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Hi,
I set up my ubuntu laptops to network with each other following the ROS/NetworkSetup tutorials http://wiki.ros.org/turtlebot/Tutorials/hydro/Network%20Configuration .
Now, I was trying to set the localhost computer to be the ROS_MASTER_URI and ROS_HOSTNAME.
I've tried both of this things:
$ > echo export ROS_MASTER_URI=http://localhost:11311 >> ~/.bashrc
$ > echo export ROS_HOSTNAME=localhost >> ~/.bashrc
Also I have tried,
$ export ROS_HOSTNAME=localhost
$ export ROS_MASTER_URI=http://localhost:11311
Both of them allow me to set the configuration for the first time I bringup anything. But after the first run, my settings go back to other ubuntu laptop that I have, which is 10.1.xx.xxx .
Any help is appreciated
Originally posted by choog on ROS Answers with karma: 101 on 2014-07-11
Post score: 0
Original comments
Comment by ccapriotti on 2014-07-11:
I think this needs some clarification. After your first run, when you are sure that the problem is present, can you run cat ~/.bashrc and post the results ?
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Hey guys, super noob here.
I am trying to plan for a 6 DOF arm robot from Exact Dynamics. When using the Setup Assistant I am following the PR2 example to assign planning groups for the 'arm' and the 'gripper' generate the package and try to roslaunch using the demo.launch file but it crashes. I am trying to work through this problem but all the combinations of joints and links (I have not used chains yet as I do not fully understand them) I can think of make Rviz crash with this error in the terminal window.
All is well! Everyone is happy! You can start planning now!
[ INFO] [1405097835.482849916]: Loading robot model 'i_arm'...
[ INFO] [1405097835.801883868]: Loading robot model 'i_arm'...
[ INFO] [1405097835.913759003]: Starting scene monitor
[ INFO] [1405097835.917105272]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1405097837.711538251]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[rviz_ubuntu_24010_6131403636814191245-4] process has died [pid 24050, exit code -11, cmd /opt/ros/hydro/lib/rviz/rviz -d /home/joso21/catkin_ws/src/iarm_ed_moveit/launch/moveit.rviz __name:=rviz_ubuntu_24010_6131403636814191245 __log:=/home/joso21/.ros/log/44fb4ab6-090c-11e4-93a6-000c298bbf45/rviz_ubuntu_24010_6131403636814191245-4.log].
log file: /home/joso21/.ros/log/44fb4ab6-090c-11e4-93a6-000c298bbf45/rviz_ubuntu_24010_6131403636814191245-4*.log
The force is weak in me and I can't upload screenshots of the setup Assistant steps I am taking. There is another post regarding this issue but the solutions aren't working for me. I thought that my virtual joint may have been an issue as well.
<virtual_joint name="virtual_joint" type="fixed" parent_frame="/world_frame" child_link="base_link" />
I am not sure if the parent frame is defined by me of if there is an existing frame in Rviz that I can attach to? This post seems to refer to this but again not clear as to how I define the parent frame.
Update (7/14/14): I used chains in my urdf to define the planning groups and still the "No active joints or end effectors found..." line in the terminal window is output but the Rviz window will at least open but with a black screen even after multiple launches.
Dropbox Moveit! Package
Dropbox urdf description files
"iarm_ed.urdf" is the file I used with the Moveit! setup assistant
Update (7/15/14): Rviz will open with the robot in the environment (I changed nothing but perhaps the restart closed a redundant process or something...). The end effector issue still remains as it is not being seen and the info message (same as above) is being output. There is an interactive marker associated with the 'arm' planning group in Rviz, but when clicked and moved, the gripper will float away with the marker and the arm stays in the same pose. If the gripper planning group is chosen then the marker disappears. I am using the chain method in the Setup Assistant (base_link >> link5 for 'arm' group & link5 >> gripper for 'gripper' group).
It seems like there is a disconnect between the end effector and the rest of the arm but all joints are specified as having a parent and child that connects the entire robot from base to gripper.
Thanks all for the time
Originally posted by JoSo on ROS Answers with karma: 120 on 2014-07-11
Post score: 2
Original comments
Comment by gvdhoorn on 2014-07-12:
Having access to the actual URDF and / or moveit pkg would probably make helping you a bit easier. Also, try a chain, RViz / MoveIt sometimes crashes when using a collection of joints, instead of a chain.
Comment by gvdhoorn on 2014-07-14:
@JoSo: would it be an option to put your pkgs on a github repository? Other option would be a file exchange site / dropbox.
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Is it possible to use rostest on the PR2?
I'm running them fine in simulation with pr2_gazebo. When I run on the real PR2 (of course without pr2_gazebo) I see:
[FATAL] [1405106407.155258687]: Could not load the xml from parameter server: robot_description
[ERROR] [1405106407.155347537]: Could not load robot model. Are you sure the robot model is on the parameter server?
My guess is it has something to do with the ROS IP address changing that rostest does, but I'm not sure. Many thanks for any help.
Basic info:
Ubuntu 12.04
ROS Groovy
rosbuild
python
Originally posted by mbforbes on ROS Answers with karma: 70 on 2014-07-11
Post score: 1
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Hi, as starting point to work with Moveit and my custom robot i downloaded and modified
xxx://github.com/ros-planning/moveit_pr2
i put the folder in my catkin workspace under /src, renamed everything according to my robot and used a lot of examples.
Now i need to launch some original pr2 tutorial so i downloaded same package again this time i left everything intact but when i launch catkin_make i get lot's linking errors like this one:
CMake Error at moveit_pr2-hydro-devel/pr2_moveit_tutorials/planning/CMakeLists.txt:18 (target_link_libraries):
Attempt to add link library "/opt/ros/hydro/lib/libimage_transport.so" to
target "move_group_interface_tutorial" which is not built in this
directory.
If I delete the modified package version I use with my custom robot everything compile fine but then i can't launch the examples anymore.
If I launch
rospack find pr2_moveit_tutorials
I see correctly:
/home/gabri/catkin_ws/src/moveit_pr2-hydro-devel/pr2_moveit_tutorials
but when I launch the tutorial with:
roslaunch pr2_moveit_tutorials motion_planning_interface_tutorial.launch
I get this error:
[motion_planning_interface_tutorial.launch] is neither a launch file in package [pr2_moveit_tutorials] nor is [pr2_moveit_tutorials] a launch file name
What am I missing?
Thanks
Originally posted by Wedontplay on ROS Answers with karma: 42 on 2014-07-11
Post score: 1
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Hi, as I was reading this tutorial (sorry but I don't have enough karma to post a real link):
xxxx://docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/planning_scene_tutorial.html
I saw that the right way to maintain current planning scene is to use the PlanningSceneMonitor:
The PlanningSceneMonitor is the
recommended method to create and
maintain the current planning scene
(and is discussed in detail in the
next tutorial)
But I haven't find in any of the other Moveit tutorials any reference to that class.
Maybe I'm looking in the wrong place?
Tx
Originally posted by Wedontplay on ROS Answers with karma: 42 on 2014-07-11
Post score: 0
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I have always no success in using callback with multiple arguments (in my use case here is three arguments) be it using exact time synchronizer or approximate one.
My implementation is like below:
void callback(const std_msgs::Float32::ConstPtr& msg1, const std_msgs::Float32::ConstPtr& msg2, const std_msgs::Float32::ConstPtr& msg3)
{
// some processing
}
message_filters::Subscriber<std_msgs::Float32> sub1(n, "chatter", 1);
message_filters::Subscriber<std_msgs::Float32> sub2(n, "chatter", 1);
message_filters::Subscriber<std_msgs::Float32> sub3(n, "chatter", 1);
typedef sync_policies::ApproximateTime<std_msgs::Float32, std_msgs::Float32, std_msgs::Float32> MySyncPolicy;
// ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), sub1, sub2, sub3);
sync.registerCallback(boost::bind(&callback, _1, _2, _3));
Updated complete error:
{-------------------------------------------------------------------------------
/opt/ros/fuerte/include/message_filters/synchronizer.h:268:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&, F5&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, F5 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:261:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:254:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:247:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:168:5: instantiated from ‘message_filters::Synchronizer<Policy>::Synchronizer(const Policy&, F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/home/abc/ros_workspace/prototype/src/prototype_node.cpp:141:68: instantiated from here /opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:620:119: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<std_msgs::Float32_<std::allocator<void> >, void>’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h: In member function ‘ros::Time message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualTime() [with int i = 1, M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType]’:/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:646:5: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualCandidateBoundary(uint32_t&, ros::Time&, bool) [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, uint32_t = unsigned int]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:634:65: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualCandidateEnd(uint32_t&, ros::Time&) [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, uint32_t = unsigned int]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:763:11: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::process() [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:212:9: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::add(const typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type&) [with int i = 0, M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type = ros::MessageEvent<const std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:358:5: instantiated from ‘void message_filters::Synchronizer<Policy>::cb(const typename boost::mpl::at_c<typename Policy::Events, i>::type&) [with int i = 0, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >, typename boost::mpl::at_c<typename Policy::Events, i>::type = ros::MessageEvent<const std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:290:5: [ skipping 3 instantiation contexts ]/opt/ros/fuerte/include/message_filters/synchronizer.h:268:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&, F5&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, F5 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:261:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:254:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:247:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:168:5: instantiated from ‘message_filters::Synchronizer<Policy>::Synchronizer(const Policy&, F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/home/abc/ros_workspace/prototype/src/prototype_node.cpp:141:68: instantiated from here/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:612:117: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<std_msgs::Float32_<std::allocator<void> >, void>’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:620:119: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<std_msgs::Float32_<std::allocator<void> >, void>’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h: In member function ‘ros::Time message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualTime() [with int i = 2, M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType]’:/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:647:5: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualCandidateBoundary(uint32_t&, ros::Time&, bool) [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, uint32_t = unsigned int]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:634:65: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::getVirtualCandidateEnd(uint32_t&, ros::Time&) [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, uint32_t = unsigned int]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:763:11: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::process() [with M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType]’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:212:9: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::add(const typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type&) [with int i = 0, M0 = std_msgs::Float32_<std::allocator<void> >, M1 = std_msgs::Float32_<std::allocator<void> >, M2 = std_msgs::Float32_<std::allocator<void> >, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type = ros::MessageEvent<const std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:358:5: instantiated from ‘void message_filters::Synchronizer<Policy>::cb(const typename boost::mpl::at_c<typename Policy::Events, i>::type&) [with int i = 0, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >, typename boost::mpl::at_c<typename Policy::Events, i>::type = ros::MessageEvent<const std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:290:5: [ skipping 3 instantiation contexts ]/opt/ros/fuerte/include/message_filters/synchronizer.h:268:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&, F5&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, F5 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:261:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >] /opt/ros/fuerte/include/message_filters/synchronizer.h:254:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F3 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:247:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/opt/ros/fuerte/include/message_filters/synchronizer.h:168:5: instantiated from ‘message_filters::Synchronizer<Policy>::Synchronizer(const Policy&, F0&, F1&, F2&) [with F0 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F1 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, F2 = message_filters::Subscriber<std_msgs::Float32_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> >, std_msgs::Float32_<std::allocator<void> > >]’/home/abc/ros_workspace/prototype/src/prototype_node.cpp:141:68: instantiated from here/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:612:117: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<std_msgs::Float32_<std::allocator<void> >, void>’/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:620:119: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<std_msgs::Float32_<std::allocator<void> >, void>’make[2]: *** [CMakeFiles/prototype_node.dir/src/prototype_node.o] Error 1make[1]: *** [CMakeFiles/prototype_node.dir/all] Error 2-------------------------------------------------------------------------------}
What could go wrong? Thanks.
Originally posted by alfa_80 on ROS Answers with karma: 1053 on 2014-07-12
Post score: 0
|
I use KDevelop 4.3.1 for ROS Groovy with ubuntu 12.04.
I try to open CMakeLists.txt on KDevelop to open ROS project, but it shows the error that says can't find ros/ros.h.
How to set KDevelop for ROS properly?
Thank you very much~~
Originally posted by sam on ROS Answers with karma: 2570 on 2014-07-12
Post score: 1
Original comments
Comment by sam on 2014-07-13:
Thank you~ You are correct! When I run kdevelop on bash, the ros.h header is found. Please post it as an answer~^^
|
I write the following code in catkin package :
#include <ros/ros.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include "actionlib/client/simple_action_client.h"
#include <stdlib.h>
using namespace cv;
using namespace std;
When I compile, it shows:
/home/ira/code/ros_groovy/src/sam_pr2_lab_auto_scene_4/src/pr2_lab_auto_scene_4.cpp:8:56: fatal error: pr2_controllers_msgs/JointTrajectoryAction.h: No such file or directory
compilation terminated.
make[2]: *** [sam_pr2_lab_auto_scene_4/CMakeFiles/pr2_lab_auto_scene_4.dir/src/pr2_lab_auto_scene_4.cpp.o] Error 1
make[1]: *** [sam_pr2_lab_auto_scene_4/CMakeFiles/pr2_lab_auto_scene_4.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
I found that pr2_controllers_msgs package is based on rosbuild.
ira@ira:/opt/ros/groovy/stacks/pr2_controllers/pr2_controllers_msgs$ ls
action bin CMakeLists.txt mainpage.dox Makefile manifest.xml msg msg_gen ROS_NOBUILD src srv srv_gen
ira@ira:/opt/ros/groovy/stacks/pr2_controllers/pr2_controllers_msgs$
How to solve it?
Thank you~
Originally posted by sam on ROS Answers with karma: 2570 on 2014-07-12
Post score: 1
|
hi, all,
How do I limit the size of my local cost map?
I am using move_base as my navigational stack.
each time the stack starts, the entire map was loaded as local cost map.
how do I confine it to the viewable range?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-12
Post score: 1
|
Hi,
I have a C file(cluster.c) and a header file(cluster.h) which are not a part of any ROS package. I want to call functions in that C file from my already existing ROS package's source file(detect.cpp). Note that "cluster.c" is just a collection of some C functions without a main(). So, it can't be compiled separately.
I thought of creating a library out of "cluster.c" and "cluster.h" and link that library to my ROS package? How do I do this? What changes should I make to my existing package's CMakeLists.txt and package.xml?
This may be a silly and repeated question as I found similar questions being answered. As I am very new to ROS I couldn't understand much from those answers. If someone could explain me in simple terms, it would be great.
Thanks,
Raj
Originally posted by Keerthi Raj on ROS Answers with karma: 7 on 2014-07-12
Post score: 0
|
Hello everyone,
I've recently installed Ros Indigo on Ubuntu 14.04. I was having issues with OpenCv installed by sudo apt-get install libopencv-dev as it did not contain the nonfree/* (SIFT SURF and other 2d features) modules.
I decided to uninstall libopencv-dev and install OpenCv 2.4.8 from source. This went just fine; however, several ros packages (cv_bridge being one of them) were uninstalled as they depended on libopencv-dev.
This is the list of all of the ros packages that depend on libopencv-dev
libopencv-dev ros-indigo-camera-calibration
ros-indigo-compressed-depth-image-transport
ros-indigo-compressed-image-transport ros-indigo-cv-bridge
ros-indigo-depth-image-proc ros-indigo-desktop ros-indigo-gazebo-plugins
ros-indigo-gazebo-ros-pkgs ros-indigo-image-geometry
ros-indigo-image-pipeline ros-indigo-image-proc ros-indigo-image-rotate
ros-indigo-image-transport-plugins ros-indigo-image-view
ros-indigo-librviz-tutorial ros-indigo-perception
ros-indigo-rqt-common-plugins ros-indigo-rqt-image-view
ros-indigo-rqt-robot-plugins ros-indigo-rqt-rviz ros-indigo-rviz
ros-indigo-rviz-plugin-tutorials ros-indigo-rviz-python-tutorial
ros-indigo-simulators ros-indigo-stereo-image-proc
ros-indigo-theora-image-transport ros-indigo-vision-opencv
ros-indigo-visualization-tutorials ros-indigo-viz
Is there a method to install these packages and force them to depend on my source installed opencv?
Originally posted by Charlie Murphy on ROS Answers with karma: 76 on 2014-07-12
Post score: 1
|
I am trying to follow 'PR2 Navigation Stack Demo' in pr2_simulator/Tutorials/BasicPR2Controls.
Unfortunately, it does not work on my computer (Ubuntu + groovy).
I have done to rosmake every required packages.
When I type 'roslaunch ~/pr2_nav_tutorial.launch', I got the following error messages:
process[interpolate_missing_tilt_laser_data_filter-6]: started with pid [28137]
ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
process[base_shadow_filter-8]: started with pid [28143]
ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
ERROR: cannot launch node of type [semantic_point_annotator/sac_inc_ground_removal_node]: can't locate node [sac_inc_ground_removal_node] in package [semantic_point_annotator]
...
File "/opt/ros/groovy/stacks/pr2_navigation/pr2_move_base/scripts/pr2_move_base.py", line 45, in
from pr2_msgs.msg import LaserTrajCmd
ImportError: No module named pr2_msgs.msg
[r_arm_controller/joint_trajectory_generator-12] process has died [pid 28721, exit code -6, cmd /opt/ros/groovy/stacks/pr2_common_actions/joint_trajectory_generator/bin/joint_trajectory_generator __name:=joint_trajectory_generator __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/r_arm_controller-joint_trajectory_generator-12.log].
log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/r_arm_controller-joint_trajectory_generator-12*.log
[l_arm_controller/joint_trajectory_generator-13] process has died [pid 28746, exit code -6, cmd /opt/ros/groovy/stacks/pr2_common_actions/joint_trajectory_generator/bin/joint_trajectory_generator __name:=joint_trajectory_generator __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/l_arm_controller-joint_trajectory_generator-13.log].
log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/l_arm_controller-joint_trajectory_generator-13*.log
Despite the error messages, it constantly generates the following pattern of logs:
[tilt_shadow_filter-5] process has died [pid 29406, exit code -6, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/tilt_shadow_filter-5.log].
log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/tilt_shadow_filter-5*.log
respawning...
[tilt_shadow_filter-5] restarting process
process[tilt_shadow_filter-5]: started with pid [29489]
[base_shadow_filter-8] process has died [pid 29422, exit code -6, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=base_scan cloud_filtered:=base_scan_shadow_filtered __name:=base_shadow_filter __log:=/home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/base_shadow_filter-8.log].
log file: /home/jiwung/.ros/log/4f4c7f06-0aad-11e4-beb3-a01d48be97cc/base_shadow_filter-8*.log
respawning...
[base_shadow_filter-8] restarting process
process[base_shadow_filter-8]: started with pid [29505]
terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
what(): Could not find library corresponding to plugin pr2_navigation_perception/PR2PointCloudFootprintFilterNew. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
what(): Could not find library corresponding to plugin pr2_navigation_perception/PR2PointCloudFootprintFilterNew. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
So, ignoring the error messages, I typed 'roslaunch pr2_navigation_global rviz_move_base.launch', but the pr2 robot does not appear in rviz. Under Display tap, Status of RobotModel is labeled with Error.
Thanks in advance.
Originally posted by kenomuseki on ROS Answers with karma: 1 on 2014-07-13
Post score: 0
Original comments
Comment by DevonW on 2014-07-14:
What is being done to launch the PR2? I think these tutorials require the minimal PR2 to be brought up before they can be run.
|
In the tutorial Writing Publisher Subscriber there is ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); .
What I know is that an identifier cant have special characters other than underscore.Then what does this < std_msgs::String > stand here for?
Originally posted by mayank on ROS Answers with karma: 5 on 2014-07-13
Post score: 0
|
There's a new .launch element (only in Indigo) that delays the repawn of a node. However, it doesn't do what it says.
This is a demo part of the .launch file I have: Is there anything I'm missing?
<node pkg="res_prj" type="init_tf_broadcaster" name="init_tf_br"
respawn="true" respawn_delay="20"/>
I expect the node init_tf_br respawn after 20 secs, but it starts immediately once it dies.
Thanks in advance.
Reference: http://wiki.ros.org/roslaunch/XML/node
Originally posted by emacsd on ROS Answers with karma: 194 on 2014-07-13
Post score: 0
|
Hi
I am running hector quadrotor demo with two spawn quadrotors and get two questions:
How to read quadrotor's position? I asked it to show topics "/uav/uav1/fix" and it was supposed to show (latitude,longitude, altitude). However, when I move the UAV, only altitude change with the moving. Latitude and longitude don't change. Thus, I don't know how to read position (x,y).
Cannot control its pitch angle and roll angle. I published "geometry_msgs/Twist" to "cmd_vel",and I can control its yaw angle. But whatever value I chosen for message to publish, pitch angle and roll angle don't change.
I appreciate any advice.
Thanks
Glen
Originally posted by Glen on ROS Answers with karma: 40 on 2014-07-13
Post score: 0
Original comments
Comment by ZP on 2016-05-31:
Have you solved the second question about the pitch angle and roll angle? I have the same problem.
|
Hi all,
Could anyone tell me where is the Log folder when running Niviewer or Niviewer2? I install openni 1.5.4 and openni2 through ros package through apt-get as a dependence of ros-hydro-openni-camera and ros-hydro-openni2-camera. I installed Niviewer and Niviewer2 through openni-utils in apt-get. I assume I will get the same Log folder location when I run through ros-hydro-openni-launch and please correct me if I'm wrong.
I also want to make sure the right way to enable the log file is to modify the line in /etc/openni/GlobalDefaults.ini (Openni) or in /etc/openni2/OpenNi.ini
from
;LogWriteToFile=1
to
LogWriteToFile=1
Do I have to restart the computer for the modification to take effect or is there anyway for it to take effect without restarting the computer?
Thanks.
Originally posted by Fei Liu on ROS Answers with karma: 47 on 2014-07-13
Post score: 0
Original comments
Comment by allenh1 on 2014-07-14:
Did you look in ~/.ros?
Comment by Fei Liu on 2014-07-14:
I looked at ~/.ros, didn't find any clue. ~/.ros contains only ros related log.
|
I am hacking at the Create based TurtleBot code to operate my own robot using ROS Hydro.
I have created my own URDF modifications and some code changes.
If I run:
roslaunch turtlebot_rviz_launchers view_model.launch
my Robot looks perfect and there are no problems in RVIZ.
However, when I bring up the robot and run:
roslaunch turtlebot_rviz_launchers view_robot.launch
RVIZ says that there is no transform connecting my left_wheel_link and right_wheel_link to the base_footprint. Also, it shows both wheels of my robot originating at 0,0,0 instead of being at the location specified by the joint in the URDF file.
Where is this transform supposed to come from?
My suspicion is that it is supposed to be from /joint_states, published by turtlebot_node.py.
When I run a gazebo simulation of the TurtleBot create model, /joint_states displays what appears to be appropriate information.
However, the turtlebot_node.py code is hard coded to always publish "0, 0, 0":
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "back_castor_joint"],
position=[0,0,0,0], velocity=[0,0,0,0], effort=[0,0,0,0])
which is exactly what I see from /joint_states
So why does the gazebo simulation show real /joint_states data, but not the real Create Turtlebot?
Or is there some other piece of the puzzle that I am missing here?
Or am I on the wrong path looking at the /joint_states to try to solve my left/right_wheel_link issues in RVIZ?
Originally posted by ChrisL8 on ROS Answers with karma: 241 on 2014-07-13
Post score: 0
|
Hi all,
I need to write a node to listen to a usb port via libusb. I used to do that with a simple cpp program, but I had to use sudo to open the port. How can I rosrun such a program?
By the way, I am also interested in how rosserial pkg. does the trick. Because I think open a serial port also require root privilege.
Originally posted by ZiyangLI on ROS Answers with karma: 93 on 2014-07-13
Post score: 1
|
Hello,
when it try to run my webcam with libuvc_camera:
sudo -E rosrun libuvc_camera camera_node vendor:=0x046d
dyld: Library not loaded: librospack.dylib
Referenced from: /opt/ros/indigo/bin/rospack
Reason: image not found
But librospack.dylib is compiled fresh and sitting in /opt/ros/indigo/lib/librospack.dylib.
Why is it not being found? Is there something wrong with my paths?
Originally posted by J.M.T. on ROS Answers with karma: 266 on 2014-07-14
Post score: 0
Original comments
Comment by demmeln on 2014-07-14:
I guess with your answer to your other question you don't need to resolve this any more?
Comment by J.M.T. on 2014-07-15:
No, unfortunately this still needs to be resolved. I gave up the isight but really need a camera. Thus I've settled for a fairly standard Logitech c270...
|
I have a bit of an interesting question for you. I have been experimenting with Opencv for a while and would like to add so vision applications to my robot, especially object detection. However I cannot to get either template matching or matching via key points to work. What methods would you suggest?
Originally posted by Massbuilder on ROS Answers with karma: 71 on 2014-07-14
Post score: 2
Original comments
Comment by Mehdi. on 2014-07-15:
It highly depends on your performance/speed constraints. From my own experience, using keypoints works quite well (SIFT and SURF being the most accurate but slowest). Are you doing keypoints detection, descriptors extraction and keypoints matching with outlier removal (using RANSAC)?
Comment by Hansg91 on 2014-07-15:
I can only comment that I had satisfying results using HOG features in combination with a SVM classifier.
|
Hello,
I am currently publishing an image which is 1024x1024 pixels and I am trying to rectify it using image_proc. The output of my /camera/camera_info is:
header:
seq: 3692
stamp:
secs: 1405337388
nsecs: 154563950
frame_id: camera
height: 1024
width: 1024
distortion_model: plumb_bob
D: [-0.183149270183746, 0.139143255380374, 0.00225718725189143, 0.00131346587970189, 0.0]
K: [1189.58587069262, 0.0, 501.625685647322, 0.0, 1188.97100074168, 550.474655398214, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [1151.62145996094, 0.0, 501.542604357335, 0.0, 0.0, 1150.24182128906, 553.703494449055, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 2
binning_y: 2
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: True
While the header of the output of /camera/image_raw is:
header:
seq: 7082
stamp:
secs: 1405337872
nsecs: 724561256
frame_id: camera
height: 1024
width: 1024
encoding: mono8
is_bigendian: 0
step: 1024
So the problem is that, when I run $ROS_NAMESPACE=camera image_proc image_proc I get images to be published at /camera/image_rect that have the following header:
header:
seq: 20
stamp:
secs: 1405338132
nsecs: 447977005
frame_id: camera
height: 512
width: 512
encoding: mono8
is_bigendian: 0
step: 512
I can see with image_view that the image in the rectified version is only the 512x512 upper left of the original 1024x1024 image_raw
Does anyone know why image_proc is only grabbing only the first upper 512x512 pixels of my image? It seems to me to be some kind of ROI problem, but I cannot see where...
Thanks in advance,
Pedro
Originally posted by PedroGusmao on ROS Answers with karma: 66 on 2014-07-14
Post score: 0
|
Hello,
I'm trying to write a launch file for my python program. My program is named search.py and is located in searching_tobot/src. Here is my launch file so far :
<launch>
<group ns="robot0">
<node name="search" pkg="searching_tobot" type="search" output="screen">
</node>
</group>
<group ns="robot1">
<node name="search" pkg="searching_tobot" type="search" output="screen">
</node>
</group>
</launch>
However I have this error :
core service [/rosout] found
ERROR: cannot launch node of type [searching_tobot/search]: can't locate node [search] in package [searching_tobot]
ERROR: cannot launch node of type [searching_tobot/search]: can't locate node [search] in package [searching_tobot]
And I can't find what I'm doing wrong. I tried replacing search by search.py with no luck
I'm used to do launch file with C++ executable and I'm a bit of a newbie with python on ROS and I couldn't find the answer and the wiki :S. Thanks a lot !
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-07-14
Post score: 1
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I am trying to install the new version of diagnostics from source to my groovy.
I have backed up and deleted the version of diagnostics that was in my src folder and cloned the current version of diagnostics from the git repo. Before this I made sure that catkin_make_isolated worked.
After cloning the current version of diagnostics to groovy, Catkin_make_isolated gave me the following error:
==> Processing catkin package: 'diagnostics'
==> Building with env: '/media/home/ros/devel_isolated/cpp_common/env.sh'
==> cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated in '/media/home/ros/build_isolated/diagnostics'
CMake Error: The source "/media/home/ros/src/diagnostics/diagnostics/CMakeLists.txt" does not match the source "/media/home/ros/build_isolated/diagnostics/CMakeLists.txt" used to generate cache. Re-run cmake with a different source directory.
<== Failed to process package 'diagnostics':
Command '/media/home/ros/devel_isolated/cpp_common/env.sh cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated' returned non-zero exit status 1
Reproduce this error by running:
==> cd /media/home/ros/build_isolated/diagnostics && /media/home/ros/devel_isolated/cpp_common/env.sh cmake /media/home/ros/src/diagnostics/diagnostics -DCATKIN_DEVEL_PREFIX=/media/home/ros/devel_isolated/diagnostics -DCMAKE_INSTALL_PREFIX=/media/home/ros/install_isolated
Should I delete the old versions of diagnostics from the build_isolated directory also?
Originally posted by goshawk on ROS Answers with karma: 70 on 2014-07-14
Post score: 0
|
Hey guys,
I accidentally deleted something out of my apt/sources.list and I didn't see the name before it got deleted.
Now whenever I try to use apt-get install I get this message:
The following packages have unmet
dependencies:
ros-hydro-message-runtime : Depends:
ros-hydro-cpp-common but it is not
going to be installed
Depends: ros-hydro-roscpp-serialization but it
is not going to be installed
Depends: ros-hydro-roscpp-traits but it is not
going to be installed
Depends: ros-hydro-rostime but it is not going
to be installed E: Error,
pkgProblemResolver::Resolve generated
breaks, this may be caused by held
packages.
How do I fix this?
Originally posted by Robocop87 on ROS Answers with karma: 255 on 2014-07-14
Post score: 0
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Hi,
I'm working with a complicated ROS system involving a number of nodes and therefore a tf tree. I just wanted to know, is there a command to find out which particular transform or tfs are being subscribed to by a given node.
For example, when I see the rqt_graph, it just shows the node subscribe to /tf and not which tf. Along the same lines, it only shows which nodes are publishing to /tf but not which transform particularly.
Thank you very much.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-14
Post score: 0
|
Hello, I'm using a ROS driver for the ax2550 motor controller found here:
https://github.com/wjwwood/ax2550
(I couldn't figure out the actual download, so I just created my own project and copied the text into each file, then catkin_made. I don't think this is the source of my problems, since it compiled, and worked for a similar device driver that I got working just yesterday.)
I have plugged the device into a serial-->usb converter, which then goes into my computer. However, when I run the node using:
rosrun ax2550 ax2550_node /dev/ttyUSB0 (this is the port its connected to)
I get the following response:
[ INFO] [1405371811.620859117]: AX2550 connecting to port /dev/ttyUSB0
[ERROR] [1405371811.621207096]: Failed to connect to the AX2550: IO Exception (13): Permission denied, file /tmp/buildd/ros-hydro-serial-1.1.7-0precise-20140617-0339/src/impl/unix.cc, line 150.
[ INFO] [1405371811.621317396]: Will try to reconnect to the AX2550 in 5 seconds.
It looks like this is a permissions error (despite the fact that I am the administrator), but I don't know for sure and if it is I don't know how to change these permissions. Anyone got any ideas?
Thanks
New info:
I ran the line sudo chmod 777 /dev/ttyUSB0, which solved the error I was initially having. However, I am now encountering a new error when I try to run the node:
[ INFO] [1405453884.235150040]: AX2550 connecting to port /dev/ttyUSB0 [ERROR] [1405453886.236099864]: Failed to connect to the AX2550: Synchronization Exception: did not receive an R/C message after reset, file /home/randy/catkin_ws/src/toro/src/ax2550.cpp, line 315. [ INFO] [1405453886.503068921]: Will try to reconnect to the AX2550 in 5 seconds. Any idea what could be causing this one?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-07-14
Post score: 0
Original comments
Comment by gvdhoorn on 2014-07-15:
You can use 'git clone URL' to create a local copy of the repository (see also the 'HTTPS clone url' box at the bottom right on the repository page. You might benefit from following a tutorial on git(hub), such as http://readwrite.com/2013/09/30/understanding-github-a-journey-for-beginners-part-1.
Comment by mysteriousmonkey29 on 2014-07-15:
Thanks. I checked this out and it is a much easier method of installing github stuff
Comment by William on 2014-07-15:
@randylewis7 if you are still having trouble getting this to work you might update your question with new information.
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The create.urdf.xacro file labels the wheel joints as continuous:
<joint name="right_wheel_joint" type="continuous">
but then turtlebot_node.py publishes a transform for that joint that never changes.
It seems like that is just adding overhead.
Is there any reason not to just set the wheels to fixed like this:
<joint name="right_wheel_joint" type="fixed">
It appears to work from testing, but I am afraid that it might come back to bite me later in something like gmapping or some other future use of my robot that I haven't tested yet.
Can anyone tell me if a fixed wheel joint will have any negative repercussions, other than an inability to "animate" it in RVIZ?
Originally posted by ChrisL8 on ROS Answers with karma: 241 on 2014-07-14
Post score: 0
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Why does the /odom frame disappear in rviz? This happens to me when I set the fixed frame to be /odom.
Update: based on request for tf tree
My tf tree was odom -> base_footprint -> base_link -> all_frames_on_robot
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-14
Post score: 2
Original comments
Comment by sai on 2014-07-14:
I think, it means that there is no TF from odom frame to others. You can check once by 'rosrun tf view_frames' and see if this is true. Later you can create a valid TF tree and then check in RVIZ.
Comment by 2ROS0 on 2014-07-15:
There is a tf that I have checked using view_frames. Also, the /odom frame shows when some other frame is selected as fixed frame. It's only when I select the /odom frame as fixed frame that it is seen for some time and then disappears.
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Hi,
I'm new to ROS and I'm trying to get my robot simulation in gazebo work with the navigation stack. I've followed the navigation stack tutorials but when I set a goal position in the rviz, I get the error:
[ WARN] [1405397031.898957310, 340.132000000]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
Here are my navigation stack configurations:
costmap_common_params:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
#robot_radius: 0.20
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: lms100, data_type: LaserScan, topic: /p3dx/laser/scan, marking: true, clearing: true}
global_costmap_params:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
local_costmap_params:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
transform_tolerance: 0.8 # seconds
base_local_planner_params:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: false
move_base.launch:
<launch>
<master auto="start"/>
<!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find p3dx_description)/launch/map.yaml my_map" output="screen"/> -->
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_omni.launch" />
<!-- <include file="$(find erratic_navigation)/navigation_slam/slam_gmapping.launch" /> -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find p3dx_description)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find p3dx_description)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find p3dx_description)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find p3dx_description)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find p3dx_description)/launch/base_local_planner_params.yaml" command="load" />
</node>
</launch>
gazebo.launch which contains gmapping:
<launch>
<!-- these are the arguments you can pass this launch file, for example
paused:=true -->
<arg name="paused" default="false" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<!-- We resume the logic in empty_world.launch, changing only the name of
the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find p3dx_gazebo)/worlds/p3dx.world" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
<arg name="use_sim_time" value="$(arg use_sim_time)" />
<arg name="headless" value="$(arg headless)" />
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find p3dx_description)/urdf/pioneer3dx.xacro'" />
<!-- Run a python script to the send a service call to gazebo_ros to spawn
a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen" args="-urdf -model p3dx -param robot_description" />
<!-- ros_control p3rd launch file -->
<!-- <include file="$(find p3dx_control)/launch/control.launch" /> -->
<!-- kasra -->
<node pkg="p3dx_gazebo" name="mimic_cmd_vel" type="mimic_cmd_vel" />
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/p3dx/joint_states" />
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
</node>
<node pkg="p3dx_gazebo" name="laser_tf_broadcaster" type="laser_tf_broadcaster" />
<node pkg="gmapping" name="slam_gmapping" type="slam_gmapping" args="scan:=/p3dx/laser/scan"/>
</launch>
When I add the global_costmap to the rviz it shows as a square which my robot is on one of its corners and that's why I get that error:
lamoo.persiangig.com/image/ros/rviz.png
And here are my rqt_gragh and tf_tree:
lamoo.persiangig.com/image/ros/graph.png
lamoo.persiangig.com/image/ros/tf_tree.png
Does anyone now how can I control the position of the global_costmap? the regular map which comes from the laserScan looks correct but the global_costmap as you see in the picture does not contain the robot. I appreciate any help in advance.
Originally posted by Kasra on ROS Answers with karma: 86 on 2014-07-14
Post score: 0
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I am running a gazebo simulation on a jenkins server under hydro. I have an issue there.
I do not have this problem when I am either:
running the simulation locally
using groovy (on the server, too)
This is the relevant output:
spawn_model script started
[INFO] [WallTime: 1405355874.601154] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1405355874.614810] [0.000000] Waiting for service /gazebo/spawn_urdf_model
spawn_model script started
[INFO] [WallTime: 1405355874.602682] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1405355874.626550] [0.000000] Waiting for service /gazebo/spawn_urdf_model
... logging to /root/.ros/log/rostest-jenkins-aub-ch-24428.log
[ROSUNIT] Outputting test results to /tmp/src/wet/build/test_results/my_navigation_test/rostest-launch_my_test_param_test___navigation_arg__2dnav_ipa_eband-navigation_ipa__true-robot__cob3-6-robot_env__ipa-kitchen-scenarioName__scene2-sim__true-.xml
testnavigation_test_jenkins_aub_ch_24428_6280624626160673722 ... FAILURE!
FAILURE: Test Fixture Nodes ['world_joint_state_publisher', 'joint_state_controller_spawner', 'base_controller_spawner', 'head_controller_spawner', 'arm_controller_spawner', 'sdh_controller_spawner', 'torso_controller_spawner', 'tray_controller_spawner'] failed to launch
File "/usr/lib/python2.7/unittest/case.py", line 327, in run
testMethod()
File "/tmp/src/wet/src/ros_comm/tools/rostest/src/rostest/runner.py", line 122, in fn
self.assert_(not failed, "Test Fixture Nodes %s failed to launch"%failed)
File "/usr/lib/python2.7/unittest/case.py", line 420, in assertTrue
raise self.failureException(msg)
I think this problem depends on the /gazebo/spawn_urdf_model service.
Any Ideas, how to fix this?
Thanks for your help!
Update:
I now looked deeper into the problem: I reinstalled all dependencies from apt packages using ros-hydro-desktop-full
I found an error in the logfile of world_state_publisher:
/opt/ros/hydro/lib/robot_state_publisher/state_publisher
[33m[ WARN] [1406034138.074698487]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead[0m
[33m[ WARN] [1406034138.106214435]: The root link dummy_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.[0m
It turns out that this link is actually missing in the simulated robot model.
Can anybody help me on that?
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-07-15
Post score: 1
Original comments
Comment by ct2034 on 2014-07-17:
Has no one an idea? Can you maybe give me an idea what I should check? What can be different between the case of launching it locally and on a jenkins server?
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Hi,
I'm new to ROS and I'm having some trouble when running the teleop application in the turtlebot2. I'm trying to run it directly on the netbook that came along with the turtlebot. Therefore, I'm not using SSH. ROS Hydro and the turtlebot_teleop package were already installed in the netbook. I'm running "turtlebot_bringup minimal.launch" in one terminal and "turtlebot_teleop keyboard_teleop.launch" in another one. When I press one of the assigned letters I can see that the velocities are being changed, however the robot doesn't move.
the output of 'roswtf' was 1 warning:
WARNING The following node subscriptions are unconnected:
* /mobile_base_nodelet_manager:
* /mobile_base/commands/controller_info
* /mobile_base/commands/external_power
* /mobile_base/commands/reset_odometry
* /mobile_base/commands/sound
* /cmd_vel_mux/input/safety_controller
* /cmd_vel_mux/input/navi
* /mobile_base/commands/digital_output
* /mobile_base/commands/led1
* /mobile_base/commands/led2
* /mobile_base/commands/motor_power
Furthermore, I used rqt_graph to take a look in the nodes connection.
The rqt_graph can be seen here: http://oi59.tinypic.com/2r21z0w.jpg and http://oi61.tinypic.com/n5q9vb.jpg
This graph looks weird to me. Why are there so many topics named /mobile_base_nodelet_manager/bond?
I've read other threads of people with a similar problem and it seems that the problem was either with the turtlebot_teleop package or that the person was running codes of different release versions. However, I'm not sure if this is my case too because I didn't have to install anything. Everything I'm using came already installed in the netbook that came along with the robot.
EDIT: the log for 'roslaunch turtlebot_bringup minimal.launch --screen' is:
turtlebot@turtlebot-X200CA:~$ roslaunch turtlebot_bringup minimal.launch --screen... logging to /home/turtlebot/.ros/log/917cdfc6-0cc2-11e4-9663-48d22479773d/roslaunch-turtlebot-X200CA-2196.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.85.254.209:54459/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius
* /cmd_vel_mux/yaml_cfg_file
* /diagnostic_aggregator/analyzers/input_ports/contains
* /diagnostic_aggregator/analyzers/input_ports/path
* /diagnostic_aggregator/analyzers/input_ports/remove_prefix
* /diagnostic_aggregator/analyzers/input_ports/timeout
* /diagnostic_aggregator/analyzers/input_ports/type
* /diagnostic_aggregator/analyzers/kobuki/contains
* /diagnostic_aggregator/analyzers/kobuki/path
* /diagnostic_aggregator/analyzers/kobuki/remove_prefix
* /diagnostic_aggregator/analyzers/kobuki/timeout
* /diagnostic_aggregator/analyzers/kobuki/type
* /diagnostic_aggregator/analyzers/power/contains
* /diagnostic_aggregator/analyzers/power/path
* /diagnostic_aggregator/analyzers/power/remove_prefix
* /diagnostic_aggregator/analyzers/power/timeout
* /diagnostic_aggregator/analyzers/power/type
* /diagnostic_aggregator/analyzers/sensors/contains
* /diagnostic_aggregator/analyzers/sensors/path
* /diagnostic_aggregator/analyzers/sensors/remove_prefix
* /diagnostic_aggregator/analyzers/sensors/timeout
* /diagnostic_aggregator/analyzers/sensors/type
* /diagnostic_aggregator/base_path
* /diagnostic_aggregator/pub_rate
* /mobile_base/base_frame
* /mobile_base/battery_capacity
* /mobile_base/battery_dangerous
* /mobile_base/battery_low
* /mobile_base/cmd_vel_timeout
* /mobile_base/device_port
* /mobile_base/odom_frame
* /mobile_base/publish_tf
* /mobile_base/use_imu_heading
* /mobile_base/wheel_left_joint_name
* /mobile_base/wheel_right_joint_name
* /robot/name
* /robot/type
* /robot_description
* /robot_state_publisher/publish_frequency
* /rosdistro
* /rosversion
* /turtlebot_laptop_battery/acpi_path
* /use_sim_time
NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
turtlebot_laptop_battery (linux_hardware/laptop_battery.py)
auto-starting new master
process[master]: started with pid [2213]
ROS_MASTER_URI=http://10.85.254.209:11311
setting /run_id to 917cdfc6-0cc2-11e4-9663-48d22479773d
process[rosout-1]: started with pid [2226]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2229]
process[diagnostic_aggregator-3]: started with pid [2230]
process[mobile_base_nodelet_manager-4]: started with pid [2231]
process[mobile_base-5]: started with pid [2232]
process[cmd_vel_mux-6]: started with pid [2233]
process[bumper2pointcloud-7]: started with pid [2234]
process[turtlebot_laptop_battery-8]: started with pid [2235]
[ INFO] [1405499057.196687043]: Loading nodelet /cmd_vel_mux of type yocs_cmd_vel_mux/CmdVelMuxNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1405499057.196809014]: /cmd_vel_mux/output -> /mobile_base/commands/velocity
[ INFO] [1405499057.198588888]: Loading nodelet /bumper2pointcloud of type kobuki_bumper2pc/Bumper2PcNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1405499057.198705827]: /bumper2pointcloud/core_sensors -> /mobile_base/sensors/core
[ INFO] [1405499057.198740488]: /bumper2pointcloud/pointcloud -> /mobile_base/sensors/bumper_pointcloud
[ INFO] [1405499057.199414864]: Loading nodelet /mobile_base of type kobuki_node/KobukiNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1405499057.199527296]: /mobile_base/disable -> /disable
[ INFO] [1405499057.199561204]: /mobile_base/enable -> /enable
[ INFO] [1405499057.199589753]: /mobile_base/joint_states -> /joint_states
[ INFO] [1405499057.199616943]: /mobile_base/odom -> /odom
/opt/ros/hydro/lib/robot_state_publisher/robot_state_publisher
[ INFO] [1405499057.226453915]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1405499057.227917871]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1405499057.229581699]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1405499057.556503009]: Initializing nodelet with 2 worker threads.
[ INFO] [1405499057.571087276]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] is now available.
[ INFO] [1405499057.574181362]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] is now available.
[ INFO] [1405499057.575167629]: waitForService: Service [/mobile_base_nodelet_manager/load_nodelet] is now available.
[ INFO] [1405499057.821693549]: CmdVelMux : (re)configured [/opt/ros/hydro/share/turtlebot_bringup/param/mux.yaml]
[ INFO] [1405499057.966616003]: Bumper/cliff pointcloud configured at distance 0.240000 and height 0.040000 from base frame
[ INFO] [1405499058.419755996]: Kobuki : configured for connection on device_port /dev/kobuki [/mobile_base].
[ INFO] [1405499058.419908397]: Kobuki : driver running in normal (non-simulation) mode [/mobile_base].
[ INFO] [1405499058.423371626]: Kobuki : Velocity commands timeout: 0.600000000 seconds [/mobile_base].
[ INFO] [1405499058.425498767]: Kobuki : using odom_frame [odom][/mobile_base].
[ INFO] [1405499058.427894151]: Kobuki : using base_frame [base_footprint][/mobile_base].
[ INFO] [1405499058.430046312]: Kobuki : publishing transforms [/mobile_base].
[ INFO] [1405499058.433785085]: Kobuki : using imu data for heading [/mobile_base].
[ INFO] [1405499058.477905089]: Kobuki : Version info - Hardware: 1.0.4. Firmware: 1.2.0
[ INFO] [1405499058.690449199]: Kobuki : initialised.
Does anyone know what is the problem?
Cheers
Originally posted by gerhenz on ROS Answers with karma: 53 on 2014-07-15
Post score: 0
Original comments
Comment by jihoonl on 2014-07-15:
Can you attach the log of minimal.launch terminal? You should see some logs if you start turtlebot using roslaunch turtlebot_bringup minimal.launch --screen
Comment by gerhenz on 2014-07-16:
Hi jihoonl, I've added the log you requested in the question. Thanks
Comment by jihoonl on 2014-07-16:
I don't see any problem here. Try rostopic echo on /mobile_base/commands/velocity and /cmd_vel_mux/input/teleop to see if there is any data stream. /cmd_vel_mux/input/teleop is a command from teleop_keyboard node and /mobile_base/commands/velocity is actual topic which kobuki_driver listens.
Comment by gerhenz on 2014-07-17:
Both topics aren't receiving the commands. When I use the keyboard to try to move the robot, the teleop terminal displays the 'speed' and 'turn' parameters changing, however both topics that you mentioned display only zeroes. I also ran the kobuki dashboard and everything is fine (green mark)
Comment by jihoonl on 2014-07-20:
What keys did you press to move the robot?
Comment by gerhenz on 2014-07-21:
W,E,Q,C,X,Z. But I don't think this is the problem, since I could see the velocity parameters changing in the terminal as I pressed the keys. Anyway, I managed to make it work using a different command (see comments on the other answer)
Comment by jihoonl on 2014-07-23:
Yeah it was the problem.. You should have used u,i,o,j,k,l,m ... keys to move robot. weqcxz are to configure speed of robots.
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HI guys
I tried to calibrate my camera with ptam . but when I ran my camera's node to send image to ptam calibration and I got this err:
[FATAL] [1405423151.652879650]: ASSERTION FAILED
file = /home/hamid/Desktop/catkin_ws/src/ethzasl_ptam/ptam/src/CameraCalibrator.cc
line = 59
cond = img->encoding == sensor_msgs::image_encodings::MONO8 && img->step == img->width
this is my camera class to send image:
CameraDriver::CameraDriver()
{
ros::NodeHandle n;
n.param( "camera_index", id_camera, -1);
n.param( "fps", fps , 30 );
cvi.header.frame_id = "image";
it = new image_transport::ImageTransport(n);
pub=it->advertise("/camera/image_raw",1);
if(id_camera == -1)
{
ROS_WARN("camera's id has not recived");
ROS_WARN("I will open every camera that I find :P ");
}
input_video.open(id_camera);
input_video.set(CV_CAP_PROP_FPS,fps);
if(!input_video.isOpened())
{
ROS_ERROR("Couldn't Open The Camera !");
ROS_ERROR("Babay :(");
ros::shutdown();
}
ros::Rate loop_rate(fps);
cvi.encoding = sensor_msgs::image_encodings::MONO8;
while (ros::ok())
{
input_video.read(frame);
cvi.image=frame;
cvi.header.stamp = ros::Time::now();
pub.publish(cvi.toImageMsg());
loop_rate.sleep();
}
}
any suggestion about my problem?
I have no idae about this.
Thanks alot
Hamid
Originally posted by Hamid Didari on ROS Answers with karma: 1769 on 2014-07-15
Post score: 0
|
Why does rqt_image_view still depend on the workspace that was used for building it although it was installed to /opt/ros/indigo? Is that desirable? What can I do to fix this?
rosrun rqt_image_view rqt_image_view
Traceback (most recent call last):
File "/opt/ros/indigo/lib/rqt_image_view/rqt_image_view", line 8, in <module>
sys.exit(main.main(sys.argv, standalone='rqt_image_view'))
File "/opt/ros/indigo/lib/python2.7/site-packages/rqt_gui/main.py", line 59, in main
return super(Main, self).main(argv, standalone=standalone, plugin_argument_provider=plugin_argument_provider, plugin_manager_settings_prefix=str(hash(os.environ['ROS_PACKAGE_PATH'])))
File "/opt/ros/indigo/lib/python2.7/site-packages/qt_gui/main.py", line 336, in main
from python_qt_binding import QT_BINDING
File "/Users/tatsch/ros_catkin_ws/build_isolated/python_qt_binding/bdist.macosx-10.9-intel/egg/python_qt_binding/__init__.py", line 55, in <module>
File "/Users/tatsch/ros_catkin_ws/build_isolated/python_qt_binding/bdist.macosx-10.9-intel/egg/python_qt_binding/binding_helper.py", line 262, in <module>
File "/Users/tatsch/ros_catkin_ws/build_isolated/python_qt_binding/bdist.macosx-10.9-intel/egg/python_qt_binding/binding_helper.py", line 81, in _select_qt_binding
File "/Users/tatsch/ros_catkin_ws/build_isolated/python_qt_binding/bdist.macosx-10.9-intel/egg/python_qt_binding/binding_helper.py", line 147, in _load_pyqt
File "/usr/local/lib/python2.7/site-packages/PyQt4/Qwt5/__init__.py", line 32, in <module>
from Qwt import *
RuntimeError: the sip module implements API v11.0 to v11.1 but the PyQt4.Qwt5.Qwt module requires API v10.1
Originally posted by J.M.T. on ROS Answers with karma: 266 on 2014-07-15
Post score: 2
|
Ogre apparently cannot find a serializer implementation. Are the other platforms using a newer Ogre?
Would it help to rebuild Ogre?
rosrun rviz rviz
[ INFO] [1405425532.925741000]: rviz version 1.11.3
[ INFO] [1405425532.925794000]: compiled against OGRE version 1.7.4 (Cthugha)
2014-07-15 13:58:53.145 rviz[67820:d0b] invalid drawable
[ INFO] [1405425533.162279000]: Stereo is NOT SUPPORTED
[ INFO] [1405425533.162365000]: OpenGl version: 2.1 (GLSL 1.2).
2014-07-15 13:58:53.262 rviz[67820:d0b] invalid drawable
[ WARN] [1405425533.469035000]: OGRE EXCEPTION(7:InternalErrorException): Cannot find serializer implementation for current version [MeshSerializer_v1.8] in MeshSerializer::importMesh at /tmp/ogre-dmWe/ogre_src_v1-7-4/OgreMain/src/OgreMeshSerializer.cpp (line 118)
libc++abi.dylib: terminating with uncaught exception of type Ogre::InternalErrorException: OGRE EXCEPTION(7:InternalErrorException): Cannot find serializer implementation for current version [MeshSerializer_v1.8] in MeshSerializer::importMesh at /tmp/ogre-dmWe/ogre_src_v1-7-4/OgreMain/src/OgreMeshSerializer.cpp (line 118)
[1] 67820 abort rosrun rviz rviz
Originally posted by J.M.T. on ROS Answers with karma: 266 on 2014-07-15
Post score: 3
Original comments
Comment by demmeln on 2014-07-15:
I can confirm this issue. Ogre needs to be at least versio 1.8, but there are still problems with installing recent versions of ogre on OS X, see: https://github.com/ros-visualization/rviz/issues/782
Comment by demmeln on 2014-07-15:
@William, can hydro rviz be built with ogre1.9? If so, we should find a fix for the 1.9 installation of ogre and then update the homebrew formula to version 1.9.
Comment by William on 2014-07-15:
Yes it can, you just get a warning about the mesh types being out of date, which is where this change came in for Indigo and using Ogre 1.9 meshes.
Comment by LucaGhera on 2014-09-08:
@William is there a fix for this? Thanks!
|
Hi.
So I use the openrobotino catkin package and if I do:
roslaunch robotino_node robotino_node.launch hostname:=172.26.1.1
I get:
... logging to /home/robotino/.ros/log/14d5aee0-0b63-11e4-a7b5-001377acf23d/roslaunch-tracking-R560-3803.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server [deleted because I can't publish links]
SUMMARY
========
PARAMETERS
* /robot_description
* /robot_state_publisher/publish_frequency
* /robotino_camera_node/cameraNumber
* /robotino_camera_node/hostname
* /robotino_laserrangefinder_node/hostname
* /robotino_laserrangefinder_node/laserRangeFinderNumber
* /robotino_mapping_node/hostname
* /robotino_node/downsample_kinect
* /robotino_node/hostname
* /robotino_node/leaf_size_kinect
* /robotino_node/max_angular_vel
* /robotino_node/max_linear_vel
* /robotino_node/min_angular_vel
* /robotino_node/min_linear_vel
* /robotino_odometry_node/hostname
* /rosdistro
* /rosversion
NODES
/
robot_state_publisher (robot_state_publisher/state_publisher)
robotino_camera_node (robotino_node/robotino_camera_node)
robotino_laserrangefinder_node (robotino_node/robotino_laserrangefinder_node)
robotino_mapping_node (robotino_node/robotino_mapping_node)
robotino_node (robotino_node/robotino_node)
robotino_odometry_node (robotino_node/robotino_odometry_node)
ROS_MASTER_URI=[link with localhost:11311]
core service [/rosout] found
process[robotino_node-1]: started with pid [3821]
process[robotino_odometry_node-2]: started with pid [3822]
process[robotino_laserrangefinder_node-3]: started with pid [3823]
process[robotino_camera_node-4]: started with pid [3824]
process[robot_state_publisher-5]: started with pid [3825]
process[robotino_mapping_node-6]: started with pid [3826]
[ INFO] [1405348121.106758117]: LaserRangeFinder0 connected to Robotino.
[ INFO] [1405348121.108033560]: Odometry connected to Robotino.
[ INFO] [1405348121.111381965]: Mapping connected to Robotino.
/opt/ros/hydro/lib/robot_state_publisher/state_publisher
[ WARN] [1405348121.446816650]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1405348121.510280519]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1405348123.615750085]: Camera0 connected to Robotino.
[ INFO] [1405348123.663682500]: RobotinoNode connected to Robotino.
Now I have looked in the launch file:
<launch>
<arg name="hostname" default="172.26.1.1" />
<node name="robotino_node" pkg="robotino_node" type="robotino_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="max_linear_vel" value="0.5" />
<param name="min_linear_vel" value="0.05" />
<param name="max_angular_vel" value="3.0" />
<param name="min_angular_vel" value="0.1" />
<!-- <param name="downsample_kinect" value="true" />
<param name="leaf_size_kinect" value="0.04" /> entfernt da KinectNode nicht aktualisiert-->
<remap from="robotino_joint_states" to="joint_states" />
<!--remap from="image_raw" to="image"/-->
</node>
<!--
<node name="robotino_odometry_node" pkg="robotino_node" type="robotino_odometry_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
</node>
-->
<!--
<node name="robotino_laserrangefinder_node" pkg="robotino_node" type="robotino_laserrangefinder_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="laserRangeFinderNumber" value="0" />
</node>
-->
<!--
<node name="robotino_camera_node" pkg="robotino_node" type="robotino_camera_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="cameraNumber" value="0" />
</node>
-->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="20.0" />
</node>
<!--
<node name="robotino_mapping_node" pkg="robotino_node" type="robotino_mapping_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
</node>
-->
<!--node pkg="tf" type="static_transform_publisher" name="laser_link_broadcaster" args="0.12 0 0.025 0 0 0 base_link laser_link 50" /-->
<param name="robot_description" textfile="$(find robotino_description)/urdf/robotino.urdf" />
</launch>
The robot_state_publisher is already used, so why the warning about the deprecated state_publisher?
I have already changed the URDF in the Catkin Workspace before, when I used a joystick to drive the Robotino around (and it worked, but I can't post how it looks now because I haven't sufficient karma to publish links and it contains links).
I don't know how to change the URDF (belonging to the API2?), I can't even find it.
I already asked the question in the openrobotino forum (without success so far), but I hope you can help me. Thanks.
Originally posted by BenediktHeck on ROS Answers with karma: 151 on 2014-07-15
Post score: 2
|
Hi everyone,
Last week i compiled i set of instructions following http://wiki.ros.org/hydro/Installation/Debian at http://erlerobotics.gitbooks.io/erlerobot/en/ros/tutorials/rosinstall.html. Leaving aside the Lips dependencies, everything worked fine and i could run roscore.
When I tried today to reproduce it in another board i got stucked at the very beginning:
root@beaglebone:~# sudo apt-get install python-rosdep python-rosinstall-generator python-wstool build-essential
Reading package lists... Done
Building dependency tree
Reading state information... Done
build-essential is already the newest version.
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:
python-rosdep : Depends: python-catkin-pkg but it is not going to be installed
Depends: python-rosdistro (>= 0.3.0) but it is not going to be installed
python-rosinstall-generator : Depends: python-catkin-pkg (>= 0.1.28) but it is not going to be installed
Depends: python-rosdistro (>= 0.3.4) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
Trying to install python-catkin-pkg:
root@beaglebone:~# apt-get install python-catkin-pkg
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:
python-catkin-pkg : Depends: python:any (>= 2.7.1-0ubuntu2) but it is not installable
E: Unable to correct problems, you have held broken packages.
But my python installation is:
root@beaglebone:~# python -V
Python 2.7.3
This is definitely odd. Has something changed in the servers?
NOTE: I also tried to manually install it:
root@beaglebone:~# sudo apt-get download python-catkin-pkg
Get:1 Downloading python-catkin-pkg 0.2.3-1 [30.7 kB]
Fetched 30.7 kB in 1s (30.1 kB/s)
root@beaglebone:~# dpkg -i python-catkin-pkg_0.2.3-1_all.deb
Selecting previously unselected package python-catkin-pkg.
(Reading database ... 67685 files and directories currently installed.)
Unpacking python-catkin-pkg (from python-catkin-pkg_0.2.3-1_all.deb) ...
dpkg: dependency problems prevent configuration of python-catkin-pkg:
python-catkin-pkg depends on python:any (>= 2.7.1-0ubuntu2).
python-catkin-pkg depends on python-docutils; however:
Package python-docutils is not installed.
dpkg: error processing python-catkin-pkg (--install):
dependency problems - leaving unconfigured
Errors were encountered while processing:
python-catkin-pkg
Originally posted by v.mayoral on ROS Answers with karma: 88 on 2014-07-15
Post score: 0
Original comments
Comment by v.mayoral on 2014-07-15:
In case anyone feels curious, i put the process in a gist (https://gist.github.com/vmayoral/8dea86c42bdd890b3930)
|
Hi there,
I'd like to know if it's possible to get odometry and gyro data from a tablet or smart-phone and publish them in corresponding topics via Wifi for example ??
is it possible ?
if yes, is it difficult to do ?
Waiting for your answers.
Kind regards.
Originally posted by assil on ROS Answers with karma: 41 on 2014-07-15
Post score: 0
|
I think that the title says everything. I just want to know if it's possible to install ros groovy and hydro under ubuntu 14.04. Any thoughts or ideas?
I'm working now with ubuntu 12.04 and I use groovy and hydro, and they work nicely, the problem is the drivers for my computer (video card, sound card, etc), so that's the reason why I would like to know about the configuration of groovy (and hydro) under ubuntu 14.04. Have anybody some experience with that? even if it's the compiled source, in order to know if it's working properly under that configuration.
Originally posted by silgon on ROS Answers with karma: 649 on 2014-07-15
Post score: 1
|
I am trying to test the odometry of Segbot( With RMP 200 and Hokuyo) using the tests recommended in the ROS website. The translational test results looks reasonable, but the rotational results looks totally off. Any suggestions regarding what parameters needs to be changed to fix the problem?
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-07-15
Post score: 0
|
Is it possible to install Groovy in Ubuntu 14.04 using the ROS repository, instead of compiling from source? I ask since most all of our code is in Groovy (rosmake) but the device running ROS requires Ubuntu 14.04 due to hardware drivers/configuration, etc.?
Thanks for all the help!
Originally posted by dambrosio on ROS Answers with karma: 161 on 2014-07-15
Post score: 0
Original comments
Comment by ccapriotti on 2014-07-15:
Dambrosio, hello.
I do not have an answer for you, but this was one of my objectives; to test groovy on 14,04. It is not a matter of working or not, but rather of being supported or not. So far, it is an unsupported platform, but go for it. If you have the means, test on a VM with 14.04.
|
So I'm developing some lab exercises for an introductory robotics course. In one of the first labs, we want students to be able to plot tf frames in rviz by defining the transformations between them:
void plotf(Eigen::Matrix4f h, std::string parentName, std::string childName){
tf::TransformBroadcaster br;
tf::Transform frame;
frame.setOrigin(tf::Vector3(h(0,3), h(1,3), h(2,3)));
frame.setBasis(tf::Matrix3x3(h(0,0), h(0,1), h(0,2),
h(1,0), h(1,1), h(1,2),
h(2,0), h(2,1), h(2,2)));
ros::Duration(0.3).sleep();
br.sendTransform(tf::StampedTransform(frame, ros::Time::now(), parentName, childName));
ros::Duration(0.3).sleep();
}
This function works (though only after putting those odd delays in).
We'd also like them to be able to look up the transformation between various frames. I'm having trouble getting lookupTransform() to work, however. It says that the frames don't exist.
Any advice on the delays or the inability to look up transforms?
If the problem looking them up is that they are only published once (rather than continuously), I suppose I could write a node that continuously publishes frames and also change plotf(...) accordingly.
Originally posted by rkeatin3 on ROS Answers with karma: 156 on 2014-07-15
Post score: 0
|
I want to install Quadrotor outdoor flight demo and just go through everything step by step as the tutorial.Unlucky, the mistake appears after catkin_make.I am a beginner of ROS and sorry for my English at the same time.could anyone kindly help me? If possible, I wish to know how to solve the problem. Many thanks in advance!
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package joint_limits_interface.
Set joint_limits_interface_DIR to the directory containing a CMake
configuration file for joint_limits_interface. The file will have one of
the following names:
joint_limits_interfaceConfig.cmake
joint_limits_interface-config.cmake
Call Stack (most recent call first):
gazebo_ros_pkgs/gazebo_ros_control/CMakeLists.txt:5 (find_package)
-- +++ processing catkin package: 'smartcar_description'
-- ==> add_subdirectory(smartcar_description)
-- +++ processing catkin package: 'using_markers'
-- ==> add_subdirectory(using_markers)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
Originally posted by flow wind on ROS Answers with karma: 26 on 2014-07-15
Post score: 0
Original comments
Comment by flow wind on 2014-07-15:
In hydro system and 12.04 Ubuntu
|
I am getting the following error trying to load simulation interface for gazebo ros . This worked in hydro but after moving to ubuntu 14 - indigo I now get these errors. I can not see any thing that has changed in the documentation for this feature. It there a indigo-devel lib I need? I pull all software from ubuntu software center. I also compiled gazebo-ros-pkgs from source from indigo-devel.
[ERROR] [1405708119.053840656]: No valid hardware interface element found in joint 'joint1'.
[ERROR] [1405708119.053997707]: Failed to load joints for transmission 'tran1'.
[ERROR] [1405708119.054095180]: No valid hardware interface element found in joint 'joint2'.
[ERROR] [1405708119.054185473]: Failed to load joints for transmission 'tran2'.
[ INFO] [1405708119.161913723]: Loaded gazebo_ros_control.
[ERROR] [1405708120.087262628, 0.468000000]: Exception thrown while initializing controller joint1_position_controller.
Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1405708120.087374119, 0.468000000]: Initializing controller 'joint1_position_controller' failed
[ERROR] [1405708121.093701156, 1.280000000]: Exception thrown while initializing controller joint2_position_controller.
Could not find resource 'joint2' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1405708121.093770162, 1.281000000]: Initializing controller 'joint2_position_controller' failed
In Gazebo:
<joint name='joint2' type='revolute'>
<pose>0 0 0.03 0 1.5707 1.5707</pose>
<child>right_wheel</child>
<parent>base_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
</axis>
</joint>
<plugin name='ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/rrbot</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
In URDL .xmacro
<transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2"/>
<actuator name="motor2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
<motorTorqueConstant>10</motorTorqueConstant>
</actuator>
</transmission>
In Yaml
rrbot:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 10
# Position Controllers ---------------------------------------
joint1_position_controller:
type: effort_controllers/JointVelocityController
joint: joint1
pid: {p: 40, i: 1, d: .1, i_clamp: 1}
joint2_position_controller:
type: effort_controllers/JointVelocityController
joint: joint2
pid: {p: 40, i: 1, d: .1, i_clamp: 1}
Originally posted by rnunziata on ROS Answers with karma: 713 on 2014-07-15
Post score: 6
Original comments
Comment by gvdhoorn on 2014-07-15:
I can't help you with your actual problem, but might I suggest you change your question title to something a little more descriptive? Your current title is rather vague.
Comment by rnunziata on 2014-07-15:
thank you...it was indeed vague
|
Hello, I am trying to run a ROS node for the ax2550 motor controller, found here:
https://github.com/wjwwood/ax2550
However, when I try to compile with catkin_make, I get the following error:
CMake Error at /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:255 (message):
Messages depends on unknown pkg: nav_msgs (Missing find_package(nav_msgs?))
Call Stack (most recent call first):
ax2550/CMakeLists.txt:22 (generate_messages)
Everything I can find about this error online simply indicates that I need to specify nav_msgs as a dependency to my package, but it's already there:
<build_depend>nav_msgs</build_depend>
<run_depend>nav_msgs</run_depend>
Any ideas as to what could br going wrong?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-07-15
Post score: 0
Original comments
Comment by Martin Peris on 2014-07-16:
Make sure that nav_msgs is installed, the following command should show the path to nav_msgs: rospack find nav_msgs
Comment by mysteriousmonkey29 on 2014-07-16:
It is installed, and entering that command returns the correct path: /opt/ros/hydro/share/nav_msgs. Although maybe its possible that the node isn't looking for nav_msgs there--I don't know hot tell from the code or the error.
|
Hello, I'm using a ROS driver for the ax2550 motor controller found here:
https://github.com/wjwwood/ax2550
I have plugged the device into a serial-->usb converter, which then goes into my computer. However, when I run the node using:
rosrun ax2550 ax2550_node /dev/ttyUSB0 (this is the port its connected to)
I get the error:
[ INFO] [1405453884.235150040]: AX2550 connecting to port /dev/ttyUSB0
[ERROR] [1405453886.236099864]: Failed to connect to the AX2550: Synchronization Exception: did not receive an R/C message after reset, file /home/randy/catkin_ws/src/toro/src/ax2550.cpp, line 315.
[ INFO] [1405453886.503068921]: Will try to reconnect to the AX2550 in 5 seconds.
I emailed the author of the node, and he told me that the device has to be configured in a specific way to work with the node, but that he doesn't specifically remember how. I am attempting to look through this document to try to understand the code/how it expects the device to be configured/how to configure it this way, but am not making much progress because I don't really understand most of the document. Anyone know what settings I should be trying to change?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-07-15
Post score: 0
Original comments
Comment by gvdhoorn on 2014-07-16:
I've fixed the formatting a bit: add 4 spaces before any lines that you want quoted as-is (your console copy/paste). Also, please note that tags are not separated by hashes, but spaces (this is not twitter).
Comment by mysteriousmonkey29 on 2014-07-16:
Thanks, any idea what could be going wrong?
Comment by Matt_Derry on 2014-12-22:
Any luck figuring out the configuration on the ax2550 side of things? We are having the exact same error.
Comment by asusrog on 2015-02-26:
Did you find the solution for this?.. Even iam struggling with the same issue
|
Hi
Im using ROS Fuerte and qt_ros so can integrate ROS in Qt GUI. I would like to use some parameters from the ROS launch file in my Qt GUI. in the main.cpp file of the GUI Im using the ROS launch file to start the prcess like this:
int main(int argc, char **argv) {
//Roslaunch
QProcess process;
process.start("roslaunch", QStringList() << "/home/launch/pow.launch");
//GUI
QApplication app(argc, argv);
pow_gui::MainWindow w(argc,argv);
w.show();
app.connect(&app, SIGNAL(lastWindowClosed()), &app, SLOT(quit()));
int result = app.exec();
std::cout << "q application finished" << std::endl;
return result;
}
So in my pow.launch launch fle
<launch>
<param name="/use_sim_time" value="true"/>
<node name="hector_mapping" pkg="hector_mapping" type="hector_mapping" output="screen">
<param name="pub_map_odom_transform" value="false"/>
<remap from="scan" to="scan_2"/>
<param name="map_frame" value="map"/>
</node>
<node name="foo_throttler" type="throttle" pkg="topic_tools" args="messages /scan 10/scan_throttle" />
<node name="foo_throttler1" type="throttle" pkg="topic_tools" args="messages /raw_imu 10/raw_imu_throttle" />
<node name="rosplay" pkg="rosbag" type="play" args="/home/10m_forward5.bag --clock"/>
<node pkg="tf" type="static_transform_publisher" name="corner_duhhu" args="-0.17 -0.2 0 0 0 0 base_link laser 20"/>
<node pkg="tf" type="static_transform_publisher" name="raw_tf" args="0 0 0 0 0 0 /map /raw_frame 10"/>
<!--node pkg="analyzer" type="parking" name="parking" output="screen"/> -->
<node pkg="analyzer" type="wst_forward10m" name="wst_forward10m" output="screen"/>
<!--node pkg="analyzer" type="wst_turn" name="wst_turn" output="screen"/> -->
</launch>
when Im using the node pkg="analyzer" type="wst_forward10m" name="wst_forward10m" I would like to have a tab in QT saying that Im using that node and when using node pkg="analyzer" type="wst_turn" name="wst_turn" would like to have that node displayed in QT.
Any help?
Originally posted by pilot71 on ROS Answers with karma: 1 on 2014-07-15
Post score: 0
Original comments
Comment by dornhege on 2014-07-16:
What are you trying to achieve? Calling roslaunch from within a binary seems very much backwards from its intended use.
|
Ok, I have downloaded and tried many of the tutorials and I am sold on using ROS/Gazebo for my robotics project at my community college.
I am starting everything from scratch so I would just like some advise on whether I should install Ubuntu 12.04/Hydro or 14.04/Indigo.
I prefer Ubuntu 14.04 but I don't want to commit to Indigo if there are likely to be big problems down the road. So basically I need to know if Indigo is stable enough for me to commit to using it. Since I am at a school, I don't mind doing a bit of Beta testing for the new release, but I can't afford to be fighting with a lot of broken or missing features.
Thanks,
Jonathan West
Southwest Indian Polytechnic Institute.
Originally posted by JWest on ROS Answers with karma: 66 on 2014-07-15
Post score: 1
|
I'm trying to get access to the average distance of some part of an image.
What i've done : Get image from ROS, conver to to OPENCV image, save depth image, crop the image using cv::Rect. So, i get the full depth image and the cropped one. When I access one pixel, like (240,320) i get the distance in meters. But now i need the distance from the rect image, and for this i'd like to get the average distance from all the pixels.
I tried to use cv::Scalar mean = cv::mean(ROI) passing the cropped image and then use mean[0], but it shows random numbers. I also tried mean.val[0]. '0' is because the others 3 channels is (i guess) for bgr and the image is grayscale.
Anyway, is there another way to get this average or am i doing it wrong ? I could do two loops for this problem, but i want to use opencv funtions.
Thank you!
EDIT [ code ]
cv_bridge::CvImagePtr Dest = cv_bridge::toCvCopy(msg);
ROS_INFO("Distance from center: %f", Dest->image.at<float>(240,320));
Dest->image.convertTo(depth16S, CV_16S, 30);
cv::imwrite("Depth_image.png", depth16S);
//ROS_INFO("DEPTH_IMAGE SAVED");
ROI = depth16S(cv::Rect(140,220,200,200));
cv::Scalar mean = cv::mean(ROI);
ROS_INFO("MEAN: %f", mean.val[0]);
EDIT 2 [ solution ]
I realized that the distance information are in 'Dest' variable, not in depth16S. So, the solution is to crop the Dest and calculate the average using mean function.
Originally posted by Thiagopj on ROS Answers with karma: 23 on 2014-07-15
Post score: 0
|
Hi,
For my project, I am thinking to use navigation stack with kinect as the sensor for mapping.
But how to publish the odometry data to the navigation stack..?
How to use the Twist Data coming form the navigation stack..?
thanks in advance
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-07-16
Post score: 0
Original comments
Comment by bvbdort on 2014-07-16:
if you want 2d map use hector slam it doesn't need odometry.
Comment by McMurdo on 2014-07-16:
Do you want to use the kinect's 3d data or just 2d (planar) data as a pseudo-laser? If it is just the 2d data, it is relatively simple.
Comment by sumanth on 2014-07-17:
I am using the kinect for mapping, i can take the 3d data from the kinect and convert it to 2d for a pseudo-laser by pointcloud_to_laserscan node.
I need even odo data, so how to publish the odo data.
Comment by bvbdort on 2014-07-18:
how you are moving your robot ?
Comment by McMurdo on 2014-07-19:
What robot is it? It is a custom robot? What odometry sensors do you have?
Comment by sumanth on 2014-07-19:
Yes it is a custom robot, running with a 32-bit arm controller, it has wheel encoders from which I can fetch the ticks of the individual wheels. will this be sufficient, but still the question remains how to publish the odo data for using with the navigation stack.
|
How can I get depth_registered from the Kinect and what topic should I use ?
and It is the same imageCallback as depth (/camera/depth/image)?
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg1, sensor_msgs::image_encodings::TYPE_32FC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::imshow("OpenCV viewer Kinect ", cv_ptr->image);
cvWaitKey(3);
}
I tried this ones:
/camera/depth_registered/points
/camera/depth_registered/image_raw
but I didn't get any resulat.
so what should I do ?
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-07-16
Post score: 1
|
Hi,
I was wondering if there are any real-world systems using the ROS navigation package? I'm talking about commercially applied robots. Does anyone have any info of ROS navigation implementations in general as well?
For example: There is a bridge inspection robot and a couple of agricultural robots I know of but they are startups and not completely commercialized AFAIK.
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-16
Post score: 2
Original comments
Comment by Tom Moore on 2014-07-16:
So you're looking for active commercial applications that use the ROS navigation stack/metapackage? There are quite a few packages in it. Are you interested in the use of any of them?
Comment by 2ROS0 on 2014-07-16:
It seems like a lot of good code structured into a nice integrative format. So I was wondering if anyone was configuring the whole structure for their robots and making it into an actual product. Even examples of implementation of individual packages will be nice.
Comment by 2ROS0 on 2014-07-16:
Or is it at this point more of a research and University focused effort.
|
What's the catkin equivalent of ROS_NOBUILD? I can't find anything...
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-07-16
Post score: 0
|
hello everyone,
I am new in ROS, and I would like to know the defference betwen octomap and voxel_grid ?
I have looking for information on internet but I have find the same information for both of them.
I have seen these videos about octomap and voxel_grid on youtube ( watch?v=y5tGI3Fln_4 and watch?v=y5tGI3Fln_4 )
If someone can explain the defference to me, or guide me to a webpage ?
thank you,
Guillaume
Originally posted by GuillaumeB on ROS Answers with karma: 312 on 2014-07-16
Post score: 5
|
I have a urdf file with the Hokuyo facing downwards. I would like to change the orientation make the Hokuyo point upwards. What would be the best way to do it?
<xacro:macro name="hokuyo_mount_inverted" params="name parent *origin length ros_topic update_rate min_angle max_angle">
<xacro:beam_8020 name="${name}_sensor_beam" parent="${parent}" length="${length}">
<xacro:insert_block name="origin" />
</xacro:beam_8020>
<!--<xacro:aluminium_sheet name="${name}_plate" parent="${name}_sensor_beam"
thickness="${0.125*INCH_TO_M}" length="0.06" width="0.12">
<origin xyz="${0.5*INCH_TO_M} 0 ${length/2}" rpy="${M_PI/2} 0 ${M_PI/2}" />-->
<xacro:aluminium_sheet name="${name}_plate" parent="${name}_sensor_beam"
thickness="${0.125*INCH_TO_M}" length="0.06" width="0.12">
<origin xyz="-${0.5*INCH_TO_M} 0 ${length/2}" rpy="${M_PI/2} 0 ${M_PI/2}" />
</xacro:aluminium_sheet>
<xacro:hokuyo_04lx_laser name="${name}" parent="${name}_plate" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}">
<origin xyz="0 0 ${0.125*INCH_TO_M}" rpy="0 0 0" />
</xacro:hokuyo_04lx_laser>
</xacro:macro>
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-07-16
Post score: 0
|
As silly as it might sound, what does roswtf expand to?
Is it what I think it is?
:P
Originally posted by McMurdo on ROS Answers with karma: 1247 on 2014-07-16
Post score: 0
|
Hi all,
I am following the tutorials on ROS and gazebo and I am really getting confused as to the current state of URDF and SDF.
The overall question is: if SDF supersedes URDF, why is URDF kept?
Now getting into details:
You now need 2 descriptions of your scene (URDF and SDF)... Which is weird. Of course you can use gzsdf to do the conversion but
It read the tool does not handle complex scenes,
And you end up having to write a URDF with the hacky gazebo tags for simulation parameters rather than using the native SDF simulation parameters
URDF is sometimes marked deprecated, sometimes you read there is no plan to get rid of it (here and here)
SDF seems to only be supported in gazebo, what is the support state for SDF in MoveIt, RViz...and the other tools?
When following the initial Gazebo tutorials, you are pushed to use SDF. Now when reaching the tutorials on the connection between ROS and gazebo they only talk about URDF, this is very misleading
Is this confusion due to a transitional state from URDF to SDF which last longer than expected, or is it supposed to last forever?
So what is the best practise today to use URDF and SDF on a large project? Should we specify things in URDF (including gazebo tags for links, joints and robots), convert to SDF using gzsdf and cross fingers that the gzsdf conversion works?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-07-16
Post score: 6
|
this is error i got when i start the roscore.
[rosout-1] process has died
why is this happening?.
Originally posted by robospace on ROS Answers with karma: 23 on 2014-07-16
Post score: 1
|
Hi, All,
occasionally, I found my navigational stack (move_base) plans a route through unknown space.
how do I prohibit such behaviour?
I noticed there's a parameter
allow_unknown: false
for this purpose, But where should it be set?
Regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-16
Post score: 1
|
Hi,
I just followed the instructions (Installation Instructions for Hydro in OSX) and successfully (with some tweaks) installed desktop_full. However, I got the following error when I added the hector_quadrotor packages:
==> Processing catkin package: 'hector_quadrotor_model'
==> Building with env: '/Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model'
==> make -j2 -l2 in '/Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model'
Scanning dependencies of target hector_quadrotor_aerodynamics
[ 50%] Building CXX object CMakeFiles/hector_quadrotor_aerodynamics.dir/src/quadrotor_aerodynamics.cpp.o
Linking CXX shared library /Volumes/Data/ZProjects/ROS/catkin_ws/devel_isolated/hector_quadrotor_model/lib/libhector_quadrotor_aerodynamics.dylib
Undefined symbols for architecture x86_64:
"boost::system::system_category()", referenced from:
___cxx_global_var_init11 in quadrotor_aerodynamics.cpp.o
boost::thread_exception::thread_exception(int, char const*) in quadrotor_aerodynamics.cpp.o
"boost::system::generic_category()", referenced from:
___cxx_global_var_init9 in quadrotor_aerodynamics.cpp.o
___cxx_global_var_init10 in quadrotor_aerodynamics.cpp.o
"ros::NodeHandle::getParam(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, double&) const", referenced from:
hector_quadrotor_model::QuadrotorAerodynamics::configure(ros::NodeHandle const&) in quadrotor_aerodynamics.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Volumes/Data/ZProjects/ROS/catkin_ws/devel_isolated/hector_quadrotor_model/lib/libhector_quadrotor_aerodynamics.dylib] Error 1
make[1]: *** [CMakeFiles/hector_quadrotor_aerodynamics.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!
<== Failed to process package 'hector_quadrotor_model':
Command '/Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh make -j2 -l2' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_quadrotor_model && /Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh make -j2 -l2
Command failed, exiting.
Any help to fix this is greatly appreciated. I'm on a Macbook Pro, running Mac OS X Mavericks 10.9.4.
--Rasit
Originally posted by Rasit on ROS Answers with karma: 25 on 2014-07-16
Post score: 1
|
i want to develop a controller for rhino scara in the lab in my dept using ros, i want to know how i will interface it in ros
Edit: Thanks for the response. Actually, there's no controller embedded in the rhino scara, so i will design a controller for it and then integrate it to ROS. I want to ask you the best microcontroller that i can use to support 5 motors and decoders. I' m looking at arduino, rasperry pi and single PC. Please can you advise me on the best one to go with in designing the controller for the robot before integrating it to ROS. I appreciate you input.
Originally posted by Glory on ROS Answers with karma: 76 on 2014-07-16
Post score: 1
|
Hi, I'm triying to declare an array of custom type that I created. This type is formed by 2 int32 variables. I'm triying do that with this command:
main::myType[] myarray;
where main is my package name. When I compiled the program I received an error
Which is the correct way to do this? Thanks in advance
Originally posted by Edmodi on ROS Answers with karma: 23 on 2014-07-16
Post score: 0
|
Hi all,
I am wondering if this is possible, since just subscribing to /usb_cam/image_raw causes a lot of lag, and the visp_auto_tracker debug display window will freeze up. Here is my launch file to run visp_auto_tracker (where I try to subscribe to /usb_cam/image_raw/compressed):
<launch>
<!-- Launch the tracking node -->
<node pkg="visp_auto_tracker" type="visp_auto_tracker" name="visp_auto_tracker" output="screen">
<param name="model_path" type="string" value="$(find visp_auto_tracker)/models" />
<param name="model_name" type="string" value="pattern" />
<param name="debug_display" type="bool" value="True" />
<remap from="/visp_auto_tracker/camera_info" to="/usb_cam/camera_info"/>
<remap from="/visp_auto_tracker/image_raw" to="/usb_cam/image_raw/compressed"/>
</node>
</launch>
But when I run this, I get this error in the terminal where I am running the usb_cam node:
[ERROR] [1405534682.215726942]: Client [/visp_auto_tracker] wants topic /usb_cam/image_raw/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection.
So, is there a way to properly subscribe the visp_auto_tracker to /usb_cam/image_raw/compression? Appreciate any help, thanks!
Originally posted by Alvin on ROS Answers with karma: 37 on 2014-07-16
Post score: 0
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You can attach Markers to the controls in InteractiveMarkers. The InteractiveMarker has its own Header/frame_id as does the Marker attached to the InteractiveMarkerControl.
If you publish two InteractiveMarkers that are completely identical except for the InteractiveMarker's frame_id, you get two different behaviors.
Let's say there's a moving frame called "up" and a stationary frame called "world." We want to put a marker at the up frame, so we create a simple box Marker with the frame_id "up". To make an interactive marker of this is easy, but you have the choice of whether to have the InteractiveMarker's frame_id be up or world.
If its up, then the marker will move with the frame up. However, if the IM's frame is "world", then the marker will NOT move with the frame.
This phenomenon is illustrated by this video and the following code.
Question: Is there some hidden semantics that I'm missing here, or is this just a bug?
#!/usr/bin/env python
import roslib; roslib.load_manifest("interactive_markers")
import rospy
from visualization_msgs.msg import *
from interactive_markers.interactive_marker_server import *
from tf import TransformBroadcaster
import tf.transformations
def make_marker(frame, color):
int_marker = InteractiveMarker()
int_marker.header.frame_id = frame
int_marker.name = frame
box_marker = Marker()
box_marker.type = Marker.CUBE
box_marker.scale.x = 0.5
box_marker.scale.y = 0.05
box_marker.scale.z = 0.05
box_marker.color.r = color[0]
box_marker.color.g = color[1]
box_marker.color.b = color[2]
box_marker.color.a = 1.0
box_marker.header.frame_id = '/up'
box_control = InteractiveMarkerControl()
box_control.always_visible = True
box_control.markers.append( box_marker )
int_marker.controls.append( box_control )
return int_marker
if __name__=="__main__":
rospy.init_node("simple_marker")
server = InteractiveMarkerServer("r2_teleop")
server.insert(make_marker('/up', (0,0,1)))
server.insert(make_marker('/world', (0,1,0)))
server.applyChanges()
tfx = TransformBroadcaster()
start = rospy.Time.now()
while not rospy.is_shutdown():
x = (rospy.Time.now()-start).to_sec()
yaw = (x % 10.0)*3.14*2/10.0
tfx.sendTransform((0, 0, 0.5),
tf.transformations.quaternion_from_euler(0, 0, yaw),
rospy.Time.now(),
'up',
"world")
Originally posted by David Lu on ROS Answers with karma: 10932 on 2014-07-16
Post score: 0
Original comments
Comment by Martin Peris on 2014-07-16:
ROS has no bugs, only "undocumented features"!. LOL sorry for the useless comment, just had to say it :P Probably we just need to be careful to set the Marker frame_id and the InteractiveMarker frame_id to the same value. But don't take my word, I have no authority on the matter whatsoever
|
Hi
I was running "hector_quadrotor_demo outdoor_flight_gazebo.launch". And I build a publisher "auto_fly", to publish message to control the quadrotor. The code is showed below:
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
def auto_fly(): pub= rospy.Publisher('/uav/uav2/cmd_vel',Twist,queue_size=10)
rospy.init_node('auto_fly',anonymous=True)
r=rospy.Rate(10) # 10Hz
while not rospy.is_shutdown():
pub.publish['x=0,y=1,z=0.2' 'x=0,y=0,z=0']
r.sleep(1.0)
if name== 'main':
try: auto_fly()
except rospy.ROSInterruptException: pass
When I run it, it shows,
TypeError: 'instancemethod' object has no attribute 'getitem'
What does this error mean and how to fix it?
Thanks a lot
Glen
Originally posted by Glen on ROS Answers with karma: 40 on 2014-07-16
Post score: 0
|
I do not want to reinvent the wheel on this one. What I have in mind is a program developed that shows a simplified face maybe a little better that eyes,nose, mouth (maybe a smiley face at first) in cartoon style accompanied with voice or text message shown on a tablet.
I would like to develop a robot head that really is only a tablet mounted vertically that can locate, turn, and interact using on board camera. The user can either via voice recognition or touch screen interact with this stationary friend. I am sure some of this is already done. If someone (I have limited robotic and programming experience) can organized in modules so the user can start with:
Porting Linux to a spare tablet such as the old Viewsonic tablet that is collecting dust right now.
Interfacing with the tablet throughthe micro usb port which most tablets have using an arduino, raspberry pi,
propeller board.
Motor driver,gearing hardware and mounting of the tablet .
Accepting input through microphone, touch screen, or keyboardand camera.
Above mentioned display output via cartoon face and simple response boxes on the touch screen or
actual artificial voice output.
The need of using a tablet is so it can be portable or eventually mobile. Basically the tablet is the "head" and "face" of the robot friend. I think the neatest thing would be the interactive face that not as complex as the various AI programs that tend to be propriety and expensive. The whole point of this would be an inexpensive, open source robotic friend especially for old folks and childern.
This is not exactly fleshed out but a starting point for a discussion about a desktop robot friend.
Originally posted by fschutzman on ROS Answers with karma: 1 on 2014-07-16
Post score: 0
|
Hey there,
I am still pretty new to ROS. I already did several indtroduction tutorials and stuff and tried to get an overview. But what I still cant figure out is:
Where is the link betwenn GAZEBOSim and ROS? I am maybe not far enough in tutorials but I am still wondering either i do tutorials in ROS or Gazebo not now together.
I am using Ubuntu 14.04 so trusty thar, so the consequence is I have to use ROS Indigo which is not linkable to the newest GAZEBO distro (3.0 would be the newest and Indigo is just supporting 2.2) am I right there? Is there a way to get this and what would be the advantages.
Is ROS Indigo already as much supported than Hydro or do you recommend me to go an Ubuntu version down to 13.x to work with hydro (there are also some books which are working with Hydro in which i am intrested in)
Please dont shake you head on this questions as I said i just started and wanted to get an overview .
Best Regards.
Originally posted by schultza on ROS Answers with karma: 232 on 2014-07-17
Post score: 1
|
hi, I used to hydro distribution of ros. I want to use ApproximateTime Policy but I'm getting the following error, why I am getting this error?
thanks
error:
In file included from /opt/ros/hydro/include/ros/serialization.h:37:0,
from /opt/ros/hydro/include/ros/publisher.h:34,
from /opt/ros/hydro/include/ros/node_handle.h:32,
from /opt/ros/hydro/include/ros/ros.h:45,
from /home/esetron/catkin_ws/src/sabir/src/sabir_node.cpp:190:
/opt/ros/hydro/include/ros/message_traits.h: In static member function ‘static ros::Time ros::message_traits::TimeStamp<M, typename boost::enable_if<ros::message_traits::HasHeader<M> >::type>::value(const M&) [with M = pcl::PointCloud<pcl::PointXYZRGB>]’:
/opt/ros/hydro/include/message_filters/sync_policies/approximate_time.h:167:89: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::checkInterMessageBound() [with int i = 0, M0 = pcl::PointCloud<pcl::PointXYZRGB>, M1 = sensor_msgs::Image_<std::allocator<void> >, M2 = message_filters::NullType, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType]’
/opt/ros/hydro/include/message_filters/sync_policies/approximate_time.h:218:7: instantiated from ‘void message_filters::sync_policies::ApproximateTime<M0, M1, M2, M3, M4, M5, M6, M7, M8>::add(const typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type&) [with int i = 0, M0 = pcl::PointCloud<pcl::PointXYZRGB>, M1 = sensor_msgs::Image_<std::allocator<void> >, M2 = message_filters::NullType, M3 = message_filters::NullType, M4 = message_filters::NullType, M5 = message_filters::NullType, M6 = message_filters::NullType, M7 = message_filters::NullType, M8 = message_filters::NullType, typename boost::mpl::at_c<typename message_filters::PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>::Events, i>::type = ros::MessageEvent<const pcl::PointCloud<pcl::PointXYZRGB> >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:358:5: instantiated from ‘void message_filters::Synchronizer<Policy>::cb(const typename boost::mpl::at_c<typename Policy::Events, i>::type&) [with int i = 0, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >, typename boost::mpl::at_c<typename Policy::Events, i>::type = ros::MessageEvent<const pcl::PointCloud<pcl::PointXYZRGB> >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:290:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&, F5&, F6&, F7&, F8&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, F2 = message_filters::NullFilter<message_filters::NullType>, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, F5 = message_filters::NullFilter<message_filters::NullType>, F6 = message_filters::NullFilter<message_filters::NullType>, F7 = message_filters::NullFilter<message_filters::NullType>, F8 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:282:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&, F5&, F6&, F7&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, F2 = message_filters::NullFilter<message_filters::NullType>, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, F5 = message_filters::NullFilter<message_filters::NullType>, F6 = message_filters::NullFilter<message_filters::NullType>, F7 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:275:5: [ skipping 2 instantiation contexts ]
/opt/ros/hydro/include/message_filters/synchronizer.h:261:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&, F4&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, F2 = message_filters::NullFilter<message_filters::NullType>, F3 = message_filters::NullFilter<message_filters::NullType>, F4 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:254:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&, F3&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, F2 = message_filters::NullFilter<message_filters::NullType>, F3 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:247:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&, F2&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, F2 = message_filters::NullFilter<message_filters::NullType>, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:240:5: instantiated from ‘void message_filters::Synchronizer<Policy>::connectInput(F0&, F1&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/opt/ros/hydro/include/message_filters/synchronizer.h:160:5: instantiated from ‘message_filters::Synchronizer<Policy>::Synchronizer(const Policy&, F0&, F1&) [with F0 = message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >, F1 = message_filters::Subscriber<sensor_msgs::Image_<std::allocator<void> > >, Policy = message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image_<std::allocator<void> > >]’
/home/esetron/catkin_ws/src/sabir/src/sabir_node.cpp:241:106: instantiated from here
/opt/ros/hydro/include/ros/message_traits.h:219:56: error: could not convert ‘m.pcl::PointCloud<pcl::PointXYZRGB>::header.pcl::PCLHeader::stamp’ from ‘const uint64_t {aka const long unsigned int}’ to ‘ros::Time’
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
Invoking "make" failed
my code:
#include <ros/ros.h>
#include <iostream>
#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>
#include <pcl_ros/point_cloud.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
void cloud_cb(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& input, const sensor_msgs::Image::ConstPtr& depth)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_pass(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::VoxelGrid<pcl::PointXYZRGB> sor;
pcl::PassThrough<pcl::PointXYZRGB> pass_through_filter;
//pass through filter
pass_through_filter.setInputCloud (input);
pass_through_filter.filter (*cloud_pass);
//voxel grid filter
sor.setInputCloud(cloud_pass);
sor.setLeafSize(0.5, 0.5, 0.5);
sor.filter(*cloud_filtered);
}
int main (int argc, char** argv){
// Initialize ROS
ros::init (argc, argv, "example");
ros::NodeHandle nh;
message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> > point_subscriber(nh, "/camera/depth/points", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_subscriber(nh, "/camera/depth/image", 1);
typedef message_filters::sync_policies::ApproximateTime<pcl::PointCloud<pcl::PointXYZRGB>, sensor_msgs::Image> MySyncPolicy;
message_filters::Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), point_subscriber, depth_subscriber);
sync.registerCallback(boost::bind(&cloud_cb, _1, _2));
// Spin
ros::spin ();
}
Originally posted by hamdi on ROS Answers with karma: 73 on 2014-07-17
Post score: 1
|
Hello,
i was working through the tutorials of RosJava and RosAndroid.
Unluckily the result wasn't what i expected. Since i am new to Ros and to Android i had some troubles.
My Goal is to have an Android app, that is displaying a message that is published by a ros node in my PC.
I was able to do the Java PubSub Tutorial, so i am able to publish a message.
Can someone provide me with the source code of an app, in which i can visualize this message?
The Master Uri for the Master Chooser can be coded directly into the APP, there is no need to have it set by the user.
I would love to have such a project that i can just import into my Eclipse and run on my device.
Best Thanks in advance
Stefan
Originally posted by stefan on ROS Answers with karma: 15 on 2014-07-17
Post score: 0
Original comments
Comment by Ronniea on 2018-03-03:
Android App Source Code
|
I am trying to use a Canon EOS M for computer vision in ROS. I have experience using webcams with ROS, and I have not had any trouble with webcams. I am not sure how to control the Canon from ROS. I would like to be able to set the cameras parameters such as white balance, focus, etc... and be able to program it to take pictures at precise moments. Any suggestions on how to make this work? I have hear about gphoto, but I haven't been able to get that to work.
Originally posted by Ralff on ROS Answers with karma: 280 on 2014-07-17
Post score: 2
|
Hi, I am using Hydro with Ubuntu 12.04 and unable to run rviz. I am getting following error when doing $ rosrun rviz rviz:
[ INFO] [1405607287.945120631]: rviz version 1.10.16
[ INFO] [1405607287.945243544]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1405607288.233226022]: Stereo is NOT SUPPORTED
[ INFO] [1405607288.233341114]: OpenGl version: 3 (GLSL 1.3).
*** glibc detected *** /home/asif/ROS_CatkinWS_Hydro/devel/lib/rviz/rviz: corrupted double-linked list: 0x00000000020422a0 ***
Inconsistency detected by ld.so: dl-open.c: 221: dl_open_worker: Assertion `_dl_debug_initialize (0, args->nsid)->r_state == RT_CONSISTENT' failed!
I removed rviz using $ sudo apt-get remove ros-hydro-rviz and tried to re-install using $ sudo apt-get install ros-hydro-rviz and it gave me an error:
E: Unable to locate package ros-hydro-rviz
Then I downloaded the source from github and managed to install it successfully using catkin_make but still getting same *** glibc detected *** error as above.
Any idea how to solve this problem! Thanks in advance.
PS: I found couple of similar questions asked earlier, for example this and this but did not found a solution.
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-07-17
Post score: 1
|
hi, all,
I have been testing my robot for a while.
there's a problem persists.
the global plan would put the path along and close to the wall.
especially at the corners,
each time at the corners, my robot feels it's too close to the wall (I can see if from rviz), and initiates escape behaviour.
is there a way to move the path away from the walls?
I am using default move_base global planner.
or, does it help if I inflate the global cost map further?
which parameter should I manipulate?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-17
Post score: 0
|
Hi:
smach_viewer.py does not seem to work in ROS Indigo. It looks like there are a couple of bugs related to the changed Publisher interface and maybe something else. I'm unable to upload this file (no karma) so I'm providing the file at the bottom of this question.
When I run an example state_machine2.py with an introspection server, it runs fine except for a warning about the Publisher not specifying queue_size=1.
[aravind@jeeves src]$ ./state_machine2.py
/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/introspection.py:132: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'.
data_class=SmachContainerStructure)
/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/introspection.py:137: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'.
data_class=SmachContainerStatus)
[INFO] [WallTime: 1405615980.267506] State machine starting in initial state 'FOO' with userdata:
[]
[INFO] [WallTime: 1405615980.268563] Executing state FOO
[INFO] [WallTime: 1405615981.270877] State machine transitioning 'FOO':'outcome1'-->'BAR'
[INFO] [WallTime: 1405615981.271551] Executing state BAR
[INFO] [WallTime: 1405615982.273528] State machine transitioning 'BAR':'outcome1'-->'FOO'
Now when I run the introspection server, it does not work.
[aravind@jeeves simple_smach]$ rosrun smach_viewer smach_viewer.py
Exception in thread Thread-6:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 763, in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 848, in _update_graph
self.set_dotcode(dotstr,zoom=False)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 866, in set_dotcode
if self.widget.set_dotcode(dotcode, None):
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 455, in set_dotcode
self.set_xdotcode(xdotcode)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 483, in set_xdotcode
self.graph = parser.parse()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1146, in parse
DotParser.parse(self)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 951, in parse
self.parse_graph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 960, in parse_graph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1009, in parse_stmt
self.handle_node(id, attrs)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1120, in handle_node
shapes.extend(parser.parse())
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 608, in parse
points = self.read_polygon()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 503, in read_polygon
x, y = self.read_point()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 486, in read_point
x = self.read_number()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 480, in read_number
return int(self.read_code())
ValueError: invalid literal for int() with base 10: '79.92'
The contents of file state_machine2.py:
#!/usr/bin/env python
import rospy
import smach
import smach_ros
# define state Foo
class Foo(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome1','outcome2'])
self.counter = 0
def execute(self, userdata):
rospy.loginfo('Executing state FOO')
rospy.sleep( 1 )
if self.counter < 10:
self.counter += 1
return 'outcome1'
else:
return 'outcome2'
# define state Bar
class Bar(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['outcome1'])
def execute(self, userdata):
rospy.loginfo('Executing state BAR')
rospy.sleep( 1 )
return 'outcome1'
def main():
rospy.init_node('smach_example_state_machine')
# Create a SMACH state machine
sm = smach.StateMachine(outcomes=['outcome4'])
sis = smach_ros.IntrospectionServer('server_name', sm, '/simple')
sis.start()
# Open the container
with sm:
# Add states to the container
smach.StateMachine.add('FOO', Foo(),
transitions={'outcome1':'BAR', 'outcome2':'outcome4'})
smach.StateMachine.add('BAR', Bar(),
transitions={'outcome1':'FOO'})
# Execute SMACH plan
outcome = sm.execute()
if __name__ == '__main__':
main()
Originally posted by Aravind on ROS Answers with karma: 53 on 2014-07-17
Post score: 2
Original comments
Comment by jbinney on 2014-07-17:
There's a couple of things here. The queue_size warning should be fixed, but doesn't actually break anything yet. The real problem looks like xdot now returns floating point numbers instead of ints. I can confirm that I see the same problem on my computer. Can you create an issue here: https://github.com/ros-visualization/executive_smach_visualization/issues
Comment by Aravind on 2014-07-18:
Thanks! I have done so. It is strange that when I checked my post, it says "Seen: 0 times". Still does. I saw your post almost by accident.
Also, on a related basis, it was pretty hard for me to post as I could not attach files and I wasn't allowed to post because my post contained a link from an error message.
|
Hi,
I'm a bit new to ROS.
I want to subscribe to a topic that is being published continuously. But I only want to read the message once in a while. And I want to read the most recent message at that time.
Is it best to use a pub-sub and get the subscriber node to only obtain the messages at a certain time? Or is the better alternative to define a rosservice?
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-17
Post score: 0
Original comments
Comment by bvbdort on 2014-07-17:
look into TimeSequencer http://docs.ros.org/api/message_filters/html/c++/classmessage__filters_1_1TimeSequencer.html
|
Hi all and thanks for checking this out.
I have made a MoveIT! package using my urdf and went through the Setup Assistant tabs accordingly. After launching my robot I can motion plan and incorporate a scene object to be planned around, but the Global Status is giving me this error. I believe it has to do with the virtual joint set up but I'm not entirely sure.
No tf data. Actual error: Fixed Frame [base_link] does not exist
The base_link is the first link in my robot and the child of the virtual joint. When I add the TF display to Rviz and expand it, it's empty. This is preventing me from using rostopic echo /tf (where, right now, the output is a repeating empty Transform [] ) and also using rosbag record which I would like to use to record some simple paths for playback later.
Can someone tell me if this is in fact a virtual joint error or perhaps somewhere else I need to be looking? I am new to ROS so any links would be appreciated.
Respectfully,
Jordan
Originally posted by JoSo on ROS Answers with karma: 120 on 2014-07-17
Post score: 1
|
Hi there,
I have a problem and i don't know what is this, if anybody can help i appreciate it, this is my cmake and i get this warning, how can i solve it?
warning ==>
CMake Warning at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:409 (message):
catkin_package() include dir
'/home/vahid/catkin_ws/src/jur_segmentation/jur_gui_segmentation/build/devel/include'
should be placed in the devel space instead of the build space
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:22 (catkin_package)
CMAKE ==>
cmake_minimum_required(VERSION 2.8.3)
SET(CMAKE_BUILD_TYPE Release)
project(jur_gui_segmentation)
find_package(catkin REQUIRED COMPONENTS
qt_build
roscpp
sensor_msgs
message_generation
cv_bridge
)
find_package(OpenCV 2.4.9 REQUIRED)
include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME})
add_service_files(FILES jur_segmentation_service.srv)
generate_messages(DEPENDENCIES sensor_msgs)
catkin_package(
# CATKIN_DEPENDS
# qt_build
# roscpp
# sensor_msgs
# message_runtime
# cv_bridge
# DEPENDS
# opencv
)
## Qt
rosbuild_prepare_qt4(QtCore QtGui)
file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/jur_gui_segmentation/*.h)
QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
qt4_automoc(QT_SOURCES)
## Declare a cpp executable
add_executable(${PROJECT_NAME} ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
PATTERN ".svn" EXCLUDE
)
Originally posted by VahidD on ROS Answers with karma: 72 on 2014-07-17
Post score: 0
Original comments
Comment by Andrzej Pronobis on 2014-07-20:
I started seeing this warning myself some time ago and it's due to the MOC compiled files ending up in the build space not the devel space. However, in your case there seems to be another problem that you are using rosbuild commands in your cmakelists in a catkinized workspace.
Comment by VahidD on 2014-07-21:
Thanks for tip about rosbuild, I've changed my cmake and i've added qt without any rosbuild macro, by the way, how we can solve this warning, what was your solution?
Comment by Andrzej Pronobis on 2014-07-22:
No solution so far unfortunately. This warning appears for any package using QT and MOC, including the standard ROS hydro packages.
|
I have an interesting circumstance where the public API for my package (diagnostics_aggregator) includes a test node which other packages can use as a test fixture in their tests. This test node builds and links against gtest, which isn't available on all platforms, but I would like to make it part of the binary packages where possible.
What is the recommended way to install a binary that is compiled and linked against gtest?
Having an install statement inside of my check for CATKIN_ENABLE_TESTING feels wrong
Assuming that gtest is available and can be linked to will likely fail on systems that don't have it
Does catkin expose a separate flag to indicate if gtest has been found or not? Is it set appropriately on the build farm, so that I can guarantee that binary packages are built with all of the expected nodes?
Originally posted by ahendrix on ROS Answers with karma: 47576 on 2014-07-17
Post score: 1
Original comments
Comment by William on 2014-07-18:
I dunno, it might be that you must install the code and build it for each package which uses it. This is essentially how gtest is distributed for Ubuntu (source code goes into /usr/src/gtest or something like that).
|
Hello,
I'm following the tutorials on autonomous navigation of a turtlebot:
wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
So, I run these commands on different terminals:
1- roscore
2- roslaunch turtlebot_bringup minimal.launch
3- roslaunch turtlebot_navigation amcl_demo.launch map_file:=/AddressToMap
I receive these messages:
([ WARN] [1405632943.683405903]: Waiting on transform from base_footprint to map to become available before running costmap, tf error: [ INFO] [1405632945.899453434]: No devices connected.... waiting for devices to be connected
4- roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
Instead of TurtleBot a white circle appears in rviz, and there are red error signs beside GlobalStatus and RobotModel
My laptop runs Ubuntu 12.04, and ROS Hydro. No real robot is involved, I'm just trying to test the simulated turtlebot on my laptop.
EDIT: For using the turtlebot in simulation mode, the following link helped to solve my problem:
wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-17
Post score: 0
|
root@mecateam-desktop:~/fuerte_workspace/ros-jaco-arm# rosmake ros-jaco-arm
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['ros-jaco-arm']
[ rosmake ] Logging to directory /root/.ros/rosmake/rosmake_output-20140717-185617
[ rosmake ] Expanded args ['ros-jaco-arm'] to:
[]
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['ros-jaco-arm']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.
Originally posted by Priscila Martins on ROS Answers with karma: 11 on 2014-07-17
Post score: 0
Original comments
Comment by BennyRe on 2014-07-18:
Please post the link to the repository of this package. I can't find it on GitHub.
|
I have wasted my whole day figuring this thing out. I can rosrun both packages, but python just cant find that "wam_node" package. I have used c++ before to use the same message and it worked. I don't know what is wrong ?
Am I missing something ?
Any help/suggestion is appreciated.
Thanks in advance.
Error when I run the package (rosrun hand_control grasp_with_biotac.py):
Traceback (most recent call last):
File "/home/rohit/catkin_ws/src/BMI-robot-arm-control/hand_control/src/grasp_with_biotac.py", line 12, in <module>
from wam_node.msg import HandPosVel
ImportError: No module named wam_node.msg
Python code for import:
from std_msgs.msg import String
from biotac_sensors.msg import BioTacHand
from wam_node.msg import HandPosVel
"rosmsg list | grep Hand"output:
biotac_sensors/BioTacHand
wam_node/HandPos
wam_node/HandPosVel
manifest.xml of hand_control package :
<package>
<description brief="hand_control">
hand_control
</description>
<author>robot</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/hand_control</url>
<depend package="wam_node"/>
<depend package="wam_msgs"/>
<depend package="wam_srvs"/>
<depend package="wam_control"/>
</package>
Originally posted by rkitect on ROS Answers with karma: 15 on 2014-07-17
Post score: 1
|
I have gone through this tutorial:
Using urdf with robot_state_publisher
I wrote my urdf file (for a right arm with fingers) and launched it and it worked and I was able to change everything using the gui. Then I wrote a state_publisher.cpp the same way as the tutorial and a launch file. Now I want everything to work together but I don't know how. In the tutorial it only says that I should run rviz.
Originally posted by Kaddoura on ROS Answers with karma: 1 on 2014-07-17
Post score: 0
|
It seems the website gazebosim.org is down. Are people at OSRF aware?
Originally posted by demmeln on ROS Answers with karma: 4306 on 2014-07-17
Post score: 0
|
I'm looking for alternative IMUs for our autonomous robot. However, the driver must support ROS. It has been pretty difficult to find different ones since I am new to building robots but I'm trying to research alternatives.
Originally posted by faceinthegrass on ROS Answers with karma: 1 on 2014-07-17
Post score: 0
|
catkin_make --force-cmake
Base path: /home/jackcviers/Development/ros_piksi_ws
Source space: /home/jackcviers/Development/ros_piksi_ws/src
Build space: /home/jackcviers/Development/ros_piksi_ws/build
Devel space: /home/jackcviers/Development/ros_piksi_ws/devel
Install space: /home/jackcviers/Development/ros_piksi_ws/install
####
#### Running command: "cmake /home/jackcviers/Development/ros_piksi_ws/src - DCATKIN_DEVEL_PREFIX=/home/jackcviers/Development/ros_piksi_ws/devel -DCMAKE_INSTALL_PREFIX=/home/jackcviers/Development/ros_piksi_ws/install" in "/home/jackcviers/Development/ros_piksi_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/jackcviers/Development/ros_piksi_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jackcviers/Development/ros_piksi_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.88
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - piksi_sensor_msgs
-- ~~ - piksi_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'piksi_sensor_msgs'
-- ==> add_subdirectory(piksi_sensor_msgs)
CMake Error at piksi_sensor_msgs/CMakeLists.txt:47 (add_message_files):
Unknown CMake command "add_message_files".
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
-- Relevant CMakeLists.txt:
OS: Ubuntu 13.04
ROS: Hydro
Any ideas what is causing this issue? I'd love to show you the cmake file, but for some reason it thinks I'm trying to post a link if I do and I don't have enough karma...
Originally posted by jackcviers on ROS Answers with karma: 207 on 2014-07-17
Post score: 4
Original comments
Comment by K7 on 2015-11-03:
Hi, this is off topic but I have been searching the forum for solutions for using piksi with ROS. So far I have not been able to find much. It looks as though that is what you are working on here? Did you ever get it to work. Would really appreciate some help with this.
|
Hi guys,
My problem is that lookupTransform function can still get the transformation and rotation of a frame that has stopped publishing already (I tried tf_echo and tf_monitor and it is not there.)
What I am doing is that I use Kinect and openni_tracker to get the skeleton, then use a frame from the skeleton to set up another frame relative to the world frame. However, when the human is not present in the Kinect view anymore, the skeleton's frames are still in the list got from listener.getFrameStrings(). Anyway, my broadcaster.sendTransform(...) is not called, as far as I have checked, so my frame is not published. (tf_monitor also shows that it is not there.)
But, another node that is waiting for this frame can still get translation and rotation from lookupTransform function, which is not what I want.
Any possible causes? Thank you.
Originally posted by Veerachart on ROS Answers with karma: 86 on 2014-07-18
Post score: 3
|
I have a message that consists of two (or more) submessages:
my_msgs/VehicleData:
sensor_msgs::NavSatFix gps
gps_msgs::GPSFix gps_fix
When I publish the message as /vehicle I can afterwards use these three commands:
$ rostopic echo /vehicle<br>
$ rostopic echo /vehicle/gps
$ rostopic echo /vehicle/gps_fix
All the commands return the specific submsgs.
When I now use the rqt_marble_plugin it doesn't display the /vehicle/gps submessage. Internally this program searches for NavSatFix topics but it doesn't find this one.
Can I somehow fix this?
I would like to be able to publish this VehicleData msg and subscribe either to the whole topic or to subtopics.
Originally posted by wepmaschda on ROS Answers with karma: 1 on 2014-07-18
Post score: 0
|
hi, All,
on my map, there are crowed places.
how can I set prohibit area so that global path planner would never attempt to route through these areas?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-18
Post score: 0
Original comments
Comment by dornhege on 2014-07-18:
Are you using Hydro?
|
The UbuntuARM page includes a build for the Odroid-U3 using LUbuntu 13.05 (raring):
http://wiki.ros.org/hydro/Installation/UbuntuARM
Unfortunately, the repository source removed the raring files, as it is out of support as of July 2014. I have been unable to find an alternate site with raring repositories. Also unfortunate is that there are only active ROS builds for raring armhf, as stated on that same page.
I could go back to the 12.04 Precise build, but I used to use that and there are a lot of problems and issues that were solved in raring. So my main question is whether anybody knows if there will be a ROS armhf build for trusty sometime soon?
Originally posted by dan on ROS Answers with karma: 875 on 2014-07-18
Post score: 0
|
Dear all.
I just want to play a bit with Move it in Hydro. I have been seeking for URDF files that can be load it into moveit_setup_assistant However, I have found some files with the extension of .urdf.xacro and I can not simply load it with moveit_setup_assistant. Further on, I have tried to convert .urdf.xacro to .urdf with the following command: rosrun xacro xacro.py file.urdf.xacro -o file.urdf But without success, the file.urdf is empty.
I know I can start creating my own .urdf file, but at this moment I just want to play with move it.
I would like to ask if some wants to share a 6DOF urdf robot arm manipulator with end effector file
In advance thank you very much.
Originally posted by acp on ROS Answers with karma: 556 on 2014-07-18
Post score: 0
|
Dear all,
I am using hydro under ubuntu 12.04LTS and it turns out I can find no way to zoom out the time in the rqt/plot window. You can zoom in using the Zoom to rectangle tool, but I can find no way to zoom out. Moreover the zoom is reset when enabling autoscroll, hence I could find no way to change the zoom on the time axis (x axis) when autoscrolling.
Any idea if zooming out in time is possible at all in the rqt/plot view?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-07-18
Post score: 2
|
When I launch catkin_make, I got this error "erreur fatale: map_msgs/OccupancyGridUpdate.h : Any file of this kind"
However in map-msgs/src the file OccupancyGridUpdate.h is here.
So what is the error
I'm using groovy
Edit this is the CMakeLists :
cmake_minimum_required(VERSION 2.8.3)
project(costmap_2d)
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
eigen
geometry_msgs
laser_geometry
map_server
nav_msgs
pcl
pcl_ros
rosbag
rosconsole
roscpp
sensor_msgs
std_msgs
tf
visualization_msgs
voxel_grid
message_generation
map_msgs
)
find_package(PCL REQUIRED)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_definitions(${EIGEN_DEFINITIONS})
add_message_files(
DIRECTORY msg
FILES
VoxelGrid.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/Costmap2D.cfg
cfg/ObstaclePlugin.cfg
cfg/GenericPlugin.cfg
cfg/InflationPlugin.cfg
cfg/VoxelPlugin.cfg
)
include_directories(
${catkin_INCLUDE_DIRS}
)
catkin_package(
INCLUDE_DIRS
include
${EIGEN_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
LIBRARIES costmap_2d
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
laser_geometry
nav_msgs
pcl_ros
roscpp
sensor_msgs
std_msgs
tf
voxel_grid
DEPENDS
PCL
Eigen
Boost
)
add_library(costmap_2d
src/array_parser.cpp
src/costmap_2d.cpp
src/observation_buffer.cpp
src/layer.cpp
src/layered_costmap.cpp
src/costmap_2d_ros.cpp
src/costmap_2d_publisher.cpp
src/costmap_math.cpp
src/footprint.cpp
src/costmap_layer.cpp
)
add_dependencies(costmap_2d geometry_msgs_gencpp)
target_link_libraries(costmap_2d
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
)
add_library(layers
plugins/footprint_layer.cpp
plugins/inflation_layer.cpp
plugins/obstacle_layer.cpp
plugins/static_layer.cpp
plugins/voxel_layer.cpp
src/observation_buffer.cpp
)
target_link_libraries(layers
costmap_2d
)
add_dependencies(costmap_2d costmap_2d_gencfg)
add_dependencies(layers costmap_2d_gencfg)
add_dependencies(costmap_2d costmap_2d_gencpp)
add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
add_dependencies(costmap_2d_markers visualization_msgs_gencpp)
target_link_libraries(costmap_2d_markers
costmap_2d
)
add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
add_dependencies(costmap_2d_cloud sensor_msgs_gencpp)
target_link_libraries(costmap_2d_cloud
costmap_2d
)
add_executable(costmap_2d_node src/costmap_2d_node.cpp)
target_link_libraries(costmap_2d_node
costmap_2d
)
## Configure Tests
if(CATKIN_ENABLE_TESTING)
# Find package test dependencies
find_package(rostest REQUIRED)
find_package(gtest)
# Add the test folder to the include directories
include_directories(test)
include_directories(${GTEST_INCLUDE_DIRS})
link_directories(${GTEST_LIBRARY_DIRS})
# Create targets for test executables
add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
add_dependencies(tests costmap_tester)
target_link_libraries(costmap_tester costmap_2d ${GTEST_LIBRARIES})
add_executable(footprint_tests EXCLUDE_FROM_ALL test/footprint_tests.cpp)
add_dependencies(tests footprint_tests)
target_link_libraries(footprint_tests costmap_2d ${GTEST_LIBRARIES})
add_executable(obstacle_tests EXCLUDE_FROM_ALL test/obstacle_tests.cpp)
add_dependencies(tests obstacle_tests)
target_link_libraries(obstacle_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(static_tests EXCLUDE_FROM_ALL test/static_tests.cpp)
add_dependencies(tests static_tests)
target_link_libraries(static_tests costmap_2d layers ${GTEST_LIBRARIES})
add_executable(inflation_tests EXCLUDE_FROM_ALL test/inflation_tests.cpp)
add_dependencies(tests inflation_tests)
target_link_libraries(inflation_tests costmap_2d layers ${GTEST_LIBRARIES})
catkin_download_test_data(${PROJECT_NAME}_simple_driving_test_indexed.bag
http://download.ros.org/data/costmap_2d/simple_driving_test_indexed.bag
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 61168cff9425b11e093ea3a627c81c8d)
catkin_download_test_data(${PROJECT_NAME}_willow-full-0.025.pgm
http://download.ros.org/data/costmap_2d/willow-full-0.025.pgm
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 e66b17ee374f2d7657972efcb3e2e4f7)
add_rostest(test/footprint_tests.launch)
add_rostest(test/inflation_tests.launch)
add_rostest(test/obstacle_tests.launch)
add_rostest(test/simple_driving_test.xml)
add_rostest(test/static_tests.launch)
catkin_add_gtest(array_parser_test test/array_parser_test.cpp)
target_link_libraries(array_parser_test costmap_2d)
endif()
install( TARGETS
costmap_2d_markers
costmap_2d_cloud
costmap_2d_node
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS
costmap_2d
layers
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES costmap_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-18
Post score: 0
Original comments
Comment by sterlingm on 2014-07-18:
Can you post your CMakeLists.txt? You are probably just missing something in the include_directories() call.
Comment by Moda on 2014-07-21:
Sorry I can upload a file (I don't have enough Karma). I copied the contents of the file in my question
|
I am a big fan of rosbags. Right now I am doing a series of pretty complex tests on some mobile robots. I like to bag everything for each test, so that I can go back and review what happened to catch bugs. Rqt_bag's visualization capabilities make debugging certain aspects of my system extremely easy. However, I am continually frustrated that Log information produced by calls to ROS_ERROR(), ROS_INFO(), ROS_DEBUG(), etc. does not appear to be stored in my bag files. I can see that rosout has messages publish in it similar to:
header
level: 8
name: /PelicanMMS
file: /asctec/PelicanMMS/PelicanROS/src/VTOL...
function: startHandler
line: 38
topics
This can point me to the exact origin of one of my debug calls, but it does not contain the actual text of the call! I know that the text from my log calls can be found in the generated log files, or captured with rqt_console; but, I want the logging text stored in my bag. My questions are:
Is there some system setting or configuration that I could specify to make the text logging information get bagged?
If this is impossible, is there a simple work around?
Originally posted by Carter12s on ROS Answers with karma: 218 on 2014-07-18
Post score: 3
|
Hello everybody,
I am trying to install ROS hydro (desktop full version) on a MacBook Pro with Mavericks (10.9.3). When I build the catkin workspace I get the following error:
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/203daa1de0b89bf37c6fe95312532c4d
The gcc version is:
Configured with: --prefix=/Applications/Xcode.app/Contents/Developer/usr --with-gxx-include-dir=/usr/include/c++/4.2.1
Apple LLVM version 5.1 (clang-503.0.40) (based on LLVM 3.4svn)
Target: x86_64-apple-darwin13.2.0
Thread model: posix
It seems that the PythonLibs is outdated, but running the command
python --v
I get
Python 2.7.8
Some can help me?
Thank you,
Andrea
Originally posted by -Andrew- on ROS Answers with karma: 3 on 2014-07-18
Post score: 0
|
Hello,
I recently upgraded my razer_hydra install to the indigo branch, and made sure that the udev rules were properly installed. Now when I run the command:
roslaunch razer_hydra hydra.launch publish_tf:=true
I get the output:
process[razer_hydra_driver-1]: started with pid [8245]
[ INFO] [1405699624.237070758]: Using filter corner frequency of 3.0 Hz
[ INFO] [1405699624.255034176]: Setting pivot offset [0.040, 0.000, 0.000]
[ INFO] [1405699624.255136486]: Setting grab offset [0.120, 0.000, 0.000]
[ INFO] [1405699624.255200864]: Sending messages using the 'grab' frame.
[ INFO] [1405699624.255261153]: Publishing frame data to TF.
[ INFO] [1405699624.279980897]: opening hydra on /dev/hydra
[ INFO] [1405699624.280525075]: starting stream... (first packet takes a few seconds)
and the process hangs there.
Has anyone else had this problem? When I was using the hydro branch, things worked fine.
Thanks!
Kel
Originally posted by Kel on ROS Answers with karma: 65 on 2014-07-18
Post score: 0
|
Hi,
This might be a silly question but I have a small doubt regarding the scan_msg in the Laser_scan topic. I am using SICK LMS-200 laser scanner with Pioneer3DX robot for navigation. As I run my code, I notice that the rostopc /scan tells me that scan_time = 0.013s whereas if I check the computation time within my code using something like ros::Time::now().toSec() (present time - past time) I notice that it takes at least 0.1s between each Callback. I am slightly confused as to why there is a difference between the two as the code that I am running is pretty simple and just prints out the elements of the messages in the /scan topic.
One guess at it would be that when I run ros::spin(), it goes through all the topics and this takes time. But considering I am not calling any other topic, I am not sure whether this is the reason.
Could anyone please help me in understanding what exactly is this scan_msg and why is it different from the Callback time period? Thanks a lot in advance.
Here is the code snippet:
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
size_t num_ranges = scan_msg->ranges.size();
std::cout<<"Number of range values: "<<num_ranges;
std::cout<<"\nangle_min: "<<scan_msg->angle_min;
std::cout<<"\nangle_max: "<<scan_msg->angle_max;
std::cout<<"\ntime_increment: "<<scan_msg->time_increment;
std::cout<<"\nscan_time: "<<scan_msg->scan_time;
std::cout<<"Time difference: "<<ros::Time::now().toSec() - present_time<<"\n";
std::cout<<"\nNow looking at the ranges**************************** \n";
present_time = ros::Time::now().toSec(); // for timing calculation
std::cout<<"\nFinishing one scan";
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "laserdata");
ros::NodeHandle n;
ros::Subscriber scan_sub = n.subscribe("scan", 100, scanCallback); // I changed buffer rate over here
ros::spin();
}
On adding the header and executing the code, I get the following output:
Number of range values: 181
angle_min: -1.5708
angle_max: 1.5708
time_increment: 3.7037e-05
scan_time: 0.0133333
Header seq: 13070
stamp: 1405978337.781919948
frame_id: laser
Time difference: 0.107676
Finishing one scan
Also, on checking the rostopic hz /scan (with and without running my code), I get the following
average rate: 9.378
min: 0.106s max: 0.108s std dev: 0.00049s window: 9
average rate: 9.374
min: 0.106s max: 0.108s std dev: 0.00069s window: 19
average rate: 9.372
min: 0.106s max: 0.108s std dev: 0.00076s window: 28
average rate: 9.372
min: 0.106s max: 0.108s std dev: 0.00073s window: 38
average rate: 9.371
min: 0.106s max: 0.108s std dev: 0.00077s window: 47
average rate: 9.373
min: 0.106s max: 0.108s std dev: 0.00078s window: 56
average rate: 9.373
min: 0.106s max: 0.108s std dev: 0.00076s window: 66
Originally posted by Ashesh Goswami on ROS Answers with karma: 36 on 2014-07-18
Post score: 0
Original comments
Comment by bvbdort on 2014-07-18:
what is the buffer size you are using in subscriber ? Increase it and check the difference.
Comment by Ashesh Goswami on 2014-07-21:
Even if I increase the buffer size, it makes no difference
Comment by bvbdort on 2014-07-21:
can you post your code, as mentioned in below answer rostopic hz /scan should work.
Comment by Ashesh Goswami on 2014-07-21:
I have posted the code snippet. As you will see, it is a very simple code to just check the timing for obtaining the laser data. There must be something very silly which I might be overlooking.
Comment by bvbdort on 2014-07-21:
Also you can print scan_msg->Header.seq to verify sequence, and increase buffer to 1000. and as mentioned below you should able to get rostopic hz /scan which should be your expected frequency.
Comment by Ashesh Goswami on 2014-07-21:
I made the changes as you mentioned. Even after increasing the buffer to 1000, I still get "Time Difference = 0.1s". Can you shed some light into this. I have provided all the outputs and other things that might give you more information. Thanks
Comment by bvbdort on 2014-07-22:
you are getting messages at around 9.3 hz, . you can print scan_msg->Header.seq for messages and can find if you are getting all the messages or missing some. Header.seq filed shows sequence number of message. can you find messages are coming slow or some messages are dropped.
Comment by dornhege on 2014-07-22:
According to the rostopic hz output it seems that messages are only being sent at 10 Hz. This looks like it's maybe some setting in the driver limiting that. It's very likely not your code.
Comment by Ashesh Goswami on 2014-07-22:
I am not missing any sequence as per the Header.seq output so I guess it is highly likely that the timing is being affected due to driver setting. I will try to check it out. In case you think there might be some other possibilities please let me know. Thanks
|
I have seen the other topics about the similar error (like here http://answers.ros.org/question/108976/rostopic-could-not-get-message-class-but-rosmsg-shows-msg/), but they don't seem to fit to my problem.
I am using Ubuntu 12.04 and ROS Hydro.
I have a robotino_node which is publishing several things. They show up if I use rostopic list. i also can use rostopic type and rostopic info, here the robotino_node is listed as a publisher.
But if I use rostopic hz or rostopic echo the error form the topic line shows up, eg
Cannot load message class for [robotino_msgs/PowerReadings]. Are your messages built?
rosmsg show does also work, eg
[robotino_msgs/PowerReadings]
time stamp
float current
float voltage
Now interestingly if I try rostopic echo with "bumper", which is the only std_msg published by the robotino_node it shows one time
data: False
---
but that's it.
I suspect that my cmake file for the messages is wrong, but I am not sure; it looks like this
# CATKIN_MIGRATION: removed during catkin migration
# cmake_minimum_required(VERSION 2.8.3)
project(robotino_msgs)
find_package(catkin REQUIRED COMPONENTS geometry_msgs std_msgs message_generation roscpp)
include_directories(include
${catkin_INCLUDE_DIRS}
)
add_message_files(
FILES
AnalogReadings.msg
BHAReadings.msg
DigitalReadings.msg
EncoderReadings.msg
GrapplerReadings.msg
GripperState.msg
MotorReadings.msg
NorthStarReadings.msg
PowerReadings.msg
SetBHAPressures.msg
SetBHAPressures.msg
SetGrapplerAxes.msg
SetGrapplerAxis.msg)
add_service_files(
FILES
ResetOdometry.srv
SetEncoderPosition.srv
SetGripperState.srv)
#add_dependencies(robotino_msgs geometry_msgs_generate_messages_cpp) #or yes?
#target_link_libraries(robotino_msgs ${catkin_LIBRARIES} ) # or yes
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES geometry_msgs std_msgs
)
# catkin_package parameters: http://ros.org/doc/groovy/api/catkin/html/dev_guide/generated_cmake_api.html#catkin-package
# TODO: fill in what other packages will need to use this package
catkin_package(
DEPENDS roscpp geometry_msgs std_msgs
CATKIN_DEPENDS # TODO
INCLUDE_DIRS # TODO include
LIBRARIES # TODO
)
My launch file looks like this
<launch>
<arg name="hostname" default="172.26.1.1" />
<node name="robotino_node" pkg="robotino_node" type="robotino_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="max_linear_vel" value="0.5" />
<param name="min_linear_vel" value="0.05" />
<param name="max_angular_vel" value="3.0" />
<param name="min_angular_vel" value="0.1" />
<!-- <param name="downsample_kinect" value="true" />
<param name="leaf_size_kinect" value="0.04" /> entfernt da KinectNode nicht aktualisiert-->
<remap from="robotino_joint_states" to="joint_states" />
<!--remap from="image_raw" to="image"/-->
</node>
<!--
<node name="robotino_odometry_node" pkg="robotino_node" type="robotino_odometry_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
</node>
-->
<!--
<node name="robotino_laserrangefinder_node" pkg="robotino_node" type="robotino_laserrangefinder_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="laserRangeFinderNumber" value="0" />
</node>
-->
<!--
<node name="robotino_camera_node" pkg="robotino_node" type="robotino_camera_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
<param name="cameraNumber" value="0" />
</node>
-->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="20.0" />
</node>
<!--
<node name="robotino_mapping_node" pkg="robotino_node" type="robotino_mapping_node" output="screen">
<param name="hostname" value="$(arg hostname)" />
</node>
-->
<!--node pkg="tf" type="static_transform_publisher" name="laser_link_broadcaster" args="0.12 0 0.025 0 0 0 base_link laser_link 50" /-->
<param name="robot_description" textfile="$(find robotino_description)/urdf/robotino.urdf" />
</launch>
So even if just the std_msgs work, shouldn't at least the bumper published with a frequency of 20 hz?
I hope someone can helpt me out. Thanks.
Originally posted by BenediktHeck on ROS Answers with karma: 151 on 2014-07-18
Post score: 13
|
In reading different accounts of how to create a ROS workspace (in Hydro), I encountered a discrepancy. In the ROS tutorial sequence, a command 'catkin_init_workspace' is executed before going on to the 'build' process. In other accounts of the process, this step is not mentioned. I have not been able to find detailed documentation on this command. What exactly does it do?
Originally posted by mosfet2u on ROS Answers with karma: 51 on 2014-07-18
Post score: 3
|
According to the catkin tutorial you can define the prefix when using catkin_make install in the following way:
catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/groovy install
The question is: how to really install in in my system? because after I do that, the package is installed as catkin_make install without any option. So it stays in the same directory. How can I install it in /opt/ros/groovy?
Originally posted by silgon on ROS Answers with karma: 649 on 2014-07-19
Post score: 1
|
I tried to use ROSCONSOLE_FORMAT as shown in Console Output Formatting on rosconsole wiki.
I configured my .bashrc as shown below:
source /opt/ros/hydro/setup.bash
source ~/myproject/devel/setup.bash
export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=<removed_link>
export ROBOT=sim
export ROSCONSOLE_FORMAT='[${severity}] [${node}@${function}:${line}]: ${message}'
For C++ I get expected outputs. However for any python program, for example
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
def talker():
# pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
r = rospy.Rate(1) # 10hz
while not rospy.is_shutdown():
# str = "hello world %s" % rospy.get_time()
rospy.loginfo("Hello World!")
# pub.publish(str)
r.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
I get unformatted outputs like:
mjyc@ubuntu:~$ python test.py
[INFO] [WallTime: 1405812621.854884] Hello World!
[INFO] [WallTime: 1405812622.856649] Hello World!
[INFO] [WallTime: 1405812623.856340] Hello World!
[INFO] [WallTime: 1405812624.856789] Hello World!
[INFO] [WallTime: 1405812625.855262] Hello World!
Anybody has any clue?
I'm on Ubuntu 12.04 and using hydro.
Originally posted by Andrzej Pronobis on ROS Answers with karma: 43 on 2014-07-20
Post score: 3
Original comments
Comment by gvdhoorn on 2015-04-07:
FYI: ros_comm/pull/519 adds support for ROSCONSOLE_FORMAT to rospy. It's currently only merged into indigo-devel though.
|
I used laser_geometry tutorial and I have this code:
LaserScanToPointCloud(ros::NodeHandle n):
n_(n),
// laser_sub_(n_, "base_scan", 10),
laser_sub_(n_, "/laserscan", 1),
laser_notifier_(laser_sub_,listener_, "laser0_frame", 1)
{
std::cout << "Object created" << std::endl ;
laser_notifier_.registerCallback(
boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier_.setTolerance(ros::Duration(0.01));// 0.01
std::cout << "before pub " << std::endl ;
scan_pub_ = n_.advertise<sensor_msgs::PointCloud>("cloud",1);
std::cout << "after pub " << std::endl ;
}
==========================================
sensor_msgs::PointCloud cloud;
try
{
std::cout << "try " << std::endl ;
projector_.transformLaserScanToPointCloud(
"laser0_frame",*scan_in, cloud,listener_);
}
catch (tf::TransformException& e)
{
std::cout << "catch 1 " << std::endl ;
std::cout << e.what();
std::cout << "catch " << std::endl ;
return;
}
I changed base_scan to laser_scan --> this is because the topic name that publishes laser data is called laser_scan
is that right ?? should I do that or shouldn't I ?
Also, I did rostopic echo /scan and I found that the frame id is laser0_frame.. So I used it instead of the base_link. The base_link was used in the geometry tutorial.
now in the previous code should I use base_link or laser0_frame
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-07-20
Post score: 0
|
Hi,
I am able to do MLS and then also generate mesh, but I need to do both of them separately. I am not able to find a way to do it in one go. First I do MLS and save the file. And then read that file again and generate mesh.
If I combine both I am encountering segmentation fault. The code does MLS successfully but than fails.
The two tutorials which I tried to combine are:
Greedy projection : http://pointclouds.org/documentation/tutorials/greedy_projection.php#greedy-triangulation
and
MLS : http://pointclouds.org/documentation/tutorials/resampling.php#moving-least-squares
Also since MLS itself compute the surface normal so I commented the part of the code where normal are generated.
Any help of pointers is greatly appreciated.
Let me know if I ask PCL related questions somewhere else?
My combined code is:
int
main (int argc, char** argv)
{
ros::init(argc, argv, "seg"); //is the third param node name
ros::NodeHandle nh;
int p_setKSearch = 20;
double p_setSearchRadius = 0.025;
double p_setMu = 2.5;
double p_neighbours = 100;
double p_maxSurfAnglePiDiv = 4; // 45 degrees
double p_minAnglePiDiv =18; // 10 degrees
double p_maxAnglePiDiv = 1.5; // 120 degrees
bool p_normal_consist = false;
std::string p_pcd_file = "/home/aknirala/chair.pcd";
double lDv; //Loaded double value
int lIv;
bool lBv;
std::string lSv;
std::cout<<"\n Getting the parameters...............";
if(nh.getParam("/mesh/meshParam/p_setKSearch", lIv)) p_setKSearch = lIv;
if(nh.getParam("/mesh/meshParam/p_setSearchRadius", lDv)) p_setSearchRadius = lDv;
if(nh.getParam("/mesh/meshParam/p_setMu", lDv)) p_setMu = lDv;
if(nh.getParam("/mesh/meshParam/p_neighbours", lDv)) p_neighbours = lDv;
if(nh.getParam("/mesh/meshParam/p_maxSurfAnglePiDiv", lDv)) p_maxSurfAnglePiDiv = lDv;
if(nh.getParam("/mesh/meshParam/p_minAnglePiDiv", lDv)) p_minAnglePiDiv = lDv;
if(nh.getParam("/mesh/meshParam/p_maxAnglePiDiv", lDv)) p_maxAnglePiDiv = lDv;
if(nh.getParam("/mesh/meshParam/p_normal_consist", lBv)) p_normal_consist = lBv;
if(nh.getParam("/mesh/sourceFile", lSv)) p_pcd_file = lSv;
std::cout<<"\n p_setKSearch : "<<p_setKSearch;
std::cout<<"\n p_setSearchRadius : "<<p_setSearchRadius;
std::cout<<"\n p_setMu : "<<p_setMu;
std::cout<<"\n p_neighbours : "<<p_neighbours;
std::cout<<"\n p_maxSurfAnglePiDiv : "<<p_maxSurfAnglePiDiv;
std::cout<<"\n p_minAnglePiDiv : "<<p_minAnglePiDiv;
std::cout<<"\n p_maxAnglePiDiv : "<<p_maxAnglePiDiv;
std::cout<<"\n p_normal_consist : "<<p_normal_consist;
std::cout<<"\n p_pcd_file : "<<p_pcd_file;
// Load input file into a PointCloud<T> with an appropriate type
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2 cloud_blob;
pcl::io::loadPCDFile (p_pcd_file, cloud_blob);
pcl::fromPCLPointCloud2 (cloud_blob, *cloud); //What exactly is being converted here?
//cloud_blob may not be of type XYZ :-)
//* the data should be available in cloud
//Convert a PCLPointCloud2 binary data blob ---> into a pcl::PointCloud<T> object
//Oh, so this is one of the way to load any point cloud type from a pcd file, which we do not
// know before reading the file to desired point type. IN this case, to PointXYZ.
/*
// Normal estimation*
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
tree->setInputCloud (cloud);
n.setInputCloud (cloud);
n.setSearchMethod (tree);
n.setKSearch (p_setKSearch); //It was 20
n.compute (*normals); //Normals are estimated using standard method.
//* normals should not contain the point normals + surface curvatures
// Concatenate the XYZ and normal fields*
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
//* cloud_with_normals = cloud + normals
*/
//Here Normals are being generated and then merged. But MLA (moving least square) can do that in one go.
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
// Output has the PointNormal type in order to store the normals calculated by MLS
pcl::PointCloud<pcl::PointNormal> mls_points;
// Init object (second point type is for the normals, even if unused)
pcl::MovingLeastSquares<pcl::PointXYZ, pcl::PointNormal> mls;
mls.setComputeNormals (true);
// Set parameters
mls.setInputCloud (cloud); //of type xyz
mls.setPolynomialFit (true);
mls.setSearchMethod (tree);
mls.setSearchRadius (p_setSearchRadius); //original was 0.03
// Reconstruct
mls.process (mls_points);
std::cout<<"\n MLS constructed.";
pcl::io::savePCDFile ("bun0-mls.pcd", mls_points);
std::cout<<"\n MLS written.";
pcl::PointCloud<pcl::PointNormal>::Ptr mls_points_ptr (&mls_points);
// Create search tree*
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud (mls_points_ptr);
// Initialize objects
pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
pcl::PolygonMesh triangles;
// Set the maximum distance between connected points (maximum edge length)
gp3.setSearchRadius (p_setSearchRadius); //It was 0.025
// Set typical values for the parameters
gp3.setMu (p_setMu); //It was 2.5
gp3.setMaximumNearestNeighbors (p_neighbours); //It was 100
gp3.setMaximumSurfaceAngle(M_PI/p_maxSurfAnglePiDiv); // 45 degrees //it was 4
gp3.setMinimumAngle(M_PI/p_minAnglePiDiv); // 10 degrees //It was 18
gp3.setMaximumAngle(M_PI/p_maxAnglePiDiv); // 120 degrees //it was 1.5
gp3.setNormalConsistency(p_normal_consist); //It was false
// Get result
gp3.setInputCloud (mls_points_ptr);
gp3.setSearchMethod (tree2);
gp3.reconstruct (triangles);
// Additional vertex information
std::vector<int> parts = gp3.getPartIDs();
std::vector<int> states = gp3.getPointStates();
pcl::io::saveVTKFile ("/home/aknirala/mesh_Smooth.vtk", triangles);
// Finish
return (0);
}
Originally posted by aknirala on ROS Answers with karma: 339 on 2014-07-20
Post score: 1
Original comments
Comment by sai on 2014-07-20:
Just to know...exactly on which line, are you encountering the segmentation fault ?
|
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