tutorial
with several corrections from this
forum
(obviously changing all the references to ROS version to hydro-devel)
successfully installed lejos as prescribed the official tutorial from lejos.org website
trying to install nxt_lejos following this tutorial (section 1.2)
once launching shell command 'gradle installApp' I get the following error:
20:12:25.603 [ERROR] [org.gradle.BuildExceptionReporter] FAILURE: Build failed with an exception.
20:12:25.606 [ERROR] [org.gradle.BuildExceptionReporter]
20:12:25.607 [ERROR] [org.gradle.BuildExceptionReporter] * What went wrong:
20:12:25.609 [ERROR] [org.gradle.BuildExceptionReporter] Could not resolve all dependencies for configuration
':nxt_lejos_lcp_proxy:compile'.
20:12:25.610 [ERROR] [org.gradle.BuildExceptionReporter] > Could not find ros.rosjava_core:rosjava:0.0.0-SNAPSHOT.
20:12:25.612 [ERROR] [org.gradle.BuildExceptionReporter] Searched in the following locations:
20:12:25.617 [ERROR] [org.gradle.BuildExceptionReporter] file:/root/.m2/repository/ros/rosjava_core/rosjava/0.0.0-SNAPSHOT/maven-metadata.xml
20:12:25.619 [ERROR] [org.gradle.BuildExceptionReporter] file:/root/.m2/repository/ros/rosjava_core/rosjava/0.0.0-SNAPSHOT/rosjava-0.0.0-SNAPSHOT.pom
20:12:25.621 [ERROR] [org.gradle.BuildExceptionReporter] file:/root/.m2/repository/ros/rosjava_core/rosjava/0.0.0-SNAPSHOT/rosjava-0.0.0-SNAPSHOT.jar
20:12:25.624 [ERROR] [org.gradle.BuildExceptionReporter] dead_repo
20:12:25.625 [ERROR] [org.gradle.BuildExceptionReporter] dead_repo
20:12:25.643 [ERROR] [org.gradle.BuildExceptionReporter] dead_repo
20:12:25.653 [ERROR] [org.gradle.BuildExceptionReporter] Required by:
20:12:25.654 [ERROR] [org.gradle.BuildExceptionReporter] ros.nxt_lejos:nxt_lejos_lcp_proxy:0.0.0-SNAPSHOT
based on what I have read so far on this forum
it looks like the ros.rosjava_core:rosjava:0.0.0-SNAPSHOT artifact has been removed and the robotbrains repository closed;
so I have tried to modify the build.gradle file in each project included in nxt_lejos accordingly to use a newer version of the artifact (org.ros.rosjava_core:rosjava:0.1.+) and a new repository but I'm still getting a similar error (the same error as above with just a different missing artifact)
How can I install nxt_lejos avoiding these errors?
Thanks in advance
Originally posted by dros on ROS Answers with karma: 1 on 2014-07-06
Post score: 0
|
Last two mavros build on buildfarm fails, and I don't know what i must change, because it fail to instal ros-indigo-ros package!
http://jenkins.ros.org/job/doc-indigo-mavros/16/
http://jenkins.ros.org/job/doc-indigo-mavros/17/
Originally posted by vooon on ROS Answers with karma: 404 on 2014-07-06
Post score: 1
Original comments
Comment by 130s on 2014-07-06:
Pre-release test of ros-indigo-ros also just failed http://jenkins.ros.org/job/prerelease-indigo-ros/ARCH_PARAM=amd64,UBUNTU_PARAM=trusty,label=prerelease/1/console There might be a temporary issue there..?
|
hi everyone.
i'm running on Ubuntu 12.04, ROS Hydro.
i've been searching for quite a few days already on how to get the ROS icon on turtlebot's computer.
I'm working on Android-Turtlebot kind of thing and I'm experimenting on various WIFI networks and android devices. For convenience and time reduction, I can't afford to key in Turtlebot's IP address manually or scan it under local network every time in my android device...
On turtlebot's laptop, by right clicking the ROS icon and selecting "Network ID", I know it can actually generate a QR code that contains its IP Address so i can just scan it using my android device, capture it and get the connection done. But, I'm unsure on how to get the icon up on turtlebot's laptop in the first place.
This is what i'm talking about:
-image 1-
-image 2-
I read somewhere that it has to do with Zxing.
Help please guys. Thanks
Originally posted by syaz nyp fyp on ROS Answers with karma: 167 on 2014-07-06
Post score: 2
|
we really like the kobuki base, not only because it's a great mobile base but it also supports ROS.
unfortunately the spec on kobuki base states that the maximum payload it can handles is only 4kg (8.8lbs).
our robot weights around 15kg (33 lbs).
does anyone know a similar base that can handle a bigger payload?
Originally posted by d on ROS Answers with karma: 121 on 2014-07-07
Post score: 0
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The Opencv packages aren't built in the ROS Indigo anymore. So what should I do if I want to add opencv2?
Originally posted by hsoltani on ROS Answers with karma: 70 on 2014-07-07
Post score: 4
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I am interested in decomposing a user's sentence and recognizing the subject, the object and what the user is saying (declarative sentence or asking for time, place, person etc...)
I found this : www.openrobots.org/wiki/dialogs
It works decently but the project is dead and the last commit was 3 years ago. I wanted to ask if there is already something as a well maintained ROS package. I heard about KnowRob and checked the wiki but they really use a complicated vocabulary and I couldn't understand if KnowRob has this ability of natural language processing or not.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-07-07
Post score: 1
Original comments
Comment by Arkapravo on 2014-07-07:
I and my co-researchers have developed chat-bot like scripts using NLTK, the prospects are to develop an interactive robot HEAD (using ROS), have a look here -- http://goo.gl/GjdrWU -- may not be much help though !
Comment by Mehdi. on 2014-07-09:
Thanks for sharing this, do you have any demo code?
Comment by Arkapravo on 2014-07-10:
@Mehdi, this is a sample http://mobotica.blogspot.in/2010/08/wall-e-eva-20.html we developed the rest of our work on this !
|
Hello,
I'm currently working on a node that provides a service to other nodes but I noticed that being a server blocks the execution of the node until a Request. As my node needs to handle some callbacks, I read that a solution could be multithreading, and several good explanations on what's behind the hood, but I have trouble understanding how to use it.
My case is the following : the nodes receives sensory information and publish a motor command. In most of the case, this is enough, but in certain conditions, another node will send a request for stopping. I thought a service would fit better than a topic, as it allows the requesting node to wait for the response before continuing.
From my readings, I understand that I can declare a MultithreadSpinner or an AsyncSpinner, the second being non blocking. How does that changes my usual node organisation (C++ pseudo code) :
int main()
{
ros::init(...);
ros::NodeHandle nh;
MyClassController controller(nh, ...);
controller.run();
}
MyClassController::run()
{
while(nh_.oh())
{
// Process Callbacks
ros::spinOnce()
}
}
MyClassController::callback1(ros::Datatype msg){ myClassAttribute = msg }
MyClassController::myService(mypackage::mypackageserv req, mypackage::mypackageserv res){}
(...)
Would it be something like :
int main()
{
ros::init(...);
ros::NodeHandle nh;
MyClassController controller(nh, ...);
controller.run();
}
MyClassController::run()
{
// Process Callbacks
myclassAsyncSpinner.start();
myclassAsyncSpinner.waitForShutdown();
}
MyClassController::callback1(ros::Datatype msg){ myClassAttribute = msg }
MyClassController::myService(mypackage::mypackageserv req, mypackage::mypackageserv res){}
(...)
In this case, how can I be sure the service will be processed separately from other callbacks thus not block them? I feel that I may be mixing multi threading and "multi callback queuing", and the second is more relevant to my problem.
To sum things up : could you show me or point me to MWE (Minimal Working Example) of nodes that use Muilti-threading (let's say with AsyncSpinner) and (at least) two Callback queues, or more specifically, a MWE of a node that provide a service and process callback in parallel ?
Thanks for reading,
EDIT :
From reading again the Different Queues explanations, I think I get it a bit better : should I declare 2 node handles in myClassController, with their queues, and then subscribe / advertise explicitly my service to one and my callbacks to the other ? Do I also need a multithread spinner and pass them the specific queue ?
Originally posted by Erwan R. on ROS Answers with karma: 697 on 2014-07-07
Post score: 3
|
Everything works well until the last part Testing Analyzer.
I have this error : FAILURE: Test node [diagnostic_aggregator/analyzer_loader] does not exist or is not executable.
I can't understand my mistake.
Thank you.
Edit 1 : I can't reopen this subject (I don't have enough point for) , but it seems that there is an issues in python, try to read the comment,
Thank you
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-07
Post score: 2
Original comments
Comment by sai on 2014-07-07:
did you do rosmake --pre-clean <package_name> ?
Comment by Moda on 2014-07-07:
It doesn't work
I still have the same error
Comment by sai on 2014-07-07:
did you do rosdep install ? and then roscd takes you to the package..?
Comment by Moda on 2014-07-07:
roscd takes me to another folder : devel
So what is the issue?
Comment by sai on 2014-07-07:
roscd should take you to the package you are using
Comment by Moda on 2014-07-07:
So what can I do?
I have just deleted everythink and redo the tutorials but I still have the same error
Comment by sai on 2014-07-07:
I tried on my PC running ubuntu 12.04 and fuerte, rosrun diagnostic_aggregator anlyzer_loader runs some program and that means that the executable exists for me. I am not sure what is causing you the problem that the executable does not exist
Comment by Moda on 2014-07-07:
I am using groovy, does it change anythink?
Comment by sai on 2014-07-07:
I do not think so
Comment by Moda on 2014-07-07:
so what can I do?
Comment by sai on 2014-07-07:
may be provide more information on what the steps you followed and 'exactly' the error that you got and wait till any one else answers it.
Comment by Moda on 2014-07-08:
I created the .h and .cpp file, then i changed the CmakeList as it is said in the tutorial, I created the xml file and change the manifest.xml, and then i typed rosmake pr2_motors_analyzer and it says : Built 34 packages with 0 failures. (next just after)
Comment by Moda on 2014-07-08:
(Next) Then I typed rospack plugins --attrib=plugin diagnostic_aggregator and it says : pr2_motors_analyzer /home/lempereur/catkin_ws/src/pr2_motors_analyzer/pr2_motors_analyzer_plugin.xml
diagnostic_aggregator /opt/ros/groovy/share/diagnostic_aggregator/analyzer_plugins.xml (next just below)
Comment by Moda on 2014-07-08:
And then I created the yaml file and the launch file, and when i typed the rostest command the error appears.
So can someone help me please
|
Is it possible to set a debug breakpoint in ROS_ASSERT (gdb, Eclipse..) which only stops the program execution if the assertion fails so I can inspect the stack when the assertion fails?
It would work, if it would be like this:
if ( !( cond ) )
{
ROS_ASSERT( cond ); // set breakpoint here
}
But without the surrounding if statement, the ROS_ASSERT is only in one line, and if I set a breakpoint there it will stop always, not only if the assertion fails.....
Any ideas on this? Thank you!
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-07-07
Post score: 1
Original comments
Comment by dornhege on 2014-07-07:
ROS_ASSERT calls abort(). You might be able to trap that directly.
Comment by Wolf on 2014-07-07:
+1 Works! Thank you!
|
Hi guys
I wrote some code . and ran those with launch file . every worked thing fine at the first but after a few minutes I got this msg:
[QR_left-2] process has died [pid 9513, exit code -11, cmd /home/hamid/Working_space/Qr/bin/Qr_detection /QR_left/image:=image __name:=QR_left __log:=/home/hamid/.ros/log/f2d341cc-05c7-11e4-9fa2-002682d6e390/QR_left-2.log].
log file: /home/hamid/.ros/log/f2d341cc-05c7-11e4-9fa2-002682d6e390/QR_left-2*.log
and the node has stopped.
any idea about the above msgs?
hamid
Thanks
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2014-07-07
Post score: 0
Original comments
Comment by McMurdo on 2014-07-07:
I think you should either run roslaunch in verbose mode (-v and --screen options) or read the log files to find out why this happened. Or, simply run the node using rosrun.
Comment by dornhege on 2014-07-07:
-11 is a segfault. You probably have some bug somewhere.
|
Hi , can anyone explain the basic concepts of publishing and subscribing to me in ROS? I am still a beginner hence , I have limited knowledge in it. Thanks in advance
Originally posted by manaXmizery on ROS Answers with karma: 41 on 2014-07-07
Post score: 3
|
Hi,
I am using Ros-Hydro in Ubuntu.
While I tried to 'rosmake robotino_node', I got the following dependency error:
...
Failed to invoke /opt/ros/hydro/bin/rospack deps-manifests robotino_node
[rospack] Error: package/stack 'robotino_node' depends on non-existent package 'pcl' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'
CMake Error at /opt/ros/hydro/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'robotino_node'.
Look above for errors from rospack itself. Aborting. Please fix the
broken dependency!
...
When I checked the installed packages from 'rospack list', there were three packages related to pcl:
pcl_conversions, pcl_msgs, pcl_ros
but no 'pcl' package.
How do I install the package to resolve this problem.
Thanks in advance.
Originally posted by kenomuseki on ROS Answers with karma: 1 on 2014-07-07
Post score: 0
|
Hi all,
I've got maybe a very noob question. I'm using rosserial on a Arduino One board and I'm trying to stream out the readings from wheel encoders as a sensor_msgs/JointState data structure. The problem is that I can't figure out how to properly push back elements in the data structure and when I try to use push_back() method I get the following error.
error: request for member ‘push_back’
in
‘wheel_odo.sensor_msgs::JointState::name’,
which is of non-class type ‘char**’
Can you help me out?
Thanks!
EDIT: here is the code
#include <CAN.h>
#include <SPI.h>
#include <SerialCommand.h>
#include <ros.h>
#include <std_msgs/String.h>
#include <sensor_msgs/ChannelFloat32.h>
#include <sensor_msgs/JointState.h>
ros::NodeHandle nh;
std_msgs::String str_msg;
//sensor_msgs::ChannelFloat32 wheel_odo[4];
sensor_msgs::JointState wheel_odo;
char* id = "/myBot";
ros::Publisher sinbot_odometry("sinbot_odometry", &wheel_odo);
SerialCommand serialCommand;
#define CAN_BUS_SPEED 1000 // 1Mbaud
int state = 0;
int pin = LOW;
byte received[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
byte rec [4] = {0x00, 0x00, 0x00, 0x00};
signed long rec_new;
void setup() {
// put your setup code here, to run once:
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
CAN.begin();
CAN.baudConfig(CAN_BUS_SPEED);
CAN.setMode(NORMAL);
delay(100);
Serial.begin(115200); //Baudrate Serial connection
wheel_odo.header.frame_id = id;
wheel_odo.name.push_back(str_msg);
nh.initNode();
nh.advertise(sinbot_odometry);
}
PS: By the way what I'm trying to do is streaming out the information from 4 wheel encoders using an Arduino One board.
What I would like to have is the following set of information for each wheel:
[ ros_timestamp, arduino_timestamp,
encoder_reading]
Considering that I'm not willing to implement my own message, is sensor_msgs/JointState the best solution in my case?
EDIT: Also, using Joint_state data structure as it is done in this link
"answers.ros.org/question/43157/trying-to-use-get-joint-state-with-my-urdf/"
is not working for Arduino and I get
error: request for member ‘resize’ in
‘wheel_odo.sensor_msgs::JointState::position’,
which is of non-class type ‘float*’
when I try to resize the structure as:
wheel_odo.position.resize(7);
Originally posted by RagingBit on ROS Answers with karma: 706 on 2014-07-07
Post score: 0
Original comments
Comment by McMurdo on 2014-07-07:
Please update question with the relevant lines that produce the error. It might be difficult without that.
Also look at the API for sensor_msgs::JointState. http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html
.
|
Hi, I have pocketsphinx installed with hydro and raring ubutu (13.04). I've done the standard installation with gstreamer0.10-pocketsphinx, ros-hydro-pocketsphinx, ros-hydro-audio-common and libasound2.
When it works, it works quite well and will run for hours. However, often when I start it up, it does not respond to the microphone at all. The microphone is still working according to the Sound Settings input page, but pocketsphinx just doesn't seem to receive the input. After it has been running properly, I can just stop it with control C and start it again and it may or may not work properly. No changes are made between stopping and starting it.
I assume that the mike data is getting lost somewhere in the gstreamer connection; but troubleshooting this connection is out of my experience. Online search has many examples of problems in this area, but none of the proposed solutions seem to help. I found gstreamer-properties which seems to allow selection of pulseaudio and my specific microphone; but doesn't make any difference.
Any suggestions will be appreciated.
Thanks,
Alex
Originally posted by Alex Brown on ROS Answers with karma: 176 on 2014-07-07
Post score: 0
Original comments
Comment by ccapriotti on 2014-07-07:
A few generic points to help troubleshooting. Compare top results when the bug happens and during normal operation. See if there is a process taking more time. Also, it might be that some process went to sleep mode, like a power save feature.
Comment by Alex Brown on 2014-07-07:
Well, what I could see is that PulseAudio %CPU goes up about 50% (10% go 15% roughly) when pocketsphinx is working. I read up on PulseAudio and added some of the tools which made me think I had it fixed. But it went back to not working after 8 or 10 restarts. I'm going to follow up on MIke's answer below.
|
http://wiki.ros.org/neato_robot
does this node only work with neato xv11 or does it work with other neato products too (like the neato botvac series or the most recents robots in the xv series)?
thanks
dh
Originally posted by d on ROS Answers with karma: 121 on 2014-07-07
Post score: 0
|
Hi,
I am currently developing a ROS packages to to PointGrey Grasshopper3 and I've seen that some packages like the camera1394 use more than one node handler. Does anyone know why?
Thanks,
Pedro
Originally posted by PedroGusmao on ROS Answers with karma: 66 on 2014-07-07
Post score: 0
|
I understand that the tf_listener is used to lookup a transform from the tf_tree and then work with that transform to do whatever you want.
So it seems like the tf_listener is just a "tool" to be included in a node which needs the transform between one frame and another. Is there any other functionality of the tf_listener other than lookupTransform? Because the tf_tree exists with or without a tf_listener.
Thank you. (Trying to strengthen my understanding of tf concepts)
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-07
Post score: 0
Original comments
Comment by bvbdort on 2014-07-07:
go through the class of tf_listener it gives you more insight ,http://mirror.umd.edu/roswiki/doc/diamondback/api/tf/html/c++/transform__listener_8h_source.html
Comment by gvdhoorn on 2014-07-08:
@bvbdort: that is a really old version of that file. I'm not sure how much (or indeed, if) tf_listener has changed since DiamondBack, but it might be a good idea to look at the Hydro version (ie: 4 releases newer).
|
Hi all,
I have confusion about the unit of geometry_msgs::Twist, are they m/s and rad/s? Because I saw the sample code turltebot teleop as well as kobuki teleop, they setup these parameters equal 1.0 for each press button. However I checked the specification of the turtlebot kobuki in this link , the maximum of linear velocity is just 70 cm/s, if my above opinion is right, the setup parameters in sample code is 100cm/s, it is overload the motor.
So what is the true unit of geometry_msgs::Twist or cmd_vel?
Originally posted by domikilo on ROS Answers with karma: 89 on 2014-07-07
Post score: 0
|
Hi, all, I want to implement a new global path planner for turtlebots with RRTstar or TRRT which are available in OMPL. I have checked Moveit and didn't find .cpp/.h files or infterfaces to RRTstar/ TRRT. I also read tutorial of Moveit and didn't find any instruction on using Moveit for path planning, not to speak of RRTstar/TRRT.
Could someone give me some advices on using Moveit for path planning with RRTstar?
Thank you !
Originally posted by scopus on ROS Answers with karma: 279 on 2014-07-08
Post score: 1
Original comments
Comment by scopus on 2014-07-10:
hi, @isucan, It is well-known that you are one of the greater founders of Moveit and OMPL. Would you like to give me some advices? Thank you!
Comment by Ken_in_JAPAN on 2014-07-15:
Hi, @scopus, If you would like to know detailed information about OMPL, I recommend you to post to [email protected]. I imagine that it is not better to directly ask a specific person on web site. I expect that your work will make progress.
|
Hi everyone!
I am working on a non holonomic, non differential drive robot, and I was wondering if there are already plans to extend the navigation stack to this kind of robots?
Originally posted by atenea on ROS Answers with karma: 36 on 2014-07-08
Post score: 1
|
Dear ros-users,
is there a way of access old data of tf? I mean, when I lookup for a transform, I need the latest data together with second to last, third to last..
I'm working with tf on ros fuerte
Thank you!
Originally posted by Rahndall on ROS Answers with karma: 133 on 2014-07-08
Post score: 0
Original comments
Comment by dornhege on 2014-07-08:
Do you need the last/second to last, etc. in an index or time basis? If index-based: Why?
Comment by Rahndall on 2014-07-08:\
in an index basis
because, if I understood correctly, on time based the given data is an interpolation of two values. Instead, I would like to know if there is access to the actual values
|
Hi,
I want to use robot_pose_ekf to receive data from a IMU and a visual odometry source. This last one only publishes a /tf between to frames and I want to get the geometry_msgs/PoseWithCovariance from it.
Is there a proper way of converting a /tf to a nav_msgs/Odometry message?
Thanks in advance!
EDIT:
Thanks all for the answers! I'm going to take a comment in a single answer. I'm using a Asus Xtion Pro Live with rgbdslam_v2 package. This last one publishes /tf between a fixed_frame and a choosen frame from us at a 10hz rate. I need this to be an odom type of message to insert it in robot_pose_ekf.
I don't really know if I'm using the right package for the purpose, but I lost a serious amount of time porting it to an ARM platform (an Odroid) and I didn't want to abandoned this one just because it doesn't give me odometry out-of-the-box. Besides, changing to, for example, to ccny-rgbd-tools will probably mean a great amount of work again to get it ported to ARM.
So can anyone point me out how can I get a proper convertion from tf to Odometry. I'm not really a hardcoder so point out some parts of code in the ccny_rgbd_tools visual_odometry.cpp would be good.
Thanks again!
Originally posted by TSC on ROS Answers with karma: 210 on 2014-07-08
Post score: 2
Original comments
Comment by sai on 2014-07-08:
The answer which was written by me gives the sample code from ccny_rgbd_tools's visual_odometry.cpp
Comment by dornhege on 2014-07-08:
In this case, follow the sample code. You probably want to set the covariance to something hard coded, when you put it into the EKF.
Comment by TSC on 2014-07-09:
@dornhege can you please point me some code sample to hard code a good covariance matrix? I'm following the dirty fix in: http://answers.ros.org/question/66489/combine-visual-odometry-data-from-ccny_rgbd-with-encodersimu/
But it doesn't seem to be good in my case (since I will have 6DOF motion).
Tkx
Comment by dornhege on 2014-07-09:
I'm not sure how you want to do more than a simple hack if you don't have the data.
Comment by TSC on 2014-07-09:
Maybe a normal distribution for each matrix value?
Comment by dornhege on 2014-07-09:
That's what this hack gives you.
Comment by TSC on 2014-07-09:
0.2 , 0.2 , 999999 , 999999 , 999999 , 0.2 doesn't seem Gaussian but ok. Anyway, giving that I need a 6DOF motion, give a 0.2 instead of 999999 to other values seams reasonable right?
Comment by dornhege on 2014-07-09:
Those are variances under the assumption that a diagonal matrix is correct.
|
Now that I have pocketsphinx running well, I am launching it with a number of other nodes. The basic pocketsphinx program prints many "INFO:" statements as it processes the voice input. This makes any messages printed by my other nodes unusable since they scroll off the screen rapidly.
Not using "output="screen" when recognizer.py is launched only stops the messages from recognizer.py, not from pocketsphinx.
Can anyone tell me how to stop these messages?
Thanks,
Alex
Originally posted by Alex Brown on ROS Answers with karma: 176 on 2014-07-08
Post score: 0
|
I installed ros-hydro-openni-launch to my Odroid-U3. When I ran
roslaunch openni_launch openni.launch
it successfully streams as I can see the topics send average at 30 fps via the command
rostopic hz /camera/rgb/image_rect_color
However, once I subscribe also to
rostopic hz /camera/depth_registered/hw_registered/image_rect_raw
Both of the subscribers do not receive any more images as shown below..
Is this a bug? I also downloaded the latest commit of openni_launch and openni_camera in the github. But it was still the same... But they DO WORK alone. But subscribing to both of them fails....
Originally posted by Xegara on ROS Answers with karma: 52 on 2014-07-08
Post score: 0
|
Hi,
So I have been working with opencv and ros to do object detection and everything seemed to be fine until the other day and suddenly when i start using the SURF detection line of code I get this error.
/home/frank/catkin_ws/devel/lib/bingo_detection/bingo_detection_server: symbol lookup error: /home/frank/catkin_ws/devel/lib/bingo_detection/bingo_detection_server: undefined symbol: ZNK2cv9Feature2D7computeERKNS_3MatERSt6vectorINS_8KeyPointESaIS5_EERS1
I have no idea what I did.
Originally posted by TT on ROS Answers with karma: 16 on 2014-07-08
Post score: 0
|
Hi all,
I am working on processing some data stored in a bag file. I am perfectly comfortable reading data and messages from bag files using python's rosbag module. I am not sure if this is a silly or naive question, but my searching thus far has not led very far. Here's the situation:
I have my tf messages stored in a bag file. The tf values for different frames do not change over time (rigid system). I know the names and transforms for the frames since this is stored in the bag data. What I would like to do is get the same functionality from lookupTransform() without needing to publish my transforms and listen form them to get the calculations performed by this function. It would be excellent to achieve this python, since this is language that my processing code is using. Essentially, I'm trying to perform the following in python without needing to actually perform the lookup by the frame id string.
StampedTransform& transform
tf::StampedTransform from_geometry_messages1, from_geometry_messages2;
transform.setData( temp2 * temp1);
transform.stamp_ = temp2.stamp_;
transform.frame_id_ = target_frame;
transform.child_frame_id_ = source_frame;
Instead I would simply like to perform the calculation portions of the lookupTransform code in python.
Thanks!
Originally posted by jlef on ROS Answers with karma: 21 on 2014-07-08
Post score: 2
|
Does it exist? Or is there a way to have a running costmap_2d instance, but interact with it primarily through standard ros interfaces so that python could be used on the one end at least?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-07-08
Post score: 2
|
Hi,
I'm using ccny_rgbd_tools which gives me a transform between /camera_link, which is the base_frame, and /odom, which is the fixed_frame.
I'm using MoveIt!, where I have a urdf model which as a camera_link and a base_link, which supposedly already gives a static_tf between them. I have a virtual_joint between camera_link and odom (which is floating, cause it is from a quadrotor).
Now running demo.launch (without the static_transform_publisher between camera_link and odom) I get this on the command line:
[ WARN] [1404846265.951041568]: No transform available between frame 'odom' and planning frame '/base_link' (Could not find a connection between 'base_link' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.)
I have a /tf between odom and camera_link, and a /tf from base_link to camera_link, which builds up a tree. Why does it needs a /tf between base_link and odom?
Thanks in advance!
Originally posted by TSC on ROS Answers with karma: 210 on 2014-07-08
Post score: 0
Original comments
Comment by sai on 2014-07-08:
can you try 'rosrun tf view_frames' and 'evince frames.pdf' and look or show the TF tree..this might give an idea of what exactly is happening down there.
Comment by TSC on 2014-07-09:
Already did that! Odom doesn't even appear!
Comment by sai on 2014-07-09:
So is your ccny package running appropriately ? can you get the pose from 'rostopic echo \vo' and actually see the estimated pose in real time.
|
What is the color code for rqt_graph?
And do the bi-directional arrows mean a service between two nodes or just that the node subscribes to AND publishes to the other node or both?
Is there some sort legend for colors, shapes, arrows etc. ?
Thank you
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-08
Post score: 1
|
I am trying to write rostests for the clear_costmap_recovery package. [relevant code]
Is there a way to build the tests for only one package?
Running catkin_make or catkin_make clear_costmap_recovery do not rebuild the test executable.
Running catkin_make run_tests does rebuild the test executable, but also runs ALL the tests in the navigation package.
Running catkin_make run_tests_clear_costmap_recovery runs only the relevant tests, but does NOT rebuild the test executable.
Originally posted by David Lu on ROS Answers with karma: 10932 on 2014-07-08
Post score: 1
|
I'd like to run costmap_2d and update a loaded static map with new sensor data, but I don't see any updates happening. I can see the latest LaserScan data in rviz on the /base_scan topic, but shouldn't the map be updated underneath it to show those squares as blocked?
This is my example_params.yaml which I pieced together from http://wiki.ros.org/costmap_2d/Tutorials/Configuring%20Layered%20Costmaps and other sources:
global_frame: /map
robot_base_frame: base_link
footprint: [
# tail
[-0.325, -0.20],
[-0.325, 0.2],
# nose
[0.325, 0.2],
[0.34, 0.0],
[0.325, -0.2]
]
plugins:
- {name: static_map, type: "costmap_2d::StaticLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
- {name: obstacles, type: "costmap_2d::ObstacleLayer"}
publish_frequency: 1.0
update_frequency: 4.0
obstacles:
track_unkown_space: true,
observation_sources: base_scan
base_scan: {
data_type: LaserScan,
sensor_frame: base_link,
clearing: true,
marking: true,
topic: /base_scan,
observation_persistance: 15.0
}
I launch this like this:
<?xml version="1.0"?>
<launch>
<node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" output="screen" >
<rosparam file="$(find path_planning)/config/example_params.yaml" command="load" ns="costmap" />
</node>
<node name="cm_map_server" pkg="map_server" type="map_server" output="screen" args="$(find path_planning)/config/map.yaml" />
<node name="cm_rviz1" pkg="rviz" type="rviz" args="-d $(find path_planning)/config/costmap.rviz" />
<node name="cm_robot_static_tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 map base_link 100" />
</launch>
I then attempt to update the costmap with LaserScan data:
rostopic pub /base_scan sensor_msgs/LaserScan '{header:stamp: now, frame_id: base_link}, angle_min: 0.0, angle_max: 0.1, angle_increment: 0.1, time_increment: 0, scan_time: 0.0, range_min: 0.1, range_max: 3.0, ranges: [2.0, 1.4] }'
It looks like the base_scan is successfully connected to the costmap_node
And this is my map.yaml
image: map.pgm
resolution: 0.025
origin: [-6.000000, -6.000000, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
Am I wrong to expect that the /costmap_node/costmap/costmap is going to update in response to sensor data marking and clearing it, or is that the responsibility of something else?
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-07-08
Post score: 0
|
I saw it in many user's profile, I don't mind having it but it is a little bit annoying.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-07-08
Post score: 0
|
Hi
I'm having trouble installting ros indigo on Ubuntu 14.04. I've followed all of the instructions on this page, but when I run sudo apt-get install ros-indigo-desktop-full I get the following errors:
sudo apt-get install ros-indigo-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-indigo-desktop-full : Depends: ros-indigo-desktop but it is not going to be installed
Depends: ros-indigo-simulators but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
I've narrowed the problem down, it won't install because it can't find the package ros-indigo-urdfdom-headers:
user@computer:/etc/apt$ sudo apt-get install ros-indigo-urdfdom-headers
Reading package lists... Done
Building dependency tree
Reading state information... Done
Package ros-indigo-urdfdom-headers is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
E: Package 'ros-indigo-urdfdom-headers' has no installation candidate
Is there a solution to this?
Thanks
Jamie
Originally posted by James Diprose on ROS Answers with karma: 123 on 2014-07-09
Post score: 1
Original comments
Comment by syrnick on 2014-07-09:
I'm seeing the same issue when re-provisioning my VM (https://github.com/ros-chef/ros-web-dev-vm, see the quickstart section to reproduce).
Comment by tfoote on 2014-07-09:
What are your apt sources?
Comment by syrnick on 2014-07-09:\
vagrant@ros-web-dev:~$ sudo cat /etc/apt/sources.list.d/ros-indigo.list
deb http://packages.ros.org/ros/ubuntu trusty main
|
The error is:
/home/ira/code/ros_groovy/src/sam_semantic_map_builder_dir/src/sam_semantic_map_builder_src.cpp:2:55: fatal error: sam_semantic_map_builder_dir/srv_add_file.h: No such file or directory
compilation terminated.
I run:
catkin_create_pkg sam_semantic_map_builder_dir pcl pcl_ros roscpp sensor_msgs
roscd sam_semantic_map_builder_dir
mkdir -p srv
vim srv/srv_add_file.srv
string msg_object_name
---
float32 msg_x
float32 msg_y
float32 msg_z
float32 msg_roll
float32 msg_pitch
float32 msg_yaw
vim src/sam_semantic_map_builder_src.cpp
#include <ros/ros.h>
#include <sam_semantic_map_builder_dir/srv_add_file.h>
...
vim CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(sam_semantic_map_builder_dir)
find_package(catkin REQUIRED COMPONENTS
pcl
pcl_ros
roscpp
sensor_msgs
std_msgs
message_generation
)
## Generate services in the 'srv' folder
add_service_files(
FILES
srv_add_file.srv
)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES sam_semantic_map_builder_dir
CATKIN_DEPENDS pcl pcl_ros roscpp sensor_msgs
# DEPENDS system_lib
)
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(sam_semantic_map_builder_bin src/sam_semantic_map_builder_src.cpp)
target_link_libraries(sam_semantic_map_builder_bin ${catkin_LIBRARIES})
vim package.xml
<?xml version="1.0"?>
<package>
<name>sam_semantic_map_builder_dir</name>
<version>0.0.0</version>
<description>The sam_semantic_map_builder_dir package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">ira</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>pcl</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>pcl</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>message_runtime</run_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>
What am I missing?
How to fix it?
Thank you~
Originally posted by sam on ROS Answers with karma: 2570 on 2014-07-09
Post score: 1
|
hi,
I want to do obstacle avoidance using two filter but I get the following error:
/home/esetron/catkin_ws/src/sabir/src/sabir_node.cpp: In function ‘void cloud_cb(const PCLPointCloud2ConstPtr&)’:
/home/esetron/catkin_ws/src/sabir/src/sabir_node.cpp:25:53: error: no matching function for call to ‘pcl::PassThrough<pcl::PCLPointCloud2>::setInputCloud(pcl::PCLPointCloud2&)’
/home/esetron/catkin_ws/src/sabir/src/sabir_node.cpp:25:53: note: candidate is:
/usr/include/pcl-1.7/pcl/pcl_base.h:204:7: note: void pcl::PCLBase<pcl::PCLPointCloud2>::setInputCloud(const PCLPointCloud2ConstPtr&)
/usr/include/pcl-1.7/pcl/pcl_base.h:204:7: note: no known conversion for argument 1 from ‘pcl::PCLPointCloud2’ to ‘const PCLPointCloud2ConstPtr& {aka const boost::shared_ptr<const pcl::PCLPointCloud2>&}’
make[2]: *** [sabir/CMakeFiles/sabir_node.dir/src/sabir_node.cpp.o] Error 1
make[1]: *** [sabir/CMakeFiles/sabir_node.dir/all] Error 2
make: *** [all] Error 2
Actually, when I added to code line "pass_through_filter.setInputCloud(cloud_filtered);", I am getting the current error. why I am getting this error?
thanks
my code:
#include <ros/ros.h>
#include <iostream>
// PCL specific includes
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
ros::Publisher pub;
void cloud_cb(const pcl::PCLPointCloud2ConstPtr& input)
{
pcl::PCLPointCloud2 cloud_filtered;
pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
sor.setInputCloud(input);
sor.setLeafSize(0.01, 0.01, 0.01);
sor.filter(cloud_filtered);
// Create the appropriate pass-through filter
pcl::PassThrough<pcl::PCLPointCloud2> pass_through_filter;
pass_through_filter.setInputCloud(cloud_filtered);
// Publish the data
pub.publish(cloud_filtered);
}
int main (int argc, char** argv){
// Initialize ROS
ros::init (argc, argv, "sabir");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
// Spin
ros::spin ();
}
Originally posted by hamdi on ROS Answers with karma: 73 on 2014-07-09
Post score: 3
|
I have a differential robot, with a laser Hokuyo, and I want my robot to cover the whole part of a map.
I saw that there is some algorithms but I can't find a code. So have someone already implement such algorithms?
Thank you
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-09
Post score: 1
Original comments
Comment by Moda on 2014-07-10:
Is it really hopeless?
Comment by sobot on 2015-03-27:
hey @Moda im trying to work on the same algorithm, been really hard getting around it. have you had any progress/luck since the time u asked ur question here? Thanks!
Comment by lucasw on 2016-02-15:
Similar to http://answers.ros.org/question/174998/path-planning-for-sensortool-coverage/ (and a few others listed there)
|
Hi,
I'm running the robot_pose_ekf node subscribing to the /imu and /encoder. What should be the frame ID's of the msgs on those topics?
Currently, my /encoder has frame_id: odom_combined and child_frame_id: base_footprint while my /imu has frame_id: base_link. My tf tree is odom->base_footprint->base_link
Will that ^ be a problem considering that my /encoder msg has a frame_id which is not even on my tree (not being broadcast). The node doesn't throw any errors so I am wondering if robot_pose_ekf actually uses the frame_id?
Thank you very much
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-09
Post score: 0
|
Hi all,
I was wondering whether it was worth digging into the pr2 tutorials. They seemed to be reference a few releases ago to get started with ROS but they really seem outdated now (no support in hydro, no catkin support, GDB supports cturtle and diamondback...). I have just gone through the basic tutorials (catkin oriented) and if I were to start the pr2 tutorials I would actually need to go through them again but in the rosbuild version... I actually fear to get lost in a mixture of catkin (not so well understood), rosbuild (not known at all) and pr2 specific things.
I guess this is more or less the same situation for all ROS newbies... So what do you think? And is there a modern equivalence to the pr2 tutorials?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-07-09
Post score: 1
|
hi. we're trying to decide what board we should use for our robot prototype. any advice/recommendation is much appreciated. we're looking for an affordable board that can handle kinect and kobuki.
our robot is fairly similar to turtlebot:
we'll use kinect for depth camera
we'll use kobuki base or build our our differential drive 4 wheel drive base.
we'll use have one or two arms with dynamixels.
we would love to have low power consumption so that the robot can operate as long as possible
and of course, it runs ROS
from our initial research:
singleboard computer (i.e. raspberry pi, beaglebone black, etc): the cost is really good but it seems like they can't handle kinect well. we haven't done extensive work with ros for ubuntu arm yet, but there seems to be some limitations vs. ros full desktop.
full motherboards (i.e. intel i5 or i7): they definitely can do the job, but the costs are really high. and the processing power seems to be overkilled.
midrange options like NUC, mini-ITX, etc: i have no idea how they perform and if they work well with kinect and kobuki
any recommendation/feedback/advice is much appreciated.
Originally posted by d on ROS Answers with karma: 121 on 2014-07-09
Post score: 0
|
Hello,
I installed ROS as a root, and now I am getting this error when I try to run catking_init_workspace:
Could neither symlink nor copy file "/opt/ros/hydro/share/catkin/cmake/toplevel.cmake" to "/home/user/worspace/src/CMakeLists.txt":
- [Errno 13] Permission denied
- [Errno 13] Permission denied: '/home/user/worspace/src/CMakeLists.txt'
How can I get rid of this issue?
Thanks
Originally posted by Pototo on ROS Answers with karma: 803 on 2014-07-09
Post score: 1
|
Hey, so I need to compile my workspace every time I add it into my computer. This proves to be very time consuming. I would like to write a script that runs these commands:
roscd /directory/build
cmake ..
make
This is what I type into the terminal to compile all the directories and it works perfectly! But, when I tried just adding these commands to a script and running it I would get errors basically saying it didn't recognize the commands (i.e. roscd). I'm not sure if I'm supposed to source something so it will recognize the commands or something.
Any help is appreciated!
George
Originally posted by GWall on ROS Answers with karma: 27 on 2014-07-09
Post score: 1
Original comments
Comment by allenh1 on 2014-07-09:
You have a good answer down there... But, I must ask... Why are you using cmake at all? With a catkin workspace, catkin builds (invoking CMake) all packages in the source directory in topological order. This is mainly for my own curiosity.
Comment by GWall on 2014-07-10:
Hey, thanks for your curiosity! When we started with ROS a catkin didn't exist. Then when it did we never made the transition, but we are planning on switching over pretty soon. Even with catkin I would like to have a script because its one less thing I need to setup when I install the system!
|
I'm working on camera based visual odometry node that publishes /tf transforms when fiducial tags are present within a camera image. As the image process is somewhat computationally heavy, I would only like to process images only when there is a subscriber that cares about the transforms from my node. The ImageTransport infrastructure provides a connectCallback mechanism for accomplishing this where client nodes subscribe to an image. However, I don't see there is a similar connect callback mechanism for the TransformBroadcaster which I'm using to send transforms. I presume this is because there is no way to tell when transforms a subscriber to /tf really cares about.
Is there a recommended way of accomplishing this? I presume I could create a service that clients can use to manually enable/disable image processing, but I was hoping for something a bit more automatic.
Originally posted by mpthompson on ROS Answers with karma: 153 on 2014-07-09
Post score: 0
|
I'm trying to build the catkin workspace on Mac OS X (ROS installation using Homebrew) and per the installation wiki,
We will use the catkin_make_isolated
command because there are both catkin
and plain cmake packages in the base
install, when developing on your
catkin only workspaces you should use
catkin/commands/catkin_make.
Invoke catkin_make_isolated: "$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release"
I tried doing that and after a bunch of packages names listed, I get an error message. It seems to be something related to CMake and CatKin but I'm new to this and I don't exactly know what's happening here.
Below is the message (flow) after I run the above command.
Poojas-MacBook-Pro:ros_catkin_ws voladoddi$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Base path: /Users/voladoddi/ros_catkin_ws
Source space: /Users/voladoddi/ros_catkin_ws/src
Build space: /Users/voladoddi/ros_catkin_ws/build_isolated
Devel space: /Users/voladoddi/ros_catkin_ws/devel_isolated
Install space: /Users/voladoddi/ros_catkin_ws/install_isolated
Additional CMake Arguments: -DCMAKE_BUILD_TYPE=Release
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~ traversing 251 packages in topological order:
~~ - catkin
~~ - genmsg
~~ - gencpp
~~ - genlisp
~~ - genpy
~~ - angles
~~ - bfl (plain cmake)
~~ - bond_core
~~ - cmake_modules
~~ - common_msgs
~~ - common_tutorials
~~ - console_bridge (plain cmake)
~~ - class_loader
~~ - cpp_common
~~ - desktop
~~ - desktop_full
~~ - diagnostics
~~ - driver_common
~~ - eigen_stl_containers
~~ - executive_smach
~~ - gazebo_ros_pkgs
~~ - geometry
~~ - geometry_experimental
~~ - geometry_tutorials
~~ - image_common
~~ - image_pipeline
~~ - image_transport_plugins
~~ - laser_pipeline
~~ - media_export
~~ - message_generation
~~ - message_runtime
~~ - mk
~~ - mobile
~~ - navigation
~~ - nodelet_core
~~ - octomap (plain cmake)
~~ - opencv2 (plain cmake)
~~ - openslam_gmapping
~~ - orocos_kdl (plain cmake)
~~ - perception
~~ - perception_pcl
~~ - python_orocos_kdl (plain cmake)
~~ - qt_dotgraph
~~ - qt_gui
~~ - qt_gui_app
~~ - qt_gui_core
~~ - qt_gui_py_common
~~ - random_numbers
~~ - robot
~~ - robot_model
~~ - ros
~~ - ros_base
~~ - ros_comm
~~ - ros_full
~~ - ros_tutorials
~~ - rosbag_migration_rule
~~ - rosbash
~~ - rosboost_cfg
~~ - rosbuild
~~ - rosclean
~~ - roscpp_traits
~~ - roscreate
~~ - rosdoc_lite
~~ - rosgraph
~~ - roslang
~~ - roslint
~~ - roslisp
~~ - rosmake
~~ - rosmaster
~~ - rosmsg
~~ - rospack
~~ - roslib
~~ - rosparam
~~ - rospy
~~ - rosservice
~~ - rostime
~~ - roscpp_serialization
~~ - python_qt_binding
~~ - rosbag_storage
~~ - roslaunch
~~ - rosunit
~~ - rosconsole
~~ - pluginlib
~~ - qt_gui_cpp
~~ - resource_retriever
~~ - rosconsole_bridge
~~ - rostest
~~ - rqt_action
~~ - rqt_bag
~~ - rqt_bag_plugins
~~ - rqt_common_plugins
~~ - rqt_console
~~ - rqt_dep
~~ - rqt_graph
~~ - rqt_gui
~~ - rqt_logger_level
~~ - rqt_moveit
~~ - rqt_msg
~~ - rqt_nav_view
~~ - rqt_plot
~~ - rqt_pose_view
~~ - rqt_publisher
~~ - rqt_py_common
~~ - rqt_py_console
~~ - rqt_reconfigure
~~ - rqt_robot_dashboard
~~ - rqt_robot_monitor
~~ - rqt_robot_plugins
~~ - rqt_robot_steering
~~ - rqt_runtime_monitor
~~ - rqt_service_caller
~~ - rqt_shell
~~ - rqt_srv
~~ - rqt_tf_tree
~~ - rqt_top
~~ - rqt_topic
~~ - rqt_web
~~ - simulators
~~ - smach
~~ - smclib
~~ - stage (plain cmake)
~~ - std_msgs
~~ - actionlib_msgs
~~ - bond
~~ - diagnostic_msgs
~~ - geometry_msgs
~~ - eigen_conversions
~~ - kdl_conversions
~~ - nav_msgs
~~ - rosgraph_msgs
~~ - sensor_msgs
~~ - camera_calibration_parsers
~~ - cv_bridge
~~ - image_geometry
~~ - map_msgs
~~ - pcl_msgs
~~ - shape_msgs
~~ - smach_msgs
~~ - std_srvs
~~ - stereo_msgs
~~ - tf2_msgs
~~ - tf2
~~ - tf2_bullet
~~ - trajectory_msgs
~~ - control_msgs
~~ - gazebo_msgs
~~ - urdfdom_headers (plain cmake)
~~ - urdf_parser_plugin
~~ - urdfdom (plain cmake)
~~ - vision_opencv
~~ - visualization_msgs
~~ - shape_tools
~~ - geometric_shapes
~~ - visualization_tutorials
~~ - viz
~~ - xmlrpcpp
~~ - roscpp
~~ - bondcpp
~~ - bondpy
~~ - collada_parser
~~ - diagnostic_common_diagnostics
~~ - joint_state_publisher
~~ - move_base_msgs
~~ - nodelet
~~ - nodelet_tutorial_math
~~ - pcl_conversions
~~ - pluginlib_tutorials
~~ - roscpp_tutorials
~~ - rosout
~~ - camera_calibration
~~ - diagnostic_aggregator
~~ - diagnostic_updater
~~ - dynamic_reconfigure
~~ - filters
~~ - message_filters
~~ - image_transport
~~ - camera_info_manager
~~ - image_view
~~ - polled_camera
~~ - rosnode
~~ - rospy_tutorials
~~ - rostopic
~~ - roswtf
~~ - rqt_gui_cpp
~~ - rqt_gui_py
~~ - rqt_image_view
~~ - self_test
~~ - smach_ros
~~ - tf2_py
~~ - timestamp_tools
~~ - topic_tools
~~ - rosbag
~~ - actionlib
~~ - actionlib_tutorials
~~ - diagnostic_analysis
~~ - driver_base
~~ - image_proc
~~ - nodelet_topic_tools
~~ - rqt_launch
~~ - stereo_image_proc
~~ - tf2_ros
~~ - tf
~~ - compressed_depth_image_transport
~~ - compressed_image_transport
~~ - fake_localization
~~ - gmapping
~~ - interactive_markers
~~ - interactive_marker_tutorials
~~ - laser_geometry
~~ - laser_assembler
~~ - laser_filters
~~ - map_server
~~ - amcl
~~ - pcl_ros
~~ - depth_image_proc
~~ - robot_pose_ekf
~~ - stage_ros
~~ - tf2_geometry_msgs
~~ - tf2_kdl
~~ - tf2_tools
~~ - tf_conversions
~~ - image_rotate
~~ - theora_image_transport
~~ - turtlesim
~~ - turtle_actionlib
~~ - turtle_tf
~~ - urdf
~~ - collada_urdf
~~ - gazebo_plugins
~~ - gazebo_ros
~~ - kdl_parser
~~ - robot_state_publisher
~~ - rviz
~~ - librviz_tutorial
~~ - rqt_rviz
~~ - rviz_plugin_tutorials
~~ - rviz_python_tutorial
~~ - urdf_tutorial
~~ - visualization_marker_tutorials
~~ - voxel_grid
~~ - costmap_2d
~~ - nav_core
~~ - base_local_planner
~~ - carrot_planner
~~ - clear_costmap_recovery
~~ - dwa_local_planner
~~ - move_slow_and_clear
~~ - navfn
~~ - rotate_recovery
~~ - move_base
~~ - xacro
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The packages or cmake arguments have changed, forcing cmake invocation
==> Processing catkin package: 'catkin'
==> Creating build directory: 'build_isolated/catkin'
==> cmake /Users/voladoddi/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/voladoddi/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/voladoddi/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release in '/Users/voladoddi/ros_catkin_ws/build_isolated/catkin'
-- The C compiler identification is AppleClang 5.1.0.5030040
-- The CXX compiler identification is AppleClang 5.1.0.5030040
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Using CATKIN_DEVEL_PREFIX: /Users/voladoddi/ros_catkin_ws/devel_isolated/catkin
-- Using CMAKE_PREFIX_PATH:
-- Found PythonInterp: /usr/bin/python (found version "2.7.5")
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using default Python package layout
-- Could NOT find PY_em (missing: PY_EM)
CMake Error at cmake/empy.cmake:28 (message):
Unable to find either executable 'empy' or Python module 'em'... try
installing package 'python-empy'
Call Stack (most recent call first):
cmake/all.cmake:139 (include)
CMakeLists.txt:8 (include)
-- Configuring incomplete, errors occurred!
See also "/Users/voladoddi/ros_catkin_ws/build_isolated/catkin/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'catkin':
Command 'cmake /Users/voladoddi/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/voladoddi/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/voladoddi/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/voladoddi/ros_catkin_ws/build_isolated/catkin && cmake /Users/voladoddi/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/Users/voladoddi/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/Users/voladoddi/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release
Command failed, exiting.
Here are the contents of the file -- "catkin/CMakeFiles/CMakeOutput.log"
The system is: Darwin - 13.2.0 - x86_64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: /usr/bin/cc
Build flags:
Id flags:
The output was:
0
Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
The C compiler identification is AppleClang, found in "/Users/voladoddi/ros_catkin_ws/build_isolated/catkin/CMakeFiles/3.0.0/CompilerIdC/a.out"
Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: /usr/bin/c++
Build flags:
Id flags:
The output was:
0
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If there's anything I should be looking for to fix, please let me know and I'll ask further questions, if I get any, after following up on suggestions.
Originally posted by voladoddi on ROS Answers with karma: 87 on 2014-07-09
Post score: 0
|
Hi guys,
If I change (or add/remove) fields in message files "old" messages, e. g. record in bags, can no longer be subscribed by the node using the new message description, because md5sum and stuff do no longer fit...
Now my question: What happens if I add/remove/modify constant definitions (http://wiki.ros.org/msg#Constants) in messages? Will I still be able to use bags I recorded prior to the changes?
Thanks in advance,
Wolf
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-07-10
Post score: 0
|
Hi,
Did someone used roslaunch syntax highlight in qt creator ? How to do it ?
thanks.
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-07-10
Post score: 1
Original comments
Comment by martimorta on 2014-07-10:
I am not using qt creator but roslaunch is XML
Comment by bvbdort on 2014-07-10:
i am using qt creator but its not detecting .launch extension as xml
|
I want to code a complete coverage path planner. So first I got a map, and I want to know how can I divide my map in little square cell and in the middle of each cell put a point. With visualization_msg, the point can just be seen by us, and not by the robot. What I want is that this point can be seen by it.
So then I will be able to tell to my robot to get throw all the mark.
Thank you
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-10
Post score: 0
Original comments
Comment by dornhege on 2014-07-10:
What is the map that you get? Most representations already use a grid of cells.
Comment by Moda on 2014-07-10:
My map come from a laser Scan with hokuyo,
What i want is to have a grid which the robot can understand as a real and in which it has to go.
Comment by dornhege on 2014-07-14:
What IS your map exactly?
Comment by Moda on 2014-07-15:
It a a pgm file.
Comment by Moda on 2014-07-15:
Please help me!
I'm really unable to parse the pgm file
Comment by dornhege on 2014-07-15:
Are you using the map_server? If not, do that. If you do, what error do you get?
Comment by Moda on 2014-07-15:
I don't understand, Why map_server? I already have my map, what I want is to write above this map.
I want to code a complete coverage path planner, so the idea is to put lot of point in the map, and then tell the robot to go to all the point. So I need to put the point.
Comment by Moda on 2014-07-15:
I used map_server in order to build my map and it gives any error. I have again run map_server and it says "Read a 4000 X 4000 map @ 0.050 m/cell"
Comment by dornhege on 2014-07-15:
That looks good to me. You can check that it's loaded with rviz. That standard way would be to get this map from the map server and not parsing it yourself. If you really want to, there should be code in map_server that does so.
Comment by dornhege on 2014-07-15:
Just to verify: Your map was generated with ROS tools, right? So you have a pgm and yaml file with the same names?
Comment by Moda on 2014-07-15:
Yes I have the yaml file and the pgm file.
I don't know how to open my map with rviz, I'm beginner in ros, sorry
Comment by dornhege on 2014-07-15:
Just run the map server as before. It looks like it's loaded correctly. The map display in rviz should be able to show the map.
Comment by Moda on 2014-07-15:
It is loaded with rviz. So now what I have to do? I will be so good if I don't have to parse by myself
Comment by dornhege on 2014-07-15:
Just get the nav_msgs/OccupancyGrid message from the map_server either by topic or service and do whatever you like with it.
Comment by Moda on 2014-07-17:
Sorry, I'm a beginner, and I don't know how to get this topic nav_msgs/OccupancyGrid
Comment by gautam2410 on 2015-03-05:
Hey, I am working on a similar problem, were you able to get it running?
|
Since it seems the rosbag C++ API doesn't work very well with the tf library, and I cannot find a simple way of saving ROS datatypes to files, I don't know how to best save a transform that I have calculated. I really need something that maintains the datatype, so that I won't need to make my own functions just to separately read position and orientation and so forth.
For what it's worth, I am considering using just a geometry_msgs::Quaternion and a geometry_msgs::Point and recreating the transform from those data. Any other recommendations?
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-07-10
Post score: 0
|
I've a problem with turtlebot and costmap update.
I use turtlebot with a Hokuyo URG-04LX laser. I'm not using kinect.
I simulate turtlebot in gazebo with amcl_demo.launch in a know map. It always works!
Costmap is always update and if there is a dynamic obstacle, I can observe it in costmap (local and global). When obstacle there is no more there is no trace in costmap, because costmap is always in update.
The problem there is in real turtlebot. I use the same configuration. I can observe dynamic obstacle, but when obstacle there is no more, I can still see his trace in costmap.
I don't know why!
This is my amcl_demo.launch
<launch>
<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node">
</node>
<!-- static transformation between laser and base_link -->
<node pkg="tf" type="static_transform_publisher" name="laser_tf" args="0 0 0 0 0 0 base_link laser 100" />
<!-- Map server -->
<arg name="map_file" default="$(find ompl_planner_rrt)/config/map/corridor.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">
<arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
<arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
<arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
</include>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
</launch>
costmap_common_params.yaml
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.18
inflation_radius: 0.50
# voxel map configuration; z-voxels 0 are filled by bumpers and 1 by laser scan (kinect)
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
observation_sources: scan bump
scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true, min_obstacle_height: 0.25, max_obstacle_height: 0.35}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
local_costmap_params.yaml
local_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.5
move_base_params.yaml
shutdown_costmaps: false
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 1.0
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
thanks!
Originally posted by Stefano Primatesta on ROS Answers with karma: 402 on 2014-07-10
Post score: 1
|
I'm trying to follow this tutorial using ROS hydro medusa:
/laser_pipeline/Tutorials/IntroductionToWorkingWithLaserScannerData
The code won't compile saying that:
/opt/ros/hydro/include/laser_geometry/laser_geometry.h:46:22: fatal error: Eigen/Core: No such file or directory
I could only find a guide for a migration to ROS fuerte, but those instructions didn't work for me.
Does anybody know how to fix this?
EDIT to add details:
I created a new package with dependences on roscpp, rospy (probably useless) and std_msgs. I'm using ROS hydro medusa. I then created a cpp source containing this code:
#include "ros/ros.h"
#include "tf/transform_listener.h"
#include "sensor_msgs/PointCloud.h"
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"
#include "laser_geometry/laser_geometry.h"
class LaserScanToPointCloud{
public:
ros::NodeHandle n_;
laser_geometry::LaserProjection projector_;
tf::TransformListener listener_;
message_filters::Subscriber<sensor_msgs::LaserScan> laser_sub_;
tf::MessageFilter<sensor_msgs::LaserScan> laser_notifier_;
ros::Publisher scan_pub_;
LaserScanToPointCloud(ros::NodeHandle n) :
n_(n),
laser_sub_(n_, "base_scan", 10),
laser_notifier_(laser_sub_,listener_, "base_link", 10)
{
laser_notifier_.registerCallback(
boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier_.setTolerance(ros::Duration(0.01));
scan_pub_ = n_.advertise<sensor_msgs::PointCloud>("/my_cloud",1);
}
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
sensor_msgs::PointCloud cloud;
try
{
projector_.transformLaserScanToPointCloud(
"base_link",*scan_in, cloud,listener_);
}
catch (tf::TransformException& e)
{
std::cout << e.what();
return;
}
// Do something with cloud.
scan_pub_.publish(cloud);
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "my_scan_to_cloud");
ros::NodeHandle n;
LaserScanToPointCloud lstopc(n);
ros::spin();
return 0;
}
At this point, I added these two lines at the end of CMakeLists.txt as I always did with sources:
add_executable(laser_scan_to_point_cloud src/laser_scan_to_point_cloud.cpp)
target_link_libraries(laser_scan_to_point_cloud ${catkin_LIBRARIES})
However, I'm getting the error that I told you when I try to compile with catkin_make. I tried to use rosdep, but it says that all the dependencies have been correctly installed. I also tried with an offline roswtf, but it doesn't find anything.
Here are the versions:
rosversion -d: hydro
rosversion roscpp: 1.10.2
rosversion laser_geometry: 1.5.15
rosversion std_msgs: 0.5.8
Please let me know if you need other information!
Originally posted by lucaluca on ROS Answers with karma: 74 on 2014-07-10
Post score: 0
Original comments
Comment by tfoote on 2014-07-10:
Please provide more context as to how to reproduce your problem. Those should be system libraries installed on your computer as a dependency of the package where the file is erroring. It could be something like you're overriding the include path.
Comment by lucaluca on 2014-07-11:
Thanks for your help. I added all the details that came to my mind. If you need other please let me know. As far as I know, the problem is that I'm missing the "eigen" package, but the point is that that package isn't available since ROS fuerte, since you can find migration instructions TO fuerte
|
I'm using a turtlebot (Create base) with a kinect. I need to save images automatically (RGB and depth images) when the turtlebot is in front of a object that is less than 1 meter away. Therefore, i need to get access to the data values of depth image, and convert the numbers to get the distance. How can i do that ? And what's the appropriate topic to get what i need ?
For sure i'll have a code running, and since i'm new to ros i still have some silly doubts:
My goal is to use the images on opencv. Is it necessary to install again or the one who come with ros hydro is enough ?
When saving depth images from /camera/depth/image topic manually, i get a .jpg completely black. Anyone knows why ?
What's the best way to get start with opencv ? How to save a image thought a C++ code and etc.
Thanks!
Originally posted by Thiagopj on ROS Answers with karma: 23 on 2014-07-10
Post score: 0
Original comments
Comment by Henschel.X on 2016-03-23:
My project is kind of similar with yours, but the time I see it, it is 2016 lol. I met the same problem just as you do.
|
I've tried a pre-release test on the Hydro build farm for package libnabo. What I don't understand is that it is first build once succesfully, and then there is a second build that fails due to the following:
Retrieve the ROS build environment by sourcing /tmp/test_repositories/build_repository/install_isolated/setup.sh
/!\ Failed to source /tmp/test_repositories/build_repository/install_isolated/setup.sh
Failed to source /tmp/test_repositories/build_repository/install_isolated/setup.sh
I cannot link to the log but you should be able to see it on Jenkins under prerelease-hydro-libnabo
Thanks!
Originally posted by samlcharreyron on ROS Answers with karma: 36 on 2014-07-11
Post score: 2
Original comments
Comment by vooon on 2014-07-13:
Got same issue on mavlink package.
|
I am trying to set up a network configuration between two machines. I already did all the steps mentioned in the ROS tutorials. This is my setup:
In PC1:
roscore
export ROS_MASTER_URI=https://${PC1_hostname}:11311
rosrun <package> <node>
In PC2:
export ROS_IP="$(ifconfig | perl -nle'/dr:(10\.85\.167\.\S+)/ && print $1')"
export ROS_HOSTNAME="<PC2_hostname>"
export ROS_MASTER_URI=https://${PC1_hostname}:11311
rosrun <package> <node>
I can trasmit data back and forth between the two machines using ROS.
Now, I want to start PC2 from PC1 using a launch file. ROS indeed get the connection from PC1 to PC2, but then the program fails when trying to run the node. I found that the error is because ROS is ssh-ing into PC2, and ssh does not allow to set environment variables, which means ROS was never sourced and there isn't any environment variables. My env.sh file is right since if I run the script locally it works.
I found this on the web, I tried some of the solutions with no success.
ssh environment variables
How to allow environment variables to be set when ssh into an external PC?
Originally posted by Luis Ruiz on ROS Answers with karma: 114 on 2014-07-11
Post score: 0
Original comments
Comment by McMurdo on 2014-07-11:
Environment variables must be set when you ssh into another machine.
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I've just received a turtlebot and I'm having some trouble when I try to run the follower demo in the netbook that came along with the robot. The robot doesn't move when I run the command: $ roslaunch turtlebot_follower follower.launch
The output is:
[ INFO] [1405090576.551327448]: Number devices connected: 1
[ INFO] [1405090576.551600322]: 1. device on bus 003:24 is a SensorV2 (2ae) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1405090576.553242502]: Searching for device with index = 1
[ INFO] [1405090576.603033557]: Opened 'SensorV2' on bus 3:24 with serial number '0000000000000000'
[ INFO] [1405090577.265245722]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1405090577.265818846]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1405090577.280437487]: Camera calibration file /home/turtlebot/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1405090577.280986866]: Using default parameters for RGB camera calibration.
[ WARN] [1405090577.281605477]: Camera calibration file /home/turtlebot/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1405090577.281993724]: Using default parameters for IR camera calibration.
I think it should have shown 2 devices connected (kinect and kobuki base).
I tried disconnecting each one of them and running the code again and I discovered that the problem is that it is only considering the kinect as a connected device.
Do I need to do anything else than connecting the provided usb cable between the base and the netbook?
Using the command $lsusb it looks like the usb port is working properly.
Thanks in advance
EDIT:
Thanks for the answer Devon,
I've tried what you suggested but unfortunately it didn't work.
I didn't find the topic cmd_vel, so I used the other command you suggest and the output was:
$ rostopic list | grep cmd_vel
/cmd_vel_mux/active,
/cmd_vel_mux/input/navi,
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/follower_velocity_smoother/raw_cmd_vel
I assumed the topic I would like to verify is the last one.
So I ran the follower application again while monitoring the topic, and I could check that it's not sending any velocity commands (assuming the topic I chose is the right one). The output was a bunch of:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
---
Cheers, gerhenz
Originally posted by gerhenz on ROS Answers with karma: 53 on 2014-07-11
Post score: 1
|
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