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Hi, I'm working on a multi-robot project, which robots need to talk to each other directly. Assume that robot1 wants to talk to robot3, so robot1 publishes its desire to talk. One way to solve is that robot3 subscribes to every other robots to find out which one to talk. This approach have several disadvantages like latency and confliction. I wanted to know if there is any way to solve this problem with direct connection between robots in ROS?
Originally posted by Armin on ROS Answers with karma: 23 on 2014-07-27
Post score: 2
|
When running Movit on my desktop, RViz cannot show smoothly arm trajectories. Well, it looks cool at the beginning, but after 2 or 3 extra plannings/executions, CPU load reaches 100% and arm trajectories become jumpy.
The point is that my laptop, with a less powerful CPU (same RAM) does a much better job, with RViz taking ~80% of CPU, because in a thread-by-thread basis, is much faster:
Desktop: AMD FX Series FX-8350 4.0Ghz 8 cores
Laptop: Intel i7-4600U 3.00 GHz dualcore
So... weird as it can sound, I would love a multi-threaded RViz, or recompile it better fitted for my CPU.
Any idea of what can I do? (I tried overclocking but always make the PC unstable)
Hope this gets useful for ROS users thinking to buy a new PC: carefully check per-thread performance!!!
UPDATE
I made some progresses; compiling RViz for my platform improves things, so now, if I disconnect the 3D sensor, RViz never reaches 100% CPU and so the arm moves smoothly:
set(PLATFORM_FAMILY "amd" CACHE STRING "Platform family, usually referring to intel/arm etc.")
set(PLATFORM_NAME "native" CACHE STRING "Platform name, usually referring to the cpu architecture.")
...
set(PLATFORM_CXX_FLAGS "-march=native" CACHE STRING "Compile flags specific to this platform.")
...
set(CMAKE_BUILD_TYPE Release CACHE STRING "Build mode type.")
However, performance still degrades when RViz shows the octomap (but takes longer). Someone knows any additional compilation tweak to try? Btw, how can I override the predefined compiler flags? It uses -O2, while I want to try -Os instead (I saw in a benchmark assuring it's better for my CPU)
Another solution could be to simplify the arm. Yes, I use the tiny turtlebot arm, but the URDF is surprisingly complex, as it adds a link for every frame element, totaling 25 links! (with 23 meshes). Makes this any sense? Or it will be a waste of time?
Thanks!!!
Originally posted by jorge on ROS Answers with karma: 2284 on 2014-07-27
Post score: 1
Original comments
Comment by ahendrix on 2014-07-27:
Are you sure this is related to CPU performance, and not due to poor graphic performance?
Comment by gvdhoorn on 2014-07-28:
I'm inclined to say the same: on my -- even slower -- machine (2.8Ghz, c2d) -- I can run RViz and MoveIt for hours on end, without it eating up my entire CPU. Could you add some more info on the rest of your hardware?
Comment by jorge on 2014-07-28:
Well, I'm pretty sure it's not the graphic card because I have a one that should be more than enough for RViz (AMD HD 7770), while I have none in the laptop. And even like this, the laptop works better. Also, I changed to proprietary AMD drivers without noticing any improve on RViz
Comment by kmhallen on 2014-07-28:
Any parameter starting with 'D' is passed to cmake.
catkin_make -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-Os
catkin_make -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-Os -march=native"
Comment by jorge on 2014-07-29:
Yes, I have no problem passing arguments to gcc. But I don't know how to remove the default ones, e.g. -O2.
Comment by Daniel Stonier on 2014-07-29:
When you build in ros, the -O's will be applied by cmake according to the CMAKE_BUILD_TYPE setting.
Comment by Daniel Stonier on 2014-07-29:
Run top on the rviz process, use H (threads) and f (fields, select the last used cpu). Are you seeing all the computation in one thread? Mine is, but I'm not testing on anything significant. Being a qt program, I wonder if all the hard yakka is getting done in the main thread.
Comment by Daniel Stonier on 2014-07-29:
Such a large program with alot going on could farm out some jobs to threads or hang widgets on the main one from external threads, but that starts to require some thinking/planning.
Comment by Daniel Stonier on 2014-07-29:
Would starting two instances of rviz with different things showing in each help you multi-core it?
Comment by jorge on 2014-07-29:
One single big glutton thread takes all CPU. As far as I can say, the thread gets 100% of CPU because it process the monitored_planning_scene topic from moveit, that contains really a lot of information. But... I'm new on moveit, so this is just my guess.
Comment by jorge on 2014-07-30:
My college in the office complain that he set CMAKE_BUILD_TYPE as Debug and still have the -O2 optimization option. There's no way to change pre-set options for a compilation type?
Comment by Daniel Stonier on 2014-07-31:
Those -O2 settings are defined as preset configurations by cmake modules that define the compiler you are using (I'm pretty sure). You can override these with: http://www.cmake.org/cmake/help/v2.8.10/cmake.html#variable:CMAKE_USER_MAKE_RULES_OVERRIDE.
Comment by Daniel Stonier on 2014-07-31:
Basically you create a file with something like: set(CMAKE_CXX_FLAGS_INIT "${CMAKE_CXX_FLAGS_INIT} ${MY_FLAGS_INIT}") and set CMAKE_USER_MAKE_RULES_OVERRIDE with the filename in your cmake pre-cache.
|
I' am wondering what those nine dots in the ROS logo mean.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-07-27
Post score: 8
Original comments
Comment by McMurdo on 2014-07-28:
One of those dots has become a question mark now.
Comment by Mehdi. on 2014-07-28:
This is just a slightly changed logo for a special use in ROSAnswers, I think that this is pretty obvious...
Comment by Moda on 2014-07-28:
Is this a karma question?
|
When I launch my move_base.launch, ( http://wiki.ros.org/navigation/Tutorials/RobotSetup) , I got this error :
Waiting on transform from /base_link to /map to become available before running costmap, tf error:
[ WARN] [1406541885.908819812]: No laser scan received (and thus no pose updates have been published) for 1406541885.908702 seconds. Verify that data is being published on the /scan topic.
This is my frames.pdf file
This is the rqt_graph :
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-28
Post score: 0
Original comments
Comment by bvbdort on 2014-07-28:
did you run roslaunch my_robot_configuration.launch first ?
Comment by Moda on 2014-07-28:
yes I did.
Comment by bvbdort on 2014-07-28:
check if tf is available using
$ rosrun tf view_frames
$ evince frames.pdf
Comment by Moda on 2014-07-28:
I've posted the result
Comment by bvbdort on 2014-07-28:
check laser is published on /scan topic. otherwise remap your laser topic to /scan. please upload picture of rqt_graph .
Comment by Moda on 2014-07-28:
When I make rostopic echo /scan I see that somethink is published
Comment by bvbdort on 2014-07-28:
you can see that /odom is not subscribe by none. No idea about it.
Comment by Moda on 2014-07-28:
No, I don't know how to link /odom to base_link
|
Hi everybody,
I am trying to migrate the face_recognition package to catkin but I have lots of problems.
I tried with : http://wiki.ros.org/catkin/migrating_from_rosbuild
but it doesn't work. So I create a new catkin workspace and I tried to add every folder one by one as if it was a new project. When I try to do a catkin_make I have this message :
CMake Error: Attempt to add a custom rule to output "/home/www/ros/devel/include/face_recognition/FaceRecognitionAction.h.rule" which already has a custom rule.
CMake Error: Attempt to add a custom rule to output "/home/www/ros/devel/share/common-lisp/ros/face_recognition/msg/FaceRecognitionAction.lisp.rule" which already has a custom rule.
CMake Error: Attempt to add a custom rule to output "/home/www/ros/devel/lib/python2.7/dist-packages/face_recognition/msg/_FaceRecognitionAction.py.rule" which already has a custom rule.
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Erreur 1
Invoking "make cmake_check_build_system" failed
My Cmakelist.txt is like this:
cmake_minimum_required(VERSION 2.8.3)
project(face_recognition)
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
cv_bridge
image_transport
#opencv2
roscpp
roslib
rospy
std_msgs
)
add_message_files(
FILES
FaceRecognitionAction.msg
#FaceRecognitionActionFeedback.msg
#FaceRecognitionActionGoal.msg
#FaceRecognitionActionResult.msg
#FaceRecognitionFeedback.msg
#FaceRecognitionGoal.msg
#FaceRecognitionResult.msg
#FRClientGoal.msg
)
find_package( OpenCV REQUIRED )
add_action_files(
FILES
FaceRecognition.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs
std_msgs
)
include_directories( ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} )
add_executable(Fserver src/face_recognition.cpp)
add_executable(Fclient src/face_rec_client.cpp)
Can somebody help me please?
thank you
Originally posted by RosFaceNoob on ROS Answers with karma: 42 on 2014-07-28
Post score: 2
Original comments
Comment by BennyRe on 2014-07-28:
Please post your CMakeLists.txt
Comment by RosFaceNoob on 2014-07-28:
I edited my post
|
Hi,
This time, the problem is with building hector_pose_estimation_core package:
-- Build files have been written to: /Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_pose_estimation_core
==> make -j2 -l2 in '/Volumes/Data/ZProjects/ROS/catkin_ws/build_isolated/hector_pose_estimation_core'
Scanning dependencies of target hector_pose_estimation
[ 4%] Building CXX object CMakeFiles/hector_pose_estimation.dir/src/global_reference.cpp.o
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/src/global_reference.cpp:29:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h:32:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h:32:
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:80:5: error:
no template named 'DenseBase'; did you mean 'Eigen::DenseBase'?
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/util/Macros.h:316:48: note:
expanded from macro 'EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR'
EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& ...
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/DenseBase.h:41:34: note:
'Eigen::DenseBase' declared here
template<typename Derived> class DenseBase
^
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/src/global_reference.cpp:29:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h:32:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h:32:
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:101:5: error:
no template named 'DenseBase'; did you mean 'Eigen::DenseBase'?
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/util/Macros.h:316:48: note:
expanded from macro 'EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR'
EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& ...
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/DenseBase.h:41:34: note:
'Eigen::DenseBase' declared here
template<typename Derived> class DenseBase
^
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/src/global_reference.cpp:29:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h:32:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h:32:
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:121:5: error:
no template named 'DenseBase'; did you mean 'Eigen::DenseBase'?
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/util/Macros.h:316:48: note:
expanded from macro 'EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR'
EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& ...
^
/usr/local/Cellar/eigen/3.2.1/include/eigen3/Eigen/src/Core/DenseBase.h:41:34: note:
'Eigen::DenseBase' declared here
template<typename Derived> class DenseBase
^
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/src/global_reference.cpp:29:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/global_reference.h:32:
In file included from /Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/types.h:32:
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:287:13: warning:
'typename' occurs outside of a template [-Wc++11-extensions]
typedef typename Storage::Base Base;
^~~~~~~~~
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:288:36: warning:
'typename' occurs outside of a template [-Wc++11-extensions]
typedef Eigen::SelfAdjointView<typename Storage::Base,Upper> SelfAdj...
^~~~~~~~~
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:289:13: warning:
'typename' occurs outside of a template [-Wc++11-extensions]
typedef typename Eigen::internal::traits<Base>::Scalar Scalar;
^~~~~~~~~
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/include/hector_pose_estimation/matrix.h:290:13: warning:
'typename' occurs outside of a template [-Wc++11-extensions]
typedef typename Eigen::internal::traits<Base>::Index Index;
^~~~~~~~~
/Volumes/Data/ZProjects/ROS/catkin_ws/src/hector_localization/hector_localization/hector_pose_estimation_core/src/global_reference.cpp:89:3: error:
use of undeclared identifier 'sincos'; did you mean '__sincos'?
sincos(heading_.value, &heading_.sin, &heading_.cos);
^~~~~~
__sincos
/usr/include/math.h:647:29: note: '__sincos' declared here
__header_always_inline void __sincos(double __x, double *__sinp, double ...
^
4 warnings and 4 errors generated.
make[2]: *** [CMakeFiles/hector_pose_estimation.dir/src/global_reference.cpp.o] Error 1
make[1]: *** [CMakeFiles/hector_pose_estimation.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!
<== Failed to process package 'hector_pose_estimation_core':
Command '/Volumes/Data/ZProjects/ROS/catkin_ws/install_isolated/env.sh make -j2 -l2' returned non-zero exit status 2
Any comments greatly appreciated.
--Rasit
Originally posted by Rasit on ROS Answers with karma: 25 on 2014-07-28
Post score: 1
|
Hi
I wrote my own localization and I figured out hat amcl is publishing map->odom and not map->base_link.
Which is strange but on the end I had to do the same by computing first the difference to publish map->odom->base_link.
Can anyone help my out to clarify this situation.
Thanks
Originally posted by Markus Bader on ROS Answers with karma: 847 on 2014-07-28
Post score: 2
Original comments
Comment by Moda on 2014-07-28:
How did you managed to have map->odom->base_link ? I'm struggling to have map->odom (I already have odom->base_link)
Comment by Markus Bader on 2014-07-29:
Yes my stuff is working.
I had a look how it is done in amcl_node.cpp line 1125-1160.
Comment by lalten on 2018-02-08:
Thanks, that's what I was looking for. Here is a link to the AMCL code with updated line #: http://docs.ros.org/lunar/api/amcl/html/amcl__node_8cpp_source.html#l01356
Comment by Markus Bader on 2018-09-06:
Hi lalten!
To not edit AMCL, what it does makes perfect sense, have a look at the figures on the bottom of http://wiki.ros.org/amcl and on domhege answer below.
|
I'm trying to do the urdf tutorial http://wiki.ros.org/urdf/Tutorials/Create%20your%20own%20urdf%20file
So when i launch rosrun urdfdom check_urdf my_robot.urdf (I'm in groovy)
I get this error
Error: Could not find the 'robot' element in the xml file
at line 59 in /tmp/buildd/ros-groovy-urdfdom-0.2.8-2precise-20140305-0755/urdf_parser/src/model.cpp
ERROR: Model Parsing the xml failed
However the element robot is there in the first line
<robot name="Mark1">
<link name="base_link">
<visual>
<geometry>
<box size="0.36 0.376 0.2"/>
</geometry>
<origin rpy="0 0 0" xyz="0.7 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<link name="lwheel">
<visual>
<geometry>
<cylinder length="0.028" radius="0.0625"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_lwheel" type="fixed">
<parent link="base_link"/>
<child link="lwheel"/>
<origin xyz="0 0.162 0" rpy="-1.5708 0 0"/>
</joint>
<link name="rwheel">
<visual>
<geometry>
<cylinder length="0.028" radius="0.0625"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_rwheel" type="fixed">
<parent link="base_link"/>
<child link="rwheel"/>
<origin xyz="0 -0.162 0" rpy="1.5708 0 0"/>
</joint>
<link name="laser">
<visual>
<geometry>
<box size="0.015 0.045 0.015"/>
</geometry>
<origin rpy="0 0 0" xyz="0.022 0 0.015"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_scanner" type="fixed">
<parent link="base_link"/>
<child link="laser"/>
<origin xyz="0.2 0 0.6125" rpy="0 0 0"/>
</robot>
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-28
Post score: 0
|
Hello,
I want to buy a UAV to play with computer vision applications, and I would like to have a robot that works with ROS more or less out of the box. For instance, I want to know the available nodes allow me easily to read the camera an move the robor without major tweaking?
Thanks,
Juan
Originally posted by Juan Manuel on ROS Answers with karma: 3 on 2014-07-28
Post score: 0
|
Hi everyone,
In order to do my own 3D navigation I would like to set a path to move_base.
I explain what i am doing:
I generate 3 2d map
Use each of these 3d map for generated a plan ( with make_plan)
But now i want to check if one path is good in each 2d maps.
So i was thinking to check this with the move_base but I find nothing to load a path. (I could maybe change the move_base code to subscribe to a topic and use the received path, but it sound complicated )
Is there a way to load a path in the move_base ? Or someone have an idea how could i do that?
thanks
Originally posted by GuillaumeB on ROS Answers with karma: 312 on 2014-07-28
Post score: 1
|
I'm going through the PS3 tutorials hoping to learn how to control a quadrotor using ros with a controler. In the tutorial Writing a Teleoperation Node for the PS3 Joystick you are told to add to the CMakeList.text file
rosbuild_add_executable(turtle_teleop_ps3joy src/turtle_teleop_ps3joy.cpp)
and then run rosbuild on your file.
I'm not sure how to do this? In which CMakeList do I add this? In the src file in my workspace? Or in the package I'm working in? And were in the CMakeList do I add it?
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-07-28
Post score: 0
|
I've written the following method for returning the homogeneous transformation matrix between two tf links:
Eigen::Matrix4f getTransformation(std::string parentName, std::string childName){
parentName.insert(0,"/");
childName.insert(0,"/");
tf::StampedTransform transform;
tf::TransformListener listener;
ros::Time t = ros::Time::now();
try{
listener.waitForTransform(parentName, childName, t, ros::Duration(4.0));
listener.lookupTransform(parentName, childName, t, transform);
}
catch (tf::TransformException ex){
ROS_ERROR("%s",ex.what());
}
tf::Matrix3x3 rot = transform.getBasis();
tf::Vector3 trans = transform.getOrigin();
Eigen::Matrix4f tranformation = Eigen::MatrixXf::Identity(4,4);
Eigen::Matrix3f upleft3x3;
upleft3x3 << rot[0][0], rot[0][1], rot[0][2],
rot[1][0], rot[1][1], rot[1][2],
rot[2][0], rot[2][1], rot[2][2];
tranformation.block<3,3>(0,0) = upleft3x3;
tranformation.col(3) = Eigen::Vector4f(trans[0],trans[1],trans[2],1);
return transformation;
}
When I try to use this method, I get the following error:
Lookup would require extrapolation into the past. Requested time 1406560524.442721448 but the earliest data is at time 1406560524.444821575, when looking up transform from frame [wrist_3] to frame [base_link]
I tried the solution suggested by Martin Günther on this page, but that just resulted in an infinite while loop.
Adding a ros::Duration(1) to the requested time worked, but obviously that isn't ideal. Any other solutions?
Originally posted by rkeatin3 on ROS Answers with karma: 156 on 2014-07-28
Post score: 4
Original comments
Comment by dornhege on 2014-07-28:
When does this happen? Once at the start or all the time?
Comment by rkeatin3 on 2014-07-28:
I get the error whenever the function is called.
|
Hi,
Can someone please give an example of how to set the costmap parameters for the range_sensor_layer, recently added in Hydro ? (as of now, I am using IR sensors converted into a single cloud, but facing problems as the obstacles are not clearing up)
Thanks!
Originally posted by adreno on ROS Answers with karma: 253 on 2014-07-28
Post score: 0
|
I would appreciate some guidance to understand what may be going on here.
I am trying to use the very nice robot_localization package to integrate GPS, IMU, Optical Flow and a few other sensors to localize a drone.
When running my configuration with sensor data coming from a recorded bag file, I get the following error from the ekf_localization_node node:
[ WARN] [1406560584.464395417, 1406223582.586091240]: Could not obtain transform from utm to nav. Error was Lookup would require extrapolation into the future. Requested time 1406223583.213000000 but the latest data is at time 1406223582.576022606, when looking up transform from frame [utm] to frame [nav]
I've been trying to understand why this is happening and I've gathered the following information:
The CPU usage is pretty low. I don't think this could be happening because of lack of processing capacity
What the code seems to be trying to do is using lookupTransform to calculate TF using the timestamp of the GPS message received
The transformation between [utm] and [nav] is being published at 50Hz. GPS messages are being published at 1Hz.
I can see GPS messages being published with timestamps matching the warning messages. I can also see TF publishing transformations matching the timestamp of "the latest data is at time ..." but also many more later messages:
--
stamp:
secs: 1406223582
nsecs: 576022606
frame_id: nav
child_frame_id: utm
transform:
translation:
x: -5918718.00919
y: 1789119.24381
--
stamp:
secs: 1406223582
nsecs: 596210609
frame_id: nav
child_frame_id: utm
transform:
translation:
x: -5918718.00919
y: 1789119.24381
--
stamp:
secs: 1406223582
nsecs: 616362896
frame_id: nav
child_frame_id: utm
transform:
translation:
x: -5918718.00919
y: 1789119.24381
--
stamp:
secs: 1406223582
nsecs: 636493509
frame_id: nav
child_frame_id: utm
transform:
translation:
x: -5918718.00919
y: 1789119.24381
--
...
So if there are other, more recent transforms available, published by TF, why is lookupTransform complaining that the latest data is so old, when in fact there is much newer data being published?
For now, I am using the workaround of requesting the transformation for ros::Time(0) instead of the timestamp for the GPS message, but I am not sure that is the correct thing to do.
Any ideas?
Originally posted by jcerruti on ROS Answers with karma: 113 on 2014-07-28
Post score: 6
Original comments
Comment by ahendrix on 2014-07-28:
Would using waitForTransform make sense for your use case?
Comment by jcerruti on 2014-07-29:
I am going to try that out next. Thanks!
|
EDIT: Solved, see solution at the bottom of this comment.
I'm trying to get two computers set up to communicate between ROS. I set up SSH, and can access the terminals of each computer from the other. (One is Ubuntu 12.04 and the other is 13.04). From one computer, I try to run this tutorial:
wiki.ros.org/ROS/Tutorials/MultipleMachines
I did the tutorial using one computer. The other master already had roscore running on it. To start the listener on this machine, I did
ssh <master>@<master's IP>
export ROS_MASTER_URI=http://<master>@<master's IP>:11311
rosrun rospy_tutorials listener.py
When I run this, the listener doesn't print anything, but looks ready to print. In a new terminal, I used the main computer as the slave to run
export ROS_MASTER_URI=http://<master>@<master's IP>:11311
rosrun ropsy_tutorials talker.py
and ran the talker, which continuously printed lines like:
[INFO] [WallTime: 1406648603.610351] hello world 1406648603.61
With everything closed, I tried to see if the slave computer could subscribe to topics on the other computer, with ROS and some nodes already running from earlier. I did
rostopic list
in a new terminal and it said
ERROR: Unable to communicate with master!
I did
export ROS_MASTER_URI=http://<master>@<master's IP>:11311
and then tried to list the topics, and they all listed. When I did
rostopic echo /joint_states
nothing printed. It looked like it was ready to print, but nothing did. I tried
ssh <master>@<master's IP>
rostopic echo /joint_states
and the info printed out no problem.
Does anyone know what the issue is? I never got any error codes. When I tried the tutorial again, using
export ROS_MASTER_URI=http://<master's hostname>:11311
instead, I got this error:
Unable to register with master node [http://<master's hostname>:11311]: master may not be running yet. Will keep trying.
Thanks!
SOLUTION:
First terminal:
ssh <master>@<master's IP>
export ROS_IP=<master's IP>
roscore
Second terminal:
ssh <master>@<master's IP>
export ROS_IP=<master's IP>
export ROS_MASTER_URI=http://<master's IP>:11311
rosrun rospy_tutorials listener.py
Third Terminal:
export ROS_MASTER_URI=http://<master's IP>:11311
export ROS_IP=<slave's IP>
rosrun rospy_tutorials talker.py
Originally posted by mattc12345 on ROS Answers with karma: 328 on 2014-07-28
Post score: 1
Original comments
Comment by tfoote on 2014-07-28:
Please copy and paste your actual console output into your question so we can see the output as well and try to reproduce. You are probably entering the wrong MASTER_URI but we cannot help you without the actual inputs and outputs.
Comment by mattc12345 on 2014-07-28:
I don't think there is any output from the console. The talker runs fine and prints what it did from the original example, but there is no output at all from the listener. What console output would you expect?
Comment by tfoote on 2014-07-28:
We need to see what you typed on the command line and what the errors or non errors were, including the actual IPs and hostnames. With your sanitization of the outputs the critical information has been removed. With a multiple machine setup the correct usage of the two different IPs and hostnames is important.
Comment by mattc12345 on 2014-07-29:
Okay, I edited the main post with all the info. I don't have enough Karma to include links, so I had to add a space after http:// to be able to post.
Comment by Maya on 2014-07-29:
Shouldn't it be export ROS_MASTER_URI=http://10.243.44.19:11311. Without the quan then ? My guess is that it doesn't know baxterbox as a name
|
The tutorial on Global Planner says:
"The global planner is responsible for generating a high level plan for the navigation stack to follow. Given a goal that is arbitrarily far away from the robot, the global planner will create a series of waypoints for the local planner to achieve. "
How are these waypoints represented? Are they (x,y) coordinates? and How can I retrieve the waypoints when Global Planner is planning a path from the start to the goal point? Are they published on a topic?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-28
Post score: 1
|
Hi there,
I have a roslaunch that i run two node with it in my pc, but when i close both of them, roscore are still is running, any tip appreciated. it is the output of my roslaunch:
vahid@vahid:~/catkin_ws$ roslaunch jur_gui_segmentation jur_gui_segmentation.launch
... logging to /home/vahid/.ros/log/39b07ff0-16a4-11e4-815e-0024beb250ed/roslaunch-vahid-13418.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://vahid:58428/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
jur_gui_segmentation (jur_gui_segmentation/jur_gui_segmentation)
jur_opencv_segmentation_node (jur_opencv_segmentation/jur_opencv_segmentation_node)
auto-starting new master
process[master]: started with pid [13432]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 39b07ff0-16a4-11e4-815e-0024beb250ed
process[rosout-1]: started with pid [13445]
started core service [/rosout]
process[jur_gui_segmentation-2]: started with pid [13457]
process[jur_opencv_segmentation_node-3]: started with pid [13458]
-1
[jur_gui_segmentation-2] process has finished cleanly
log file: /home/vahid/.ros/log/39b07ff0-16a4-11e4-815e-0024beb250ed/jur_gui_segmentation-2*.log
[jur_opencv_segmentation_node-3] process has finished cleanly
log file: /home/vahid/.ros/log/39b07ff0-16a4-11e4-815e-0024beb250ed/jur_opencv_segmentation_node-3*.log
Originally posted by VahidD on ROS Answers with karma: 72 on 2014-07-28
Post score: 0
|
I'm using Homebrew to install ROS - Hydro on my 10.9 Mac. While using ROS' wiki for installing hydro, 2.1.2 causes an error specifically pertaining to installing PIL. I know such has been replaced with Pillow, and have already used such before. My question is, how do I get ROS to just use Pillow instead of PIL
Originally posted by warsh on ROS Answers with karma: 1 on 2014-07-28
Post score: 0
|
our team is currently using hydro, with most of our code in python 2.7 and some c++.
we're considering upgrading to indigo.
how is everone's experience with indigo so far? is it stable?
we were just concerned that the upgrade will cause us any issues (i.e. compatible, stable, etc) that may delay our development.
would love to hear everyone's thought.
Originally posted by d on ROS Answers with karma: 121 on 2014-07-28
Post score: 0
|
When I attempt to install the Indigo version of the Turtlebot package from source using the instructions here:
http://wiki.ros.org/turtlebot/Tutorials/indigo/Installation
When I run this step:
wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/indigo/rocon.rosinstall
It ends with this error:
WARNING [vcstools] Command failed: 'git checkout hydro-devel'
run at: '/home/myuser/rocon/src/rosbridge_suite'
errcode: 1:
error: pathspec 'hydro-devel' did not match any file(s) known to git.
[/vcstools]
Exception caught during install: Error processing 'rocon_concert' : [rocon_concert] Checkout of https://github.com/robotics-in-concert/rocon_concert.git version indigo into /home/myuser/rocon/src/rocon_concert failed.
Error processing 'rosbridge_suite' : [rosbridge_suite] Checkout of https://github.com/RobotWebTools/rosbridge_suite.git version hydro-devel into /home/myuser/rocon/src/rosbridge_suite failed.
ERROR in config: Error processing 'rocon_concert' : [rocon_concert] Checkout of https://github.com/robotics-in-concert/rocon_concert.git version indigo into /home/myuser/rocon/src/rocon_concert failed.
Error processing 'rosbridge_suite' : [rosbridge_suite] Checkout of https://github.com/RobotWebTools/rosbridge_suite.git version hydro-devel into /home/myuser/rocon/src/rosbridge_suite failed.
Is there something wrong with the repository, the instructions, or did I miss something somewhere?
This appears to fix the problem, based on the accepted answer:
mkdir ~/rocon
cd ~/rocon
wget https://raw.github.com/robotics-in-concert/rocon/indigo/rocon.rosinstall
vi rocon.rosinstall
REMOVE this line:
{'git': {'local-name': 'rosbridge_suite', 'version': 'hydro-devel', 'uri': 'https://github.com/RobotWebTools/rosbridge_suite.git'}},
Then install the rosbridge-suite from deb:
sudo apt-get install ros-indigo-rosbridge-suite
And use your edited .rosinstall file to pull everything else from github:
wstool init -j5 src rocon.rosinstall
If this fails, with an error like:
Exception caught during install: Error processing 'rocon' : [rocon] Checkout of https://github.com/robotics-in-concert/rocon.git version indigo into /home/chrisl8/rocon/src/rocon failed.
ERROR in config: Error processing 'rocon' : [rocon] Checkout of https://github.com/robotics-in-concert/rocon.git version indigo into /home/chrisl8/rocon/src/rocon failed.
Just try again like this:
rm -rf src
wstool init -j5 src rocon.rosinstall
It appears that github sometimes has timeouts or something.
Then continue with the instructions . . .
source /opt/ros/indigo/setup.bash
rosdep install --from-paths src -i -y
catkin_make
Originally posted by ChrisL8 on ROS Answers with karma: 241 on 2014-07-28
Post score: 1
|
Hello!I want to use MoveIt to do robot planning&executation, so I use a Kinect to sensor the surrounding world. The tf tree is divided into two parts, robot and the Kinect connecting by world link. I have added the self mask in the YAML file, but there're no function. There still exist point clouds on the robot links.
Thanks in advance for any suggestions and helps!
Originally posted by Loewy on ROS Answers with karma: 11 on 2014-07-28
Post score: 1
|
Hi All,
I am looking into buying a Hokuyo LiDAR unit, but thought i would check with the community about what sensors are compatible with ROS and which have had issues.
Many of their sensors are found here: link
I am quite interested in the UST-05LN as it is cheap, IP65 and USB. Has anyone used this with ROS?
My application is outdoors in a forested environment in which i don't require more than 10 meters of depth.
Cheers.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-07-28
Post score: 0
Original comments
Comment by ahendrix on 2014-07-28:
How big of a space will you be working in, and will it be indoors or outdoors? My URG-04LX-UG01 works well in my apartment, but the minimum range means that it doesn't always see the walls in large rooms, and it needs a sunshade to operate reliably outdoors.
Comment by anonymous8676 on 2014-07-29:
@ahendrix apologies i should have added my application. I am working in a forested environment (outdoors) where i don;t require more than 10 meters of data.
|
I am trying to open and close NAO's gripper. I searched the documentations but I could not find what command or what topic to publish on to access the robots grippers.
I want to make NAO hold a paper plate in his hand.
Can somebody please tell me how I can open and close NAO's hand through ROS?
Thanks
Originally posted by uzair on ROS Answers with karma: 87 on 2014-07-28
Post score: 0
|
I would like to write code for a class which includes a function which calls ros::init to start a ros process. Is it possible to do this in code which is not contained in a package?
My class works with sensor data and I would like it to be possible to read data from in a variety of methods depending on which function is chosen. For example, there may be a function which employs the sensor driver API and reads via network connection, or else there may be a function which is a wrapper to an external library which provides data read from the sensor in a different way.
I would like to give a function the ability to get data from ROS by starting a node which contains a subscriber to the appropriate sensor topic. However, since I do not want the class to be part of a ROS package (so that it is portable) I am wondering if it is possible to do do this?
I imagine that in operation, the function will have to be able to attempt to start the process using ros::init, but may fail if no master process actually exists at that time. Is this idea possible?
Originally posted by Abbi on ROS Answers with karma: 11 on 2014-07-28
Post score: 0
|
Hey,
I tried to go through this tutorial Tutorial: Using a URDF in Gazebo but I failed in the first steps. I gitcloned the RRbot stuff and tried catkin_make. But no success.
After this i tried to set up a complete new catkin workspace, just to make sure there is no error in my catkin workspace. But also with a new and plain catkin workspace it didnt work.
The error i get is here:
schultza@Andreas:~/catkin_ws$ catkin_make
Base path: /home/schultza/catkin_ws
Source space: /home/schultza/catkin_ws/src
Build space: /home/schultza/catkin_ws/build
Devel space: /home/schultza/catkin_ws/devel
Install space: /home/schultza/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/schultza/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/schultza/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/schultza/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
You have called ADD_LIBRARY for library ... without any source files. This typically indicates a problem with your CMakeLists.txt file
CMake Error: File /home/schultza/catkin_ws/src/package.xml does not exist.
CMake Error at /opt/ros/indigo/share/catkin/cmake/stamp.cmake:10 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake:61 (stamp)
/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake:39 (_catkin_package_xml)
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:95 (catkin_package_xml)
CMakeLists.txt:77 (catkin_package)
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:112 (message):
catkin_package() 'catkin' must be listed as a buildtool dependency in the
package.xml
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:77 (catkin_package)
-- Configuring incomplete, errors occurred!
See also "/home/schultza/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/schultza/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
Maybe someone of you can help me.
Im using ROS-indigo and Gazebo 2.2
Edit#1: Workspace structure
my workspace looks something like this:
catkin_ws
build
devel
install
src
Package A
(In almost every Package)
include
launch
src
worlds
CMakeLists.txt
package.xml
Package B
Package ....
CMakeLists.txt
RemoteSystemTempFiles
Sry for the bad formatting
Edit#2: Creating an empty workspace
schultza@Andreas:~$ source /opt/ros/indigo/setup.bash
schultza@Andreas:~$ mkdir -p ~/catkin_ws2/src
schultza@Andreas:~$ cd ~/catkin_ws2/src/
schultza@Andreas:~/catkin_ws2/src$ catkin_init_workspace
Creating symlink "/home/schultza/catkin_ws2/src/CMakeLists.txt" pointing to "/opt/ros/indigo/share/catkin/cmake/toplevel.cmake"
schultza@Andreas:~/catkin_ws2/src$ cd ~/catkin_ws2
schultza@Andreas:~/catkin_ws2$ catkin_make
Base path: /home/schultza/catkin_ws2
Source space: /home/schultza/catkin_ws2/src
Build space: /home/schultza/catkin_ws2/build
Devel space: /home/schultza/catkin_ws2/devel
Install space: /home/schultza/catkin_ws2/install
####
#### Running command: "cmake /home/schultza/catkin_ws2/src - DCATKIN_DEVEL_PREFIX=/home/schultza/catkin_ws2/devel - DCMAKE_INSTALL_PREFIX=/home/schultza/catkin_ws2/install" in "/home/schultza/catkin_ws2/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/schultza/catkin_ws2/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/schultza/catkin_ws2/build/test_results
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found PROTOBUF: /usr/lib/i386-linux-gnu/libprotobuf.so
CMake Error: File /home/schultza/catkin_ws2/src/package.xml does not exist.
CMake Error at /opt/ros/indigo/share/catkin/cmake/stamp.cmake:10 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake:61 (stamp)
/opt/ros/indigo/share/catkin/cmake/catkin_package_xml.cmake:39 (_catkin_package_xml)
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:95 (catkin_package_xml)
CMakeLists.txt:77 (catkin_package)
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:112 (message):
catkin_package() 'catkin' must be listed as a buildtool dependency in the
package.xml
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:77 (catkin_package)
-- Configuring incomplete, errors occurred!
See also "/home/schultza/catkin_ws2/build/CMakeFiles/CMakeOutput.log".
See also "/home/schultza/catkin_ws2/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
Edit#3 CMakeLists.txt, maybe this could be also intresting
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake
cmake_minimum_required(VERSION 2.8.3)
set(CATKIN_TOPLEVEL TRUE)
# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
RESULT_VARIABLE _res
OUTPUT_VARIABLE _out
ERROR_VARIABLE _err
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
# searching fot catkin resulted in an error
string(REPLACE ";" " " _cmd_str "${_cmd}")
message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()
# include catkin from workspace or via find_package()
if(_res EQUAL 0)
set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
# include all.cmake without add_subdirectory to let it operate in same scope
include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
add_subdirectory("${_out}")
else()
# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
# or CMAKE_PREFIX_PATH from the environment
if(NOT DEFINED CMAKE_PREFIX_PATH)
if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
endif()
endif()
# list of catkin workspaces
set(catkin_search_path "")
foreach(path ${CMAKE_PREFIX_PATH})
if(EXISTS "${path}/.catkin")
list(FIND catkin_search_path ${path} _index)
if(_index EQUAL -1)
list(APPEND catkin_search_path ${path})
endif()
endif()
endforeach()
# search for catkin in all workspaces
set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
find_package(catkin QUIET
NO_POLICY_SCOPE
PATHS ${catkin_search_path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
if(NOT catkin_FOUND)
message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
endif()
endif()
project(YOURROBOT_gazebo_plugins)
find_package(catkin REQUIRED COMPONENTS
gazebo_ros
)
# Depend on system install of Gazebo
find_package(gazebo REQUIRED)
include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS})
# Build whatever you need here
#add_library(...) # TODO
catkin_package(
DEPENDS
gazebo_ros
CATKIN_DEPENDS
INCLUDE_DIRS
LIBRARIES
)
catkin_workspace()
Edit#4 After change my toplevel.cmake i got this output after trying catkin_make
schultza@Andreas:~$ cd ~/catkin_ws
schultza@Andreas:~/catkin_ws$ catkin_make
Base path: /home/schultza/catkin_ws
Source space: /home/schultza/catkin_ws/src
Build space: /home/schultza/catkin_ws/build
Devel space: /home/schultza/catkin_ws/devel
Install space: /home/schultza/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/schultza/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/schultza/catkin_ws/build"
####
[ 0%] [ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_TareEnable
Built target _baxter_maintenance_msgs_generate_messages_check_deps_CalibrateArmData
[ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_TareData
[ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_UpdateSource
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_UpdateStatus
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_CalibrateArmEnable
[ 0%] Built target _baxter_maintenance_msgs_generate_messages_check_deps_UpdateSources
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_PowerBoardState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_AccelerometerState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_AccessPoint
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_PeriodicCmd
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryServer
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_SetLaserTrajCmd
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryServer2
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryState2
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_DashboardState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_PressureState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_PowerState
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_GPUStatus
[ 0%] Built target _pr2_msgs_generate_messages_check_deps_SetPeriodicCmd
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] [ 0%] [ 0%] Built target _pr2_msgs_generate_messages_check_deps_LaserTrajCmd
Built target _pr2_msgs_generate_messages_check_deps_LaserScannerSignal
Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_AnalogIOState
[ 0%] [ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_CloseCamera
Built target _baxter_core_msgs_generate_messages_check_deps_EndEffectorCommand
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_CollisionDetectionState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_DigitalIOStates
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_EndEffectorProperties
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_CameraControl
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_RobustControllerStatus
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_AssemblyStates
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_SolvePositionIK
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_EndpointState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_ITBState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_AnalogOutputCommand
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_EndpointStates
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_DigitalOutputCommand
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_NavigatorStates
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_ListCameras
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_AssemblyState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_HeadPanCommand
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_SEAJointState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_NavigatorState
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_HeadState
[ 0%] [ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_CollisionAvoidanceState
Built target _baxter_core_msgs_generate_messages_check_deps_CameraSettings
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_OpenCamera
[ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_ITBStates
[ 0%] [ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_EndEffectorState
Built target _baxter_core_msgs_generate_messages_check_deps_JointCommand
[ 0%] [ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_AnalogIOStates
Built target sensor_msgs_generate_messages_cpp
[ 0%] [ 0%] Built target _baxter_core_msgs_generate_messages_check_deps_DigitalIOState
Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target add_two_ints_client
[ 0%] Generating /home/schultza/catkin_ws/src/pr2_common-hydro-devel/pr2_description/meshes/gripper_v0/convex/l_finger.obj
/bin/sh: 1: ivcon: not found
make[2]: *** [/home/schultza/catkin_ws/src/pr2_common-hydro-devel/pr2_description/meshes/gripper_v0/convex/l_finger.obj] Error 127
make[1]: *** [pr2_common-hydro-devel/pr2_description/CMakeFiles/media_files.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 0%] Built target gazebo_tutorials
[ 0%] Built target _beginner_tutorials_generate_messages_check_deps_Num
[ 0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts
make: *** [all] Error 2
Invoking "make" failed
Originally posted by schultza on ROS Answers with karma: 232 on 2014-07-29
Post score: 1
Original comments
Comment by gvdhoorn on 2014-07-29:\
CMake Error: File /home/schultza/catkin_ws/src/package.xml does not exist.
This is strange: can you show us the layout of your workspace?
Comment by schultza on 2014-07-29:
sry this didnt work see my main post
Comment by BennyRe on 2014-07-29:
Did you follow these steps? http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Comment by schultza on 2014-07-29:
Yes, as I said i tried to create a complete new workspace (with this tutorial you posted) and the same error occured
Comment by gvdhoorn on 2014-07-29:
So just creating (in a fresh shell) a directory structure like catkin_ws/src, then cd catkin_ws and catkin_make also doesn't work? So basically building an empty ws?
Comment by gvdhoorn on 2014-07-29:
Are you building from within eclipse? The RemoteSystemTempFiles seems to suggest you do.
Comment by schultza on 2014-07-29:
I exactly tried to build an empty ws as you described above and it failed with same error. I tried once to use eclipse but didnt go further with it and stopped to use it, but it wasnt a problem times before
Comment by BennyRe on 2014-07-29:
Ok that's strange. Please again create a fresh and empty workspace and post the output of the initial catkin_make.
Comment by schultza on 2014-07-29:
Please see the edited post Edit#2
Comment by gvdhoorn on 2014-07-31:
Has this been solved? Please mark the correct answer (@Williams) in that case.
Comment by schultza on 2014-07-31:
Actually not really still having troubles as you can see in Edit#4
Comment by BennyRe on 2014-07-31:
I remember that I had a similar problem with ivcon. Make sure it's installed AND added to your path.
Comment by gvdhoorn on 2014-07-31:
This has nothing to do with creating a catkin ws: ivcon is simply a dependency of the package that you're trying to build. Have you made sure you've installed all its dependencies (ie: used rosdep)?
Comment by schultza on 2014-07-31:
Maybe a little comprehension question, if I want to use this robot from here https://github.com/ros-simulation/gazebo_ros_demos.git. I clone it in my workspace src folder and do a catkin_make. Or did i missunderstand smth? Do I need to call rosdep for dependencies?
Comment by gvdhoorn on 2014-07-31:
Yes, you have to make sure you have all dependencies installed. One way to do that would be to run rosdep. By hand is also possible, but is obviously more involved.
Comment by schultza on 2014-07-31:
And how can I do this on the downloaded package? Can't find a tutorial for this situation.
Comment by BennyRe on 2014-07-31:
This can be found on nthe ROS cheat sheet: rosdep install --from-paths src --ignore-src from your workspace root.
Comment by schultza on 2014-07-31:
Oh god, i got it was a mistake in my workspace hierarchy -.- thanks for your help!!!
|
does anyone know an example / tutorial / doc that shows how to use arbotix-m with dynamixel?
i got the dynamixel_motor package working with dynamixel servos (via usb2dynamixel).
but i couldn't get any where with arbotix working with dynamixel via their arbotix-m board. i couldn't find much documentation on ros wiki either. it seems like the docs are really outdated too.
i can run "arbotix_terminal", see all the servos, and control all of them just fine via command line. but i coulnd't control them in ros. i'm not sure which nodes / topics / params should be used.
i'd like to compare usb2dynamixel vs. arbotix-m as far as how they work with dynamixel servos.
any point of reference is much appreciated.
d
Originally posted by d on ROS Answers with karma: 121 on 2014-07-29
Post score: 1
|
I used the DJdup backup tool but it only makes the image of linux not ros
Originally posted by DCD on ROS Answers with karma: 1 on 2014-07-29
Post score: 0
|
I'm using ros_hydro and I need to run the hokuyo_node
I tried to install the urge_node sudo apt-get install ros-hydro-urg-node
And then when i launch rosrun urg_node urg_node
It says : Error: stack/package urg_node not found
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-29
Post score: 0
|
I am new in computer vision but I need to implement a robot with these kind of abilities.
It has to identify objects with a particular color and size.
For this purpose I have a RGB camera which gives me a topic of the type: sensor_msgs/Image
I imagine that ROS has its own version of OpenCV for these cases.
What I have to do is a pretty simple task but I have no idea of image processing.
Any idea?
Where can I find libraries and documentation explaining them?
(I am working with ROS Hydro)
Thank you
Originally posted by arenillas on ROS Answers with karma: 223 on 2014-07-29
Post score: 1
|
When i launch move_base.launch, I got this :
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
ERROR: cannot launch node of type [amcl/amcl]: can't locate node [amcl] in package [amcl]
However I already have done : sudo apt-get install ros-hydro-amcl and sudo apt-get install ros-hydro-tf
Originally posted by Moda on ROS Answers with karma: 133 on 2014-07-29
Post score: 0
Original comments
Comment by BennyRe on 2014-07-29:
What happens if you do roscd tf?
Comment by Moda on 2014-07-29:
/opt/ros/hydro/share/tf$
Comment by Moda on 2014-07-29:
and for amcl : /opt/ros/hydro/share/amcl
Comment by sterlingm on 2014-07-29:
Can you post your ROS_PACKAGE_PATH environment variable?
Comment by Moda on 2014-07-29:
What is my ROS_PACKAGE_PATH ? the path for the catkin_ws folder?
If yes it is /home/lempereur/catkin_ws
and the path for the hydro is /opt/ros/hydro/
Comment by sterlingm on 2014-07-29:
Do "env | grep ROS" and you will see it. It is the path where ROS looks for your packages. But if roscd takes you where you listed it is probably fine. Do "ls /opt/ros/hydro/lib/tf" and see if it lists the static_transform_publisher executable.
Comment by Moda on 2014-07-29:
My ROS_PACKAGE_PATH is
ROS_PACKAGE_PATH=/opt/ros/hydro/share:/opt/ros/hydro/stacks
Comment by Moda on 2014-07-29:
when I maid ls /opt/ros/hydro/lib/tf I get bullet_migration_sed.py static_transform_publisher tf_change_notifier tf_echo tf_empty_listener tf_monitor tf_remap view_frames
Comment by BennyRe on 2014-07-29:
Ok static_transform_publisher exists. Do ls -l /opt/ros/hydro/lib/tf to see if it's executable.
Comment by Moda on 2014-08-01:
I got this : -rwxr-xr-x 1 root root 18872 juin 17 10:57 static_transform_publisher
Comment by Moda on 2014-08-01:
And even for amcl I have this : -rwxr-xr-x 1 root root 620296 juil. 23 21:42 amcl
Comment by dido_yf on 2014-12-18:
hello, I have the same problem with you. Did you solve this problem? Could you tell me how?
|
There is this nice video of a (real) PR2 performing Pick&Place using ORK and MoveIt!. Is the demonstrated (launch file) setup available somewhere? I´d like to take a look at it to see the component interaction between perception, planning and execution. If not, are there any other examples available that demonstrate MoveIt! based pick and place, ideally with the option of running them in Gazebo simulation?
Originally posted by Stefan Kohlbrecher on ROS Answers with karma: 24361 on 2014-07-29
Post score: 5
Original comments
Comment by jorge on 2014-07-29:
I'm working on it for a TB2, but I have still a lot to do. So yeah, any working demo would be very appreciated.
Comment by danielsnider on 2017-02-06:
I'm looking for an example too.
|
I'm using catkin package with one node (cpp file).
I want to add one more node (cpp file) in the same package but I get this error during the compilation:
-- +++ processing catkin package: 'kinectueye'
-- ==> add_subdirectory(kinectueye) CMake Error at kinectueye/CMakeLists.txt:180 (add_executable): add_executable cannot create target "kinectueye" because another target with the same name already exists. The existing target is an executable created in source directory "/home/jros/catkin_ws/src/kinectueye". See documentation for policy CMP0002 for more details.
the package is called kinectueye and the kinectueye (the same name) is the executable of the first node.
How can I make one package with two nodes ?
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-07-29
Post score: 3
|
Hey,
I am still learning ROS and Gazebo. Right now I am using ROS-INDIGO and Gazebo 2.2. so I went through some tutorials at gazebosim.org especially at this one Using roslaunch and tried to follow all the steps.
Unfortunately I was not able to complete this one (and I see for the next tutorials an URDF model in a catkin workspace is required). So the problem is that so far I dint create my own robot in URDF yet and the Baxter robot which is suggested, if you didn't create your own robot so far, doesn't work (seems to be a more common problem as i read in another post).
So my question is now, can someone suggest a tutorials in which I can create my first (maybe simple) robot so i can keep on doing the following tutorials and complete this tutorial?
Thanks
Edit#1
First Terminal and roslaunch the world see here:
schultza@Andreas:~/catkin_ws2$ roslaunch test_gazebo_ros test.launch
... logging to /home/schultza/.ros/log/affe9244-17eb-11e4-9c7b-485ab604aada/roslaunch-Andreas-3956.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://Andreas:55317/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.7
* /use_sim_time: True
NODES
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
auto-starting new master
process[master]: started with pid [3968]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to affe9244-17eb-11e4-9c7b-485ab604aada
process[rosout-1]: started with pid [3981]
started core service [/rosout]
process[gazebo-2]: started with pid [4005]
process[gazebo_gui-3]: started with pid [4011]
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
Msg Waiting for master.[ INFO] [1406726180.078664109]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1406726180.080004456]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 141.7.155.96
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 141.7.155.96
[ INFO] [1406726181.483034230, 0.024000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1406726181.559263363, 0.097000000]: Physics dynamic reconfigure ready.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
After in a new terminal, rosrun ing the baxter, see here and also see the error which occures:
schultza@Andreas:~/catkin_ws2/src$ rosrun gazebo_ros spawn_model -file `rospack find baxter_description`/urdf/baxter.urdf -urdf -z 1 -model baxter
Traceback (most recent call last):
File "/home/schultza/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model", line 25, in <module>
from gazebo_ros import gazebo_interface
File "/home/schultza/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.py", line 8, in <module>
from gazebo_msgs.msg import *
ImportError: No module named msg
After this Gazebogui doesnt react anymore and I have to kill gzserver.
Originally posted by schultza on ROS Answers with karma: 232 on 2014-07-29
Post score: 1
Original comments
Comment by schultza on 2014-08-04:
Nothing new because of the error "No module named msg" ?
I faced this error already sometimes more
|
Hi,
I'm using Hydro on Ubuntu 12.04.
I've been going through a lot of tutorials and online projects to get more familiar with ros, and haven't been having problems. I recently loaded the tum_ardrone packege which includes running
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`/ardrone_autonomy
since then, whenever I use rosmake I get the error
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['learning_ps3joy/']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.
I've seen people ask this question, and the answer is to run some sort of export command like the one above, but I'm unclear about how to do it, and why i never had this problem before.
I have also seen a lot about the ROS_PACKAGE_PATH, and wanted to know if anyone could tell me how to see what it is on my computer, how to change it, and how to make sure packages I'm making are on it, if that makes sense?
Thanks
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-07-29
Post score: 1
|
Hello ROS community,
I have mainly been working on my laptop but have recently installed hydro on a desktop with Ubuntu 13.04. I installed ROS desktop-full version and ran the install for MoveIt! I transferred my packages to this desktop with a memory stick and moved them to the catkin_ws that was created there.
After running catkin_make I tried to launch the package but I get an error saying that "[file] is not a launch file nor is [package] a package". I see this post and tried to delete the build and devel folders and run caktkin_make once again but the same error message is produced. The symptoms in that post were different than mine though.
I feel like there is something silly that I'm missing here. Any and all help is appreciated.
Thanks,
Jordan
Originally posted by JoSo on ROS Answers with karma: 120 on 2014-07-29
Post score: 0
Original comments
Comment by sterlingm on 2014-07-29:
Did you source catkin_ws/devel/setup.bash?
Comment by JoSo on 2014-07-30:
Amazing! So dumb. I remember doing it when I initially created the workspace but when I deleted the build and devel folders and re-made I must not have. Thanks @sterlingm
|
hi everyone,
I try to do this tutorial :http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS
But as i work on groovy i can't use catkin_make with the costmap_2d. So i have tried this tutorial with rosmake.
My probleme is: I can't load my plugin.
CMakeLists.txt
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
rosbuild_add_library(${PROJECT_NAME} src/global_planner.cpp)
manifest.xml
<package>
<description brief="set_path_plug">
set_path_plug
</description>
<author>Guillaume</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<depend package="message_generation"/>
<depend package="roscpp"/>
<depend package="rospy"/>
<depend package="std_msgs"/>
<depend package="tf"/>
<depend package="costmap_2d"/>
<depend package="nav_core"/>
<depend package="geometry_msgs"/>
<depend package="angles"/>
<depend package="base_local_planner"/>
<export>
<nav_core plugin="${prefix}/global_planner_plugin.xml" />
</export>
</package>
global_planner_plugin.xml (I have tried library path=
with the full path)
<library path="lib">
<class name="global_planner/GlobalPlanner" type="global_planner::GlobalPlanner" base_class_type="nav_core::BaseGlobalPlanner">
<description>This is a global planner plugin.</description>
</class>
</library>
And my .cpp and .h are the same than in the tutorial.
when i launch a move_base with this globalplanner i have this error:
[FATAL] [1406644445.324290214, 939.388000000]: Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class global_planner/GlobalPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are carrot_planner/CarrotPlanner navfn/NavfnROS pr2_navigation_controllers/GoalPasser
I think the problem come from my manifest.xml, the export is not correct.
Is it possible the make a plugin with rosmake? (when I rosmake everything going well)
If someone have an idea?
thanks
Originally posted by GuillaumeB on ROS Answers with karma: 312 on 2014-07-29
Post score: 0
|
I am trying to run the calibration tool of the ethzasl_ptam package, but I cannot see any GUI appearing. According to their developer's issue tracker, this problem occurs only for non-nvidia users. But I am using a Samsung NP450R4E Laptop with a NVIDIA graphics card.
Here are some greps of my OpenGL setting:
long@long:~/Workspaces/catkin$ glxinfo | grep "OpenGL version"
OpenGL version string: 4.4.0 NVIDIA 331.38
long@long:~/Workspaces/catkin$ glxinfo | grep -i opengl
OpenGL vendor string: NVIDIA Corporation
OpenGL renderer string: GeForce 710M/PCIe/SSE2
OpenGL core profile version string: 4.3.0 NVIDIA 331.38
OpenGL core profile shading language version string: 4.30 NVIDIA via Cg compiler
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL core profile extensions:
OpenGL version string: 4.4.0 NVIDIA 331.38
OpenGL shading language version string: 4.40 NVIDIA via Cg compiler
OpenGL context flags: (none)
OpenGL profile mask: (none)
OpenGL extensions:
And here is the dump of roslaunch:
SUMMARY
========
CLEAR PARAMETERS
* /cameracalibrator/
PARAMETERS
* /cameracalibrator/ARBuffer_height: 900
* /cameracalibrator/ARBuffer_width: 1200
* /cameracalibrator/AutoInitPixel: 20
* /cameracalibrator/BundleMEstimator: Tukey
* /cameracalibrator/Calibrator_BlurSigma: 1.0
* /cameracalibrator/Calibrator_MeanGate: 10
* /cameracalibrator/Calibrator_MinCornersForGrabbedImage: 20
* /cameracalibrator/Calibrator_NoDistortion: 0
* /cameracalibrator/Calibrator_Optimize: 0
* /cameracalibrator/Calibrator_Show: 0
* /cameracalibrator/Cam_cx: 0.50417
* /cameracalibrator/Cam_cy: 0.51687
* /cameracalibrator/Cam_fx: 0.795574
* /cameracalibrator/Cam_fy: 1.25149
* /cameracalibrator/Cam_s: 0.482014
* /cameracalibrator/CameraCalibrator_CornerPatchSize: 20
* /cameracalibrator/CameraCalibrator_MaxStepDistFraction: 0.3
* /cameracalibrator/CandidateMinSTScore: 70
* /cameracalibrator/FASTMethod: OAST16
* /cameracalibrator/GLWindowMenu_Enable: True
* /cameracalibrator/GLWindowMenu_mgvnMenuItemWidth: 90
* /cameracalibrator/GLWindowMenu_mgvnMenuTextOffset: 20
* /cameracalibrator/ImageSizeX: 640
* /cameracalibrator/ImageSizeY: 480
* /cameracalibrator/InitLevel: 1
* /cameracalibrator/MaxKF: 15
* /cameracalibrator/MaxKFDistWiggleMult: 1
* /cameracalibrator/MaxPatchesPerFrame: 300
* /cameracalibrator/MaxStereoInitLoops: 4
* /cameracalibrator/MinTukeySigma: 0.4
* /cameracalibrator/NoLevelZeroMapPoints: True
* /cameracalibrator/TrackerMEstimator: Tukey
* /cameracalibrator/TrackingQualityFoundPixels: 50
* /cameracalibrator/UseKFPixelDist: True
* /cameracalibrator/WiggleScale: 0.1
* /cameracalibrator/gui: True
* /cameracalibrator/parent_frame: world
* /rosdistro: indigo
* /rosversion: 1.11.7
NODES
/
cameracalibrator (ptam/cameracalibrator)
core service [/rosout] found
process[cameracalibrator-1]: started with pid [26423]
GNU gdb (Ubuntu 7.7-0ubuntu3.1) 7.7
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
.
Find the GDB manual and other documentation resources online at:
.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/long/Workspaces/catkin/devel/lib/ptam/cameracalibrator...(no debugging symbols found)...done.
Starting program: /home/long/Workspaces/catkin/devel/lib/ptam/cameracalibrator image:=camera/image_raw pose:=pose __name:=cameracalibrator __log:=/home/long/.ros/log/a8fc0c54-172f-11e4-971f-24f5aa6f5f4f/cameracalibrator-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1406645466.213345330]: starting CameraCalibrator with node name /cameracalibrator
Welcome to CameraCalibrator
--------------------------------------
Parallel tracking and mapping for Small AR workspaces
Copyright (C) Isis Innovation Limited 2008
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe9b7b700 (LWP 26430)]
[New Thread 0x7fffe937a700 (LWP 26431)]
[New Thread 0x7fffe8b79700 (LWP 26432)]
[New Thread 0x7fffe3fff700 (LWP 26437)]
Gui is on
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
Any ideas? Might there be a problem with NVIDIA Optimus?
Originally posted by Long Hoang on ROS Answers with karma: 38 on 2014-07-29
Post score: 0
|
Hi, I have no idea of how to integrate the tesseract-ocr library to my project, i use qt creator to code and the library is correctly installed since Qtcreator autocompletes the lines where i use the library but this code fails to compile
#include "text_detector.h"
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <tesseract/baseapi.h>
image_transport::Subscriber sub;
image_transport::Publisher imPub;
ros::Publisher textPub;
tesseract::TessBaseAPI tess;
void onImageReceived(const sensor_msgs::ImageConstPtr& msg){
}
int main (int argc, char* argv[]){
ros::init(argc,argv,"text_detector");
ros::NodeHandle nh;
ROS_INFO_STREAM("Starting text detection");
image_transport::ImageTransport it(nh);
imPub = it.advertise("camera_hsv",1);
tess.Init(NULL,"eng",tesseract::OEM_DEFAULT);
sub = it.subscribe("camera_raw",1,&onImageReceived);
// textPub=nh.advertise<>("text",1000);
ros::spin();
}
with this compilation error
text_detector.cpp:-1: error: undefined reference to tesseract::TessBaseAPI::TessBaseAPI()' text_detector.cpp:-1: error: undefined reference to tesseract::TessBaseAPI::~TessBaseAPI()'
How can i add the library to the project in the cmakelists.txt?
Thanks!
Originally posted by sirasistant on ROS Answers with karma: 33 on 2014-07-29
Post score: 3
Original comments
Comment by Kishore Kumar on 2015-07-20:
I want to execute this node for my project but i am facing some errors, can you please post me the complete node (.cpp file) and CMakeLists.text.
Comment by TSC on 2015-08-28:
Hi @sirasistant! As @Kishore Kumar, I'm also interested in your findings. Are you able to share what you have right now? Thanks in advance!
|
Hi everyone,
I'm looking to use nav2d package(wiki.ros.org/nav2d) with my turtlebot. But i have no idea how to mapping (or config) nav2d with turtlebot. So has anyone experienced this problem?
Thanks
Originally posted by hades on ROS Answers with karma: 13 on 2014-07-29
Post score: 0
Original comments
Comment by Ken_in_JAPAN on 2014-07-30:
I guess that nav2d is simulator because there is stage_ros in part of How to start. I don't try it, but I think that you just replace robot model into turtlebot.
Comment by hades on 2014-07-30:
Hi Ken, thanks for your answer. I edited file tutorial3.launch and it worked. But It has errors below:
Could not get robot position: Lookup would require extrapolation into the future.
Exploration failed, could not get current position.
So, Do you have any ideas?
Comment by Ken_in_JAPAN on 2014-07-30:
I think relationship between map and robot is not described on tutorial3.launch. So, robot can't get its position. I guess that. As I don't read tutorial3.launch, I can't answer precisely. I recommend that you will check other launch files about turtlebot.
|
Hello, I a learning ROS and I have installed indigo and I am running ubuntu 14.04. I have a sphero that I would like to experiment with and I have tried installing the sphero package via "apt-get install sphero_ros" but apt-get cant seem to find the package. I have checked that ubuntu allows "restricted," "universe," and "multiverse".
Is there something else I need to do to tell ubuntu where to find this package?
The only documentation i can find for this package is for groovy. Are packages for older ROS distros viable for new distros?
Thanks in advance for your help
Originally posted by gideon on ROS Answers with karma: 1 on 2014-07-29
Post score: 0
|
Hi,
I am trying to read a text file "filename.txt" to build a vector of doubles. I used following code which works fine when I am using outside ROS. However, when I include this code as a part of my .cpp file in a ROS package, it does not work. At line while(myFile >> value), it does not read any thing and hence does not enter the loop. Any help is appreciated.
#include <fstream>
#include <vector>
#include <iostream>
std::vector<double> vec;
void readDATA(){
double value;
std::ifstream myFile;
myFile.open("filename.txt", std::ios::app);
if (myFile.is_open()){
std::cout << "File is open."<<std::endl;
while(myFile >> value){
vec.push_back(value);
std::cout << "value is " <<value<< std::endl;
}
myFile.close();
}
else std::cout << "Unable to open the file";
}
int main(){
readDATA();
return 0;
}
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-07-29
Post score: 0
Original comments
Comment by kmhallen on 2014-07-29:
"filename.txt" is relative to you current directory. If the file is relative to an ROS package, you can use #include <ros/package.h> and ros::package::getPath("some_package")
Comment by AsifA on 2014-07-30:
Thanks kmhallen, I replaced line number 10 with following code: myFile.open((ros::package::getPath("package_name")+"/filename.txt"), std::ios::app); and included the header file as #include <ros/package.h>. Still getting "no matching function" error. Any idea please?
Comment by AsifA on 2014-07-30:
PS: The error is:
error: no matching function for call to ‘std::basic_ifstream::open(std::basic_string, const openmode&)’
|
Hello,
How can I change the default Global Planner (Dijkstra) to A* or SBPL.
The tutorial says for example: "The global planner can be used with move_base simply by setting the "base_global_planner" parameter to "SBPLLatticePlanner"".
Where can I set "base_global_planner" parameter?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-29
Post score: 2
|
Hello, I'm a real amateur and just started not long ago, and I'm currently using LIDAR and an aerial vehicle. Basically I'm stucked at this situation where I don't know how am I gonna find out the OccupancyGrid message data and how to use it.
void QNode::parsemap( const nav_msgs::OccupancyGrid::ConstPtr& msg )
{
if( mapImage == NULL ) {
mapImage = new QImage( 240, 350, QImage::Format_RGB888 );
}
// copy map from msg to mapImage.
yeah, I'm stucked here trying to copy the map from the message data to mapImage(QImage).
I'm a real real real amateur... so don't be too hard on me if I'm asking a very simple question. I really hope that you guys would be able to help this friend in need. Thank you all, in advance. :)
Originally posted by jeremyethankoh on ROS Answers with karma: 1 on 2014-07-29
Post score: 0
|
Hello,
Is there a way to modify the local planner so that the robot would always move within a certain distance of the Global Path. And in this case, if an obstacle appeared on the map and covered the global path, and re-planning required the robot to move outside this predefined distance of the original global path, the robot should just stop.
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-29
Post score: 1
Original comments
Comment by David Lu on 2014-07-29:
Which local planner are you using?
Comment by ROSCMBOT on 2014-07-29:
I'm using ROS default local planner (DWA or Trajectory Rollout)
|
The tutorial says:
http://wiki.ros.org/base_local_planner
"There are a large number of ROS Parameters that can be set to customize the behavior of the base_local_planner::TrajectoryPlannerROS wrapper. These parameters are grouped into several categories: robot configuration, goal tolerance, forward simulation, trajectory scoring, oscillation prevention, and global plan."
Where can I set/change these parameters?
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-07-29
Post score: 0
|
Problems with installation of ROS INDIGO
When try to install ROS INDIGO get this error:
Leyendo lista de paquetes... Hecho
Creando árbol de dependencias
Leyendo la información de estado... Hecho
No se pudieron instalar algunos paquetes. Esto puede significar que
usted pidió una situación imposible o, si está usando la distribución
inestable, que algunos paquetes necesarios no han sido creados o han
sido movidos fuera de Incoming.
La siguiente información puede ayudar a resolver la situación:
Los siguientes paquetes tienen dependencias incumplidas:
ros-indigo-desktop-full : Depende: ros-indigo-simulators pero no va a instalarse
E: No se pudieron corregir los problemas, usted ha retenido paquetes rotos.
A lot fo thanks!
Originally posted by vncntmh on ROS Answers with karma: 52 on 2014-07-29
Post score: 0
Original comments
Comment by Long Hoang on 2014-07-30:
What Linux Distribution are you using?
Comment by ahendrix on 2014-07-30:
Do you have the universe and multiverse repositories enabled? Which version of Ubuntu are you using?
Comment by vncntmh on 2014-07-30:
I'm using Ubuntu 14.04LTS and I'm not sure aboutn universe and multieverse
Comment by ahendrix on 2014-07-30:
You should make sure that the universe and multiverse repositories are enabled, as explained in the Ubuntu Repositories guide that is linked from the Indigo installation page: https://help.ubuntu.com/community/Repositories/Ubuntu .
Comment by vncntmh on 2014-07-30:
I have to select a server different that Main Server?
Comment by vncntmh on 2014-07-30:
I configure Ubuntu repositories to allow "restricted," "universe," and "multiverse." but have the same problem
Comment by ahendrix on 2014-07-30:
Have you run sudo apt-get update after adding the universe and multiverse repositories?
Comment by vncntmh on 2014-07-30:
Yes, I did it! But continue tha same problem.... Before to try to install ROS INDIGO I installed Gazebo, maybe is this the problem?
Comment by ahendrix on 2014-07-31:
Which version of gazebo did you install? ROS Indigo is only compatible with gazebo 2.
Comment by vncntmh on 2014-07-31:
I'm using Gazebo4, because it's only compatible with Ubuntu 14.04, but I don't know how do for work in Gazebo with ROS
Comment by ahendrix on 2014-07-31:
I don't think they've released gazebo4 yet. Perhaps you're using gazebo3? In either case, you should probably uninstall gazebo, and allow ROS to install a version of gazebo that is compatible with ROS.
|
hi, Endres!
your rgbdslam pkg in ros fuerte is very good.
and it was good working in my ros fuerte.
But I had to upgrade ros version
So, I use your rgbdslam v2 in Hydro
and I have some problem in cvflann, kdtree_index
I commanded following in terminal
roslaunch rgbdslam openni+rgbdslam.launch
I got this error log
Initializing Node...
[ INFO] [1406691638.675684807]: Connected to roscore
[ INFO] [1406691638.928690303]: Listening to /camera/rgb/image_color and /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1406691638.928774911]: SIFTGPU is to be used
void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "Save Octomap" under id 6
[ INFO] [1406691639.270821874]: Number devices connected: 1
[ INFO] [1406691639.271024653]: 1. device on bus 003:06 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00366807039049A'
[ INFO] [1406691639.272253065]: Searching for device with index = 1
[ INFO] [1406691639.321850205]: Opened 'SensorV2' on bus 3:6 with serial number 'A00366807039049A'
[ INFO] [1406691639.688903629]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1406691639.688985773]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1406691639.692854115]: Camera calibration file /home/administrator/.ros/camera_info/rgb_A00366807039049A.yaml not found.
[ WARN] [1406691639.692920806]: Using default parameters for RGB camera calibration.
[ WARN] [1406691639.692997875]: Camera calibration file /home/administrator/.ros/camera_info/depth_A00366807039049A.yaml not found.
[ WARN] [1406691639.693043348]: Using default parameters for IR camera calibration.
[ WARN] [1406691644.266119473]: First RGBD-Data Received
[ INFO] [1406691645.071752195]: Depth and RGB image off more than 1/30sec: 987669918 (nsec)
[ INFO] [1406691646.009873741]: Pause toggled to: false
[ INFO] [1406691648.795465700]: Caught feature with zero in depth neighbourhood
[ INFO] [1406691648.801984358]: Feature Descriptors size: 65 x 128
[ INFO] [1406691648.802126517]: Feature Count of Node: 65
[ INFO] [1406691648.809551670]: Ground Truth Transform for First Node: Translation 0 0 0
[ INFO] [1406691648.809608380]: Ground Truth Transform for First Node: Rotation 0 0 0 1
[ INFO] [1406691648.809651525]: Adding initial node with id 0 and seq 0, v_id: 0
[ INFO] [1406691648.811384037]: Setting Renderable
[ INFO] [1406691648.813476929]: Depth and RGB image off more than 1/30sec: 55837044 (nsec)
[ INFO] [1406691648.815479907]: 1 Keyframes: 0,
[ INFO] [1406691648.998745941]: Feature Descriptors size: 64 x 128
[ INFO] [1406691648.998854778]: Feature Count of Node: 64
[ INFO] [1406691649.001442715]: Odometry Delta: Translation 0 0 0
[ INFO] [1406691649.001505677]: Odometry Delta: Rotation 0 0 0 1
[ INFO] [1406691649.001543844]: No Valid Odometry, using identity
[ INFO] [1406691649.001617167]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1406691649.001670154]: Nodes to compare: 0
[ INFO] [1406691649.001722422]: Running node comparisons in parallel in 3 (of 4) available threads
rgbdslam: /tmp/buildd/ros-hydro-opencv2-2.4.9-2precise-20140617-1410/modules/flann/include/opencv2/flann/kdtree_index.h:458: void cvflann::KDTreeIndex<Distance>::getNeighbors(cvflann::ResultSet<typename Distance::ResultType>&, const ElementType*, int, float) [with Distance = cvflann::L2<float>, typename Distance::ResultType = float, cvflann::KDTreeIndex<Distance>::ElementType = float]: Assertion `result.full()' failed.
================================================================================REQUIRED process [rgbdslam-22] has died!
process has died [pid 19176, exit code -6, cmd /home/administrator/catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/administrator/.ros/log/1049609e-1791-11e4-b20f-c8f733a05ad2/rgbdslam-22.log].
log file: /home/administrator/.ros/log/1049609e-1791-11e4-b20f-c8f733a05ad2/rgbdslam-22*.log
Initiating shutdown!
================================================================================
anyone getting this error, please, answer me.
thx:)
Originally posted by dlxhrl on ROS Answers with karma: 3 on 2014-07-29
Post score: 0
|
Hi, all, I am writing a local planner for turtelbot2, i.e. kobuki robot.
But I am not sure is it a holonomic robot. From the wikipedia
I think kobuki is a holonomic robot, isn't it.
Thank you！
Originally posted by scopus on ROS Answers with karma: 279 on 2014-07-30
Post score: 1
|
Hello,
I use a launch-file in order to extract images from a stereo-camera (stereo/left & stereo/right).
Thereby I use the package "image_view" with the node "extract" to grab the images from my bagfile.
<launch>
<arg name="path" default="/home/viki/bagfiles" />
<arg name="bagfile" default="bagfile_stereo_raw.bag" />
<arg name="folder_name" default="default_image_folder" />
<arg name="format" default="png" />
<param name="/use_sim_time" value="true" />
<node name="rosbag" pkg="rosbag" type="play"
args="--clock -d 4 $(arg path)/$(arg bagfile)" />
<node name="extract1" pkg="image_view" type="extract_images" respawn="false" output="screen" cwd="ROS_HOME" >
<remap from="image" to="/stereo/left/image_rect" />
<param name="filename_format" value="/stereo_images/$(arg folder_name)/left/left_image%04i.$(arg format)"/>
</node>
<node name="extract2" pkg="image_view" type="extract_images" respawn="false" output="screen" cwd="ROS_HOME" >
<remap from="image" to="/stereo/left/image_rect" />
<param name="filename_format" value="/stereo_images/$(arg folder_name)/right/right_image%04i.$(arg format)"/>
</node>
</launch
I now receive all the desired images but they are 24-bit images.
Now my question is: How can I setup the launch-file in order to receive 8-bit (grayscale) images?
I cannot find any documentation regarding this. Also my question is how to obtain parameters from nodes like "extract" in ROS in general.
I found out that there is a parameter called "file_format" for "extract" in the ROS answer sites but how can I see all the different parameters there are for this node. (I am sure my question would resolve by acquiring this info).
Also one other question: I need to create the directories before saving the images (with the launch file) into them. Is there a way that the roslaunch file creates the desired directories by itself?
Thanks in advance!
Hector
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-07-30
Post score: 0
Original comments
Comment by ahendrix on 2014-07-30:
I believe your question about creating directories has been asked and answered elsewhere. ( http://answers.ros.org/question/188298/how-to-create-directories-in-a-ros-launch-file/ )
Comment by ahendrix on 2014-07-30:
image_proc should be able to create mono images from color images, but it looks like you're already subscribing to a mono topic. Are the saved images color or monochrome when viewed?
Comment by ahendrix on 2014-07-30:
There isn't any documentation of the extract_images node on the image_view wiki page. Perhaps you can write it once you've figured out all of the details?
Comment by mister_kay on 2014-08-22:
@ahendrix yes i can do that. unfortunately I couldn't find the site where ic an edit the documentaion for extract_images. can you give me a link for a tutorial how to create this docu?
Comment by ahendrix on 2014-08-22:
The wiki page for image_view is http://wiki.ros.org/image_view , and you can sign up for an account here
|
Hello,
I would like to create a directory in a ROS launch file in order store images in the specified folder.
How can this be done?
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-07-30
Post score: 0
|
hi, all,
on my robot, the escape behaviour in move_base navigation stack is too 'fierce'.
the rotation is much too fast.
how can I change it?
rgds
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-07-30
Post score: 0
Original comments
Comment by dreamcase on 2014-07-30:
Or, is there a way to inhibit the rotatory recovery behaviour?
|
This is the error i received when compiling and i am not sure how to fix this error.
[100%] Building CXX object vision/CMakeFiles/vision1.dir/src/vision.cpp.o
Linking CXX executable /home/chiongsterx/catkin_ws/devel/lib/vision/vision1
/usr/bin/ld: cannot find -l&
collect2: ld returned 1 exit status
make[2]: *** [/home/chiongsterx/catkin_ws/devel/lib/vision/vision1] Error 1
make[1]: *** [vision/CMakeFiles/vision1.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
This is my cmakelists. Not sure whethere package is placed correctly
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
cv_bridge
image_geometry
)
find_package(OpenCV REQUIRED
)
include_directories(
${catkin_INCLUDE_DIRS} & ${OpenCV_INCLUDE_DIRS}
)
add_executable(vision1 src/vision.cpp)
target_link_libraries(vision1
${catkin_LIBRARIES} & ${OpenCV_LIBRARIES}
)
Originally posted by chiongsterx on ROS Answers with karma: 33 on 2014-07-30
Post score: 0
|
Hi,
I've read that $ source devel/setup.bash is the same as $ .devel/setup.bash and that it reads and executes setup.bash script in the current shell. Opposite to this $ ./devel/setup.bash what would run the same script but launching new shell.
So we want to run $ source command everytime we open new terminal.
Following questions are:
Its not clear to me what actually am I doing with the source command. Where can I find this bash file that contains these enviroment variables, so I can track what's going on?
Can I permanently add required enviromental variables so I don't have to do it manually every time I open a terminal? What are pros and cons of doing such.
I followed tutorial. Entered this:
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH
Which gave me:
/home/username/Workspace/ros-workspace/tutorial_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
Then I entered this:
$ source /opt/ros/indigo/setup.bash
$ echo $ROS_PACKAGE_PATH
Which gave me:
/opt/ros/indigo/share:/opt/ros/indigo/stacks
Why such sequence erased my ~/home... path from bash??
Originally posted by Tomaszz on ROS Answers with karma: 33 on 2014-07-30
Post score: 3
|
Hi,
I have installed husky_navigation which is the standard navigation package for the Clearpath Husky robot directly from the hydro installation ros-hydro-husky-navigation. I'm running a launchfile within that package that calls the slam_gmapping node of the gmapping package.
However, I wanted to modify the behavior of slam_gmapping a bit and therefore created an overlay of the gmapping package and made the required changes. This node now functions as required. But when I launch the husky_navigation launchfile, it still launches the hydro default installation of slam_gmapping and NOT my overlay.
How do I specify this in the launchfile so that it calls my overlayed package?
Thank you.
PS - Let me know if I wasn't clear with some of the terminology here. I don't know what a default debian package installation of a hydro package is called.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-30
Post score: 0
Original comments
Comment by BennyRe on 2014-07-30:
Where does roscd slam_gmapping lead you to?
|
This is the documentation i'm following:
http://wiki.ros.org/rqt_graph#Topic_statistics
This feature is not working on my system. I can't find the reason why.
ROS Indigo
Ubuntu 14.04
Tested by creating some instances of the turtlesim package's executables.
Here's my result when using rqt_graph. You can see from the terminal window that the parameter is currently set to true
Image:
Please ignore the line under the terminal window.
Originally posted by dotcom on ROS Answers with karma: 120 on 2014-07-30
Post score: 1
Original comments
Comment by dotcom on 2014-07-31:
As answered below, besides setting the parameter to true, one needs to launch topic monitor and tick every statistics that is desired.
Launch rqt
Plugins -> topics -> topic monitor
|
topics seem like the best way for storing "states" of the robot (stateful). so that we can monitor all states/components of the robots like position, temperature, voltage, etc. that makes sense to me.
however, i also see a lot of people using topics as a way to send instructions/commands to the robots (like the topic /head_pan_joint/command for sending commands to servos, like /cmd_vel for sending movement instructions to mobile base, etc). in this case, it doesn't make sense to me.
it seems to me that this should be designed as a service (stateless). if you want to send a command to servo, create a service at the servo level that can be called upon. if you want to send a command to mobile base, create a service at the mobile base that can be called upon.
what are the advantages of designing things like /cmd_vel and /head_pan_joint/command as topics? what are the disadvantages of desigining them as services?
thanks.
Originally posted by d on ROS Answers with karma: 121 on 2014-07-30
Post score: 3
Original comments
Comment by dornhege on 2014-07-30:
Why are topics supposed to be stateful and services stateless?
Comment by d on 2014-07-30:
that's just how i see they could work. topics seem to be best used for storing "robot states" (like temperature, position, etc). so that's what i meant by 'stateful'. services seem to be best for handling actions and don't need to store any states. would love to hear your thoughts.
Comment by d on 2014-07-30:
and, i guess actionlib was created as something in between to feed "states" on "service" calls? i'm new to ros... so i would love to understand how/why these fundametal ros concepts were designed and intended to be used. would love to hear your thoughts.
Comment by dornhege on 2014-07-31:
This question: http://answers.ros.org/question/11834/when-should-i-use-topics-vs-services-vs-actionlib-actions-vs-dynamic_reconfigure/ the use cases of topics/services/actions
Comment by d on 2014-07-31:
thanks. that design pattern doc is really helpful!
|
Hello,
I am having issues compiling a simple package that I built. In the end, after compilation I am getting an error:
make[2]: *** [robbie_tf/CMakeFiles/robbie_tf_node.dir/src/robbie_tf_node.cpp.o] Error 1
make[1]: *** [robbie_tf/CMakeFiles/robbie_tf_node.dir/all] Error 2
But, earlier in the compilation, I am getting an error:
/home/jmcunnin/catkin_ws/src/robbie_tf/src/robbie_tf_node.cpp:28:38: fatal error: robbie_tf/robbie_tf_node.h: No such file or directory compilation terminated.
The package that I am compiling is named robbie_tf and the header file that is not being used is the header for the node file (kind of an issue :P). Any help would be appreciated.
Also, this is my CMake file:
cmake_minimum_required(VERSION 2.8.3)
project(robbie_tf)
find_package(catkin REQUIRED COMPONENTS
people_msgs
roscpp
rospy
std_msgs
tf
)
find_package(Boost REQUIRED COMPONENTS thread)
catkin_package(
INCLUDE_DIRS include
LIBRARIES robbie_tf
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_library(robbie_tf_node
src/robbie_tf_node.cpp
)
add_executable(robbie_tf src/robbie_tf_node.cpp)
add_dependencies(robbie_tf_node robbie_tf_generate_messages_cpp)
target_link_libraries(robbie_tf
robbie_tf_node ${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
I would assume that the issue lies in the CMakeList but I'm not sure where my declarations are going wrong.
Thanks, for the help
Originally posted by jc2016 on ROS Answers with karma: 150 on 2014-07-30
Post score: 0
|
Hi
I've built a number of ros installations on ubuntu for armhf from source, from 12.04 to 14.04 however when running rosdep for package dependencies:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
I usually hit problems as some dependencies (sbcl, yaml-cpp to name a few) are not built for armhf. I can build and install these from source however rosdep is usually not satisfied and can't find or substitute the built packages. Additionally its pretty hard to find the source packages that depend on these so that the package.xml may be modified.
Is there some way to stop rosdep from searching for particular packages or detect installations that didn't come from apt-get or as dpkg or help it find the installed dependency?
Originally posted by PeterMilani on ROS Answers with karma: 1493 on 2014-07-30
Post score: 2
|
Hai,
I am new to linux and ROS. I am using 12.04 (32 bit) in a 64 bit machine. I tried to install ros-hydro package. After fetching (sudo apt-get install) 90-95% package, download stops by giving an error:
unable to fetch some archives maybe run apt-get update or try with fix-missing
Earlier, I installed same package in a 32 bit machine without any error.
Links that are failed to open in terminal window are accessible through web browser in UBUNTU O.S.
I am accessing internet through co-axial cable modem (does n't have any proxy settings)
Thanks,
kota
Originally posted by jkota on ROS Answers with karma: 21 on 2014-07-30
Post score: 2
|
I ve been following http://wiki.ros.org/android/Tutorials/hydro/Installation%20-%20Ros%20Development%20Environment.
after completing the rosjava tutorials i tried to install ros_android_core, since i am triing to build an app for my tablet.
when doing
wstool init -j4 ~/android/src https://raw.github.com/rosjava/rosjava/hydro/android_core.rosinstall
i get the error
Using initial elements from: https://raw.github.com/rosjava/rosjava/hydro/android_core.rosinstall
ERROR in config: Unable to download URL [https://raw.github.com/rosjava/rosjava/hydro/android_core.rosinstall]: <urlopen error [Errno -2] Name or service not known>
can someone help me
Thanks
Stefan
Originally posted by stefan on ROS Answers with karma: 15 on 2014-07-31
Post score: 0
|
Next troubles for me
ht tp://wiki.ros.org/android/Tutorials/hydro/Installation%20-%20Ros%20Development%20Environment
catkin_make @ android directory
i get the error
* What went wrong:
A problem occurred configuring project ':android_acm_serial'.
> The SDK directory '/opt/android-studio/sdk:/home/user/opt/android-studio/sdk' does not exist.
* Try:
Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
BUILD FAILED
Total time: 3.248 secs
make[2]: *** [android_core/CMakeFiles/gradle-android_core] Fehler 1
make[1]: *** [android_core/CMakeFiles/gradle-android_core.dir/all] Fehler 2
make: *** [all] Fehler 2
install directory for android studio: /home/user/opt/android-studio
$ echo $PATH
/opt/ros/hydro/bin
:/home/user/catkin_ws_android_core/devel/bin
:/opt/eclipse:/usr/lib/lightdm/lightdm:/usr/local/sbin
:/usr/local/bin
:/usr/sbin
:/usr/bin
:/sbin:/bin:/usr/games
:/home/user/catkin_ws/tool_scripts
:/opt/android-studio/sdk/tools
:/opt/android-studio/sdk/platform-tools
:/opt/android-studio/bin
:/home/user/home/user/opt/android-studio/sdk/tools
:/home/user/home/user/opt/android-studio/sdk/platform-tools
:/home/user/home/user/opt/android-studio/bin
:/home/user/opt/android-studio/sdk/tools
:/home/user/opt/android-studio/sdk/platform-tools
:/home/user/opt/android-studio/bin
$ echo $ANDROID_HOME
/opt/android-studio/sdk
:/home/user/opt/android-studio/sdk
Edit:
Thanks to support from gvdhoorn i got a little step further
installed android tools (adb) from ht tp://bernaerts.dyndns.org/linux/74-ubuntu/245-ubuntu-precise-install-android-sdk
i ve hardcoded the variables ANDROID_HOME and PATH in .bashrc and opend an other terminal (that solved my problem)
java 7 is already installed
catkin_make starts running with a lot of warnings
warning: Ignoring InnerClasses attribute for an anonymous inner class (junit.swingui.TestSelector$4) that doesn't come with an associated EnclosingMethod attribute. This class was probably produced by a compiler that did not target the modern .class file format. The recommended solution is to recompile the class from source, using an up-to-date compiler and without specifying any "-target" type options. The consequence of ignoring this warning is that reflective operations on this class will incorrectly indicate that it is *not* an inner class.
and finally fails -> next error:
:android_acm_serial:uploadArchives
Uploading: org/ros/android_core/android_acm_serial/0.1.3/android_acm_serial-0.1.3.aar to repository remote at file:///opt/ros/hydro/share/maven
Specified destination directory cannot be created: /opt/ros/hydro/share/maven/org/ros/android_core/android_acm_serial/0.1.3
:android_acm_serial:uploadArchives FAILED
FAILURE: Build failed with an exception.
* What went wrong:
Execution failed for task ':android_acm_serial:uploadArchives'.
> Could not publish configuration 'archives'
> Error deploying artifact 'org.ros.android_core:android_acm_serial:aar': Error deploying artifact: Specified destination directory cannot be created: /opt/ros/hydro/share/maven/org/ros/android_core/android_acm_serial/0.1.3
* Try:
Run with --stacktrace option to get the stack trace. Run with --info or --debug option to get more log output.
BUILD FAILED
Total time: 6 mins 56.909 secs
make[2]: *** [android_core/CMakeFiles/gradle-android_core] Fehler 1
make[1]: *** [android_core/CMakeFiles/gradle-android_core.dir/all] Fehler 2
make: *** [all] Fehler 2
Invoking "make" failed
Edit2 :
i deleted Build and Devel
catkin_make
again
the other projects are uploaded like:
Uploading: org/ros/android_core/android_tutorial_teleop/0.1.3/android_tutorial_teleop-0.1.3.apk to repository remote at file:///home/user/android/devel/share/maven
.
BUILD SUCCESSFUL
Thank you very much gvdhoorn
Originally posted by stefan on ROS Answers with karma: 15 on 2014-07-31
Post score: 0
Original comments
Comment by gvdhoorn on 2014-07-31:
So: what is your question? What did you try yourself, what didn't work and why?
Comment by gvdhoorn on 2014-08-01:
I've updated your formatting a bit: use 4 spaces before lines that you want quoted as-is. '<code>' doesn't work too well.
|
What the way to convert point cloud data from Kinect sensor into laserscan in ROS Indigo?
In Electric i'd made it via pointcloud_to_laserscan from turtlebot-robot stack.
Thanks!
Originally posted by noonv on ROS Answers with karma: 471 on 2014-07-31
Post score: 0
|
HI ,
I try to modify an msg file ( add new field) : this my code
float64[3] hand_direction
float64[3] hand_normal
float64[3] hand_translation /: this is the new field
float64[3] hand_palm_pos
float64 hand_pitch
float64 hand_roll
float64 hand_yaw
When i type $ rosmsg show leapros.msg
i get the old content
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Vector3 direction
float64 x
float64 y
float64 z
geometry_msgs/Vector3 normal
float64 x
float64 y
float64 z
geometry_msgs/Point palmpos
float64 x
float64 y
float64 z
geometry_msgs/Vector3 ypr
float64 x
float64 y
float64 z
why i can't modify the msg file content ??
Originally posted by ameni mighri on ROS Answers with karma: 21 on 2014-07-31
Post score: 0
Original comments
Comment by BennyRe on 2014-07-31:
Sorry my crystal ball is broken, we need more information. Please write HOW you tried to modify the message.
|
I want to blend two images the rgb and the depth to look for the shift between.
This is my program, I make it very easy to understand just using the basic of ros programming
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
using namespace cv;
cv_bridge::CvImagePtr cv_ptr_rgb;
void imageCallbackrgb(const sensor_msgs::ImageConstPtr& msg)
{
//cv_bridge::CvImagePtr cv_ptr_rgb;
try
{
cv_ptr_rgb = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
//cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image);
cvWaitKey(3);
}
void imageCallbackdepth(const sensor_msgs::ImageConstPtr& msg)
{
// convert message from ROS to openCV
cv_bridge::CvImagePtr cv_ptr_depth;
try
{
cv_ptr_depth = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_16UC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
//conversion 16UC to 8UC
/*
Conversion Sutffs
*/
/*
//*******************************blending two images*************************************
double alpha = 0.5; double beta;
beta = ( 1.0 - alpha );
Mat dst;
addWeighted( cv_ptr_rgb->image, alpha, image_8CU, 0.5, 0.5, dst);
cv::imshow( "Linear Blend", dst );
//**************************************************************************************
*/
cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image);
//cv::imshow("OpenCV viewer Kinect depth", image8U);
cvWaitKey(3);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listenerKinectuEye");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Subscriber subkirgb = it.subscribe("/camera/rgb/image_color", 1, imageCallbackrgb);
image_transport::Subscriber subkidepth = it.subscribe("/camera/depth_registered/image_raw", 1, imageCallbackdepth);
ROS_INFO("subscribed to Kinect and uEye topics");
ros::spin();
}
And this is the error that I get (sub_node is my executable):
sub_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr::operator->() const [with T = cv_bridge::CvImage]: Assertion `px != 0' failed.
Aborted (core dumped)
the error comes from the pointer cv_ptr_rgb that I use in imageCallbackdepth because even when I try to
cv::imshow("OpenCV viewer Kinect RGB", cv_ptr_rgb->image);
before doing any blending I get the same error.
How to solve this ? (there is another way to do it?)
Originally posted by ROSkinect on ROS Answers with karma: 751 on 2014-07-31
Post score: 0
Original comments
Comment by 2ROS0 on 2014-07-31:
Is this really a ROS problem?
Comment by ROSkinect on 2014-08-01:
I don't know you have the same problem ? I found a basic solution you can use it
|
I am slightly new to ROS. From what I understand it loads the entries of the file as rosparams onto the parameter server.
So if my launch file contains the following line:
<rosparam file="$(find my_navigation)/config/base_local_planner_params.yaml" command="load" />
And the yaml config file contains:
TrajectoryPlannerROS: max_vel_x: 0.1 min_vel_x: 0.05
Is it equivalent to entering the following in the launch file:
`
`
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-07-31
Post score: 0
|
Hi, I'm running hydro on ubuntu 12.04
I have been trying to go through the tutorial on writing a node to use a ps3 controller with ros here. After many try's I think it failed because hydro doesn’t have turtlesim/Velocity.h . I'm a beginner with cs and am not sure how to build this controller node from scratch. in particular, what would I do to this code to get it to work on hydro?
Here's the code
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
class TeleopTurtle
{
public:
TeleopTurtle();
private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
ros::NodeHandle nh_;
int linear_, angular_;
double l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber joy_sub_;
};
TeleopTurtle::TeleopTurtle():
linear_(1),
angular_(2)
{
nh_.param("axis_linear", linear_, linear_);
nh_.param("axis_angular", angular_, angular_);
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
vel_pub_ = nh_.advertise<turtlesim::Velocity>("turtle1/turtle1/cmd_vel", 1);
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 10, leopTurtle::joyCallback, this);
}
void TeleopTurtle::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
turtlesim::Velocity vel;
vel.angular = a_scale_*joy->axes[angular_];
vel.linear = l_scale_*joy->axes[linear_];
vel_pub_.publish(vel);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "teleop_turtle");
TeleopTurtle teleop_turtle;
ros::spin();command_velocity
}
After making two changes,
Changing turtlesim_velocity to geometry_msg/Twist
Changing Command_Velocity to cmd_vel
I get the following errors when running rosmake on the package.
/home/donni/catkin_ws/src/beginner_tutorials/learning_ps3joy/src/turtle_teleop_ps3joy.cpp:44:3: error: ‘turtlesim’ has not been declared /home/donni/catkin_ws/src/beginner_tutorials/learning_ps3joy/src/turtle_teleop_ps3joy.cpp:44:23: error: expected ‘;’ before ‘vel’ /home/donni/catkin_ws/src/beginner_tutorials/learning_ps3joy/src/turtle_teleop_ps3joy.cpp:45:3: error: ‘vel’ was not declared in this scope
Can someone interpret them for me?
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-07-31
Post score: 1
|
Please I want to find out if FPGA can interface with ROS. Any previous work on that. I really need guidance on that. Thanks
Originally posted by Glory on ROS Answers with karma: 76 on 2014-07-31
Post score: 0
|
Hello All,
I am getting the following error when compiling my rosserial_arduino code for sampling and sending a LaserScan msg.
This code works just fine in a standard ros c++ node. Does this member not exist? Am I not accessing it correctly?
Thanks!
Compilation Error:
error: request for member ‘resize’ in ‘scan_msg.sensor_msgs::LaserScan::ranges’, which is of non-class type ‘float’*
Code in Question:
unsigned int node_count = 10;
scan_msg.ranges.resize(node_count);
Originally posted by Kent Williams on ROS Answers with karma: 91 on 2014-07-31
Post score: 0
|
Hi all,
I would like to record a scene and save depth image + rgb image and point cloud data of the kinect sensor automatically into disk in jpg or png format.
I use RGBDSLAM to collect the data.And I want :
The color images are stored as 640×480 8-bit RGB images .
The depth maps are stored as 640×480 16-bit monochrome images.
But, I have no idea to do this.
Hope for your answer.
Originally posted by hffgodspeed on ROS Answers with karma: 1 on 2014-07-31
Post score: 0
|
I updated my computer from Ubuntu 12.04 ROS Hydro to ubuntu 14.04 ROS Indigo.
One node is causing me problems. It is a C++ node, a kind of modification of the face_recognition package
Now when I try to start it, my system complains that libavformat.so.53 was not found (It was complaining about libtiff4 so I somehow managed to install it manually from the binaries for ubuntu 13). I searched for it and I found it in Trash while in the /usr/lib/x86_64-linux-gnu/ folder there was a newer version libavformat.so.54. I actually don't have any idea where this dependency comes from, I never added it, maybe from OpenCV?
I tried copying it manually (impossible to install libavformat 53 on 14.04) to the libs folder and my node finally worked. The problem now is that when I start the face recognition, there is no window appearing with the webcam images published to the topic I subscribe to. I just get the "Opengl support available" that one normally gets before a window is opened with OpenCv. I am suspecting this manual copy of the library to cause this weird behavior. My node worked fine on Ubuntu 12.04
I also had this same experience in the past with other packages but under 12.04 with Hydro and Groovy, Face Tracking and Camera calibration did both start but just show "Opengl support available" and stop there, no window with webcam images is shown.
I also tried to run some other packages that use images, image_view for example returns the same error (libavformat.so.53 not found) can somebody reproduce this error?
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-07-31
Post score: 0
|
Hello everyone,
I'm currently using move_base and it works fine for me. I'm going to write my own planner based on a real-time planning algorithm. As you know in the real-time search there is no complete path to the goal because we need to decide what action to take soon. So we search forward until s time limit is reached, then the path with minimum cost is selected and this cycle repeats until we reach the goal (there is no guarantee that the path is optimum). So I think I need to wipe out local_planner and global_planner and replace them with only one real-time algorithm. I took a look at the move_base code (https://github.com/ros-planning/navigation) and it looks so confusing to me. I don't know where should I start and what parts of the code should be replaced or removed. I appreciate your help in advance.
Originally posted by Kasra on ROS Answers with karma: 86 on 2014-07-31
Post score: 0
Original comments
Comment by David Lu on 2014-08-01:
What parts of move_base would you like to retain?
Comment by Kasra on 2014-08-01:
I think I can keep cost maps for a real-time planner and only wipe out global and local planners.
|
Hi im new to ROS and openCV.
Im currently running on Ubuntu.
Im currently trying to use Asus Xtion Pro to detect lines using Hough transform detection codes. I have OpenCV 2.4.9 installed and ROS installed. How can i go about building codes to detect lines using my Asus Xtion pro.
Thanks in advance!
Azl
Originally posted by Azl on ROS Answers with karma: 3 on 2014-07-31
Post score: 0
|
hi, all,
my robot is rotating very fast. it runs on move_base.
although I have capped the rotation as below in the local path planner and rotate recovery
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.05
max_rotational_vel: 0.2
min_in_place_rotational_vel: 0.01
acc_lim_th: 0.2
acc_lim_x: 0.5
acc_lim_y: 0
RotateRecovery:
max_rotational_vel: 0.2
min_in_place_rotational_vel: 0.01
acc_lim_th: 0.2
it still turns very fast.
especially when the robot set off from its original position.
the max rotational vel printed from cmd_vel topic is upto -1.0
the 0.2 cap seems only effective when robot reaches its destine and trying to adjust its final position.
other then the two rotational velocity about, is there any other place I should be concerning?
thanks
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-01
Post score: 1
Original comments
Comment by 2ROS0 on 2014-08-02:
the nomenclature might be different as @ahendrix mentioned. But I have had similar problems from bringing down the velocities too much. I don't know what the problem source is but increasing the overall velocities and accelerations moderated that problem for me.
|
Hello I have my custom made robot URDF which I a using to simulate the robot in rviz, I am publishing the odo data over TF for simulation.
But When I give velocity (fake) as vx =1, vy = -1 and angular velocity as 0, then robot actually drifts, ie. the robot is not moving as expected, it moves in a straight line with at an angle of 45 deg from the origin and even the orientation or heading of the robot doesn't match with the direction of the moment of the robot.
The urdf for my robot is as below:
<link name="base_link">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<box size="0.6 0.35 0.15"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="0.2 1 0.3 1"/>
</material>
</visual>
</link>
<link name="lwheel">
<visual>
<geometry>
<cylinder length="0.04" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_lwheel" type="fixed">
<parent link="base_link"/>
<child link="lwheel"/>
<origin xyz="-0.1 -0.2 -0.025" rpy="1.5708 0 0"/>
<axis xyz="-0.1 -0.2 -0.025 " />
</joint>
<link name="rwheel">
<visual>
<geometry>
<cylinder length="0.04" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_rwheel" type="fixed">
<parent link="base_link"/>
<child link="rwheel"/>
<origin xyz="-0.1 0.2 -0.025" rpy="-1.5708 0 0"/>
</joint>
<link name="fwheel_left">
<visual>
<geometry>
<cylinder length="0.05" radius="0.03"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_fwheel_left" type="fixed">
<parent link="base_link"/>
<child link="fwheel_left"/>
<origin xyz="0.22 -0.1 -0.095" rpy="1.5708 0 0"/>
</joint>
<link name="fwheel_right">
<visual>
<geometry>
<cylinder length="0.05" radius="0.03"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_fwheel_right" type="fixed">
<parent link="base_link"/>
<child link="fwheel_right"/>
<origin xyz="0.22 0.1 -0.095" rpy="-1.5708 0 0"/>
</joint>
<link name="scanner">
<visual>
<geometry>
<box size="0.28 0.065 0.04"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<link name="scan_support">
<visual>
<geometry>
<cylinder length="0.4" radius="0.015"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="1 0.2 0.1 1"/>
</material>
</visual>
</link>
<joint name="base_to_scan_support" type="fixed">
<parent link="base_link"/>
<child link="scan_support"/>
<origin xyz="0.15 0 0.25" rpy="0 0 0"/>
</joint>
<joint name="base_to_scanner" type="fixed">
<parent link="scan_support"/>
<child link="scanner"/>
<origin xyz="0.045 0 0.18" rpy="0 0 -1.5708"/>
</joint>
The odom publisher is directly taken from the tutorials, from the link as given here: //wiki.ros.org/navigation/Tutorials/RobotSetup/Odom
and using the launch file with code as below:
<launch>
<param name="robot_description" command="cat $(find my_robot_urdf)/my_robot.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="my_state_publisher" pkg="security_robot_urdf" type="my_state_publisher" />
</launch>
Then I open the Rviz and cjoose odom as my fixed frame and add display of "Robot Model", then simulation shows the robot drifitng as explained above.
Can any one know what I am missing in this.
Many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-01
Post score: 0
Original comments
Comment by Martin Peris on 2014-08-01:
Is your robot holonomic or non-holonomic? For a holonomic robot, what you describe seems to be the correct behavior
Comment by sumanth on 2014-08-01:
Frankly speaking I don't know the difference between holonomic and non-holonomic
mine is a differential drive.
Comment by Martin Peris on 2014-08-01:
Here is a short explanation about the holonomic robots http://en.wikipedia.org/wiki/Holonomic_(robotics)
Anyway, if your robot is differential drive and doesn't have omnidirectional wheels then it is non-holonomic and it should not be able to move as you describe.
Comment by Martin Peris on 2014-08-01:
could you post more info? Like the URDF file, which nodes are you exactly running, any source code that could give us some more clues?
Comment by sumanth on 2014-08-01:
I have edited my question with the required information, can you please refer back to the question and guide me if you get some insights into the problem
Comment by sumanth on 2014-08-01:
Martin, But if I use the example code in the link: //wiki.ros.org/urdf/Tutorials/Using urdf with robot_state_publisher
I am getting the perfect result as desired
but what's the difference between both.
|
Hello,
I was trying to catkinize the hector_navigation package myself but it is quite time consuming. If anyone has even catkinized a couple of packages, particularly the hector_exploration_planner, please do post the link here, it would help immensely.
Thank You.
Originally posted by Ashwin27 on ROS Answers with karma: 34 on 2014-08-01
Post score: 0
|
I have just remove groovy, and now when i launch a new terminal it says :
/opt/ros/groovy/setup.bash any file or folder of this kind.
So how can I stop ros from searching the disro groovy?
Originally posted by Moda on ROS Answers with karma: 133 on 2014-08-01
Post score: 0
|
Hello there!
I am very new to ROS so forgive me if that's too easy question. I was trying to find some information on this forum and on ros wiki but couldn't find any.
I want to use hector_slam for my mapping project and right now I am experimenting with IMU data and hector_imu_attitude_to_tf . What I am trying to achieve now is to transform my IMU data to tf. My understanding is that in order to do that I need to publish my IMU data on imu_topic.
For experimenting with those ideas I downloaded some bag file with IMU data and created the following simple launch file:
/auk/fcu/imu is the IMU topic on which my bag file publishes. After launching the file rostopic list command lists imu_topic but unfortunately nothing is being published to that topic. The same is with /tf topic. After running roswtf I got the following message:
WARNING The following node
subscriptions are unconnected: *
/imu_attitude_to_tf_node: *
/imu_topic
Should my /imu_topic point to the same data as /auk/fcu/imu ? I would be grateful for any tips about what I might be doing wrong.
I don't know if it's relevant but I am using ROS Hydro on Ubuntu 12.04.
Originally posted by msadowski on ROS Answers with karma: 311 on 2014-08-01
Post score: 1
|
Sometime in March, possibly after upgrading to Hydro, navigation on our robot stopped working. It wasn't critical for our use at the time, but it is now.
After investigating a bit, it seems like the problem is that the local costmap is not aligned with the static map, and thus the robot thinks it's in collision even when it's not. This is the output when sending a goal in such a situation:
[ WARN] [1406897186.158511056]: Clearing costmap to unstuck robot.
[ WARN] [1406897187.003142197]: Rotate recovery behavior started.
[ERROR] [1406897187.003483173]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ WARN] [1406897187.793568508]: Clearing costmap to unstuck robot.
[ WARN] [1406897188.727111389]: Rotate recovery behavior started.
[ERROR] [1406897188.727278521]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
[ERROR] [1406897189.489224920]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
And this is how it looks in Rviz, when I visualize the local costmap. Clearly, something is wrong:
In the costmap_local config file, I have set the parameters exactly like they where before things went wrong, which is like it is in the tutorial as well. I tried changing to global_frame: map and static_map: true but that didn't work.
I tried installing the 1.11.5 release of the navigation stack (instead of the current hydro version), but that didn't work either.
Any help is appreciated!
Originally posted by mrath on ROS Answers with karma: 100 on 2014-08-01
Post score: 0
Original comments
Comment by David Lu on 2014-08-01:
If you visualize the TF tree, is everything where you expect it to be?
|
Can someone tell me the difference between Spin() and SpinOnce()? And what exactly they are doing, is it like a while loop to process some ROS stuff?
Originally posted by Winston on ROS Answers with karma: 180 on 2014-08-01
Post score: 4
Original comments
Comment by Winston on 2014-08-01:
Thank you Stefan and tfoote.
Comment by Moda on 2014-08-04:
Next time try to ask your whole question in the title of the question, it will be shorter
Comment by Winston on 2014-08-04:
Ok. Thanks.
Comment by Moda on 2014-08-05:
It was a joke!!
|
Hello,
I am trying to run this tutorial http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals. For some reason I keep getting this error: By the way I am running groovy and ubuntu 12.04
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package move_base_msgs.
Set move_base_msgs_DIR to the directory containing a CMake configuration
file for move_base_msgs. The file will have one of the following names:
move_base_msgsConfig.cmake
move_base_msgs-config.cmake
Call Stack (most recent call first):
simple_navigation_goals/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
I run rospack find move_base_msgs and it finds the package under :
ubuntu@ubuntu:~/catkin_ws$ rospack find move_base_msgs
/opt/ros/groovy/stacks/navigation/move_base_msgs
I have looked for the config file cmake is asking for but I don't see it anywhere. even tried reinstalling the navigation package completely to see if there was a file that I deleted by accident:
ubuntu@ubuntu:~/catkin_ws$ sudo apt-get install ros-groovy-navigation
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-groovy-navigation is already the newest version.
ros-groovy-navigation set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 167 not upgraded.
ubuntu@ubuntu:~/catkin_ws$
Nothing though, I still get the CMake error after doing this.
If anyone has any insight as to what is wrong please let me know.
This is my simple_navigation_goalsConfig-version.cmake
# generated from catkin/cmake/template/pkgConfig-version.cmake.in
set(PACKAGE_VERSION "0.0.0")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
This is my simple_navigation_goalsConfig.cmake
# generated from catkin/cmake/template/pkgConfig.cmake.in
# append elements to a list and remove existing duplicates from the list
# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
# self contained
macro(_list_append_deduplicate listname)
if(NOT "${ARGN}" STREQUAL "")
if(${listname})
list(REMOVE_ITEM ${listname} ${ARGN})
endif()
list(APPEND ${listname} ${ARGN})
endif()
endmacro()
# append elements to a list if they are not already in the list
# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
# self contained
macro(_list_append_unique listname)
foreach(_item ${ARGN})
list(FIND ${listname} ${_item} _index)
if(_index EQUAL -1)
list(APPEND ${listname} ${_item})
endif()
endforeach()
endmacro()
# pack a list of libraries with optional build configuration keywords
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_pack_libraries_with_build_configuration VAR)
set(${VAR} "")
set(_argn ${ARGN})
list(LENGTH _argn _count)
set(_index 0)
while(${_index} LESS ${_count})
list(GET _argn ${_index} lib)
if("${lib}" MATCHES "^debug|optimized|general$")
math(EXPR _index "${_index} + 1")
if(${_index} EQUAL ${_count})
message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
endif()
list(GET _argn ${_index} library)
list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
else()
list(APPEND ${VAR} "${lib}")
endif()
math(EXPR _index "${_index} + 1")
endwhile()
endmacro()
# unpack a list of libraries with optional build configuration keyword prefixes
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_unpack_libraries_with_build_configuration VAR)
set(${VAR} "")
foreach(lib ${ARGN})
string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
list(APPEND ${VAR} "${lib}")
endforeach()
endmacro()
if(simple_navigation_goals_CONFIG_INCLUDED)
return()
endif()
set(simple_navigation_goals_CONFIG_INCLUDED TRUE)
# set variables for source/devel/install prefixes
if("TRUE" STREQUAL "TRUE")
set(simple_navigation_goals_SOURCE_PREFIX /home/ubuntu/catkin_ws/src/simple_navigation_goals)
set(simple_navigation_goals_DEVEL_PREFIX /home/ubuntu/catkin_ws/devel)
set(simple_navigation_goals_INSTALL_PREFIX "")
set(simple_navigation_goals_PREFIX ${simple_navigation_goals_DEVEL_PREFIX})
else()
set(simple_navigation_goals_SOURCE_PREFIX "")
set(simple_navigation_goals_DEVEL_PREFIX "")
set(simple_navigation_goals_INSTALL_PREFIX /home/ubuntu/catkin_ws/install)
set(simple_navigation_goals_PREFIX ${simple_navigation_goals_INSTALL_PREFIX})
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "WARNING: package 'simple_navigation_goals' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
message("${_msg}")
endif()
# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
set(simple_navigation_goals_FOUND_CATKIN_PROJECT TRUE)
if(NOT "" STREQUAL "")
set(simple_navigation_goals_INCLUDE_DIRS "")
set(_include_dirs "")
foreach(idir ${_include_dirs})
if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
set(include ${idir})
elseif("${idir}" STREQUAL "include")
get_filename_component(include "${simple_navigation_goals_DIR}/../../../include" ABSOLUTE)
if(NOT IS_DIRECTORY ${include})
message(FATAL_ERROR "Project 'simple_navigation_goals' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'ubuntu <[email protected]>' to fix it.")
endif()
else()
message(FATAL_ERROR "Project 'simple_navigation_goals' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/ubuntu/catkin_ws/src/simple_navigation_goals/${idir}'. Ask the maintainer 'ubuntu <[email protected]>' to fix it.")
endif()
_list_append_unique(simple_navigation_goals_INCLUDE_DIRS ${include})
endforeach()
endif()
set(libraries "")
foreach(library ${libraries})
# keep build configuration keywords, target names and absolute libraries as-is
if("${library}" MATCHES "^debug|optimized|general$")
list(APPEND simple_navigation_goals_LIBRARIES ${library})
elseif(TARGET ${library})
list(APPEND simple_navigation_goals_LIBRARIES ${library})
elseif(IS_ABSOLUTE ${library})
list(APPEND simple_navigation_goals_LIBRARIES ${library})
else()
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
foreach(path /home/ubuntu/catkin_ws/devel/lib;/home/ubuntu/catkin_ws/devel/lib;/opt/ros/groovy/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
if(lib)
set(lib_path ${path})
break()
endif()
endforeach()
if(lib)
_list_append_unique(simple_navigation_goals_LIBRARY_DIRS ${lib_path})
list(APPEND simple_navigation_goals_LIBRARIES ${lib})
else()
# as a fall back for non-catkin libraries try to search globally
find_library(lib ${library})
if(NOT lib)
message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'simple_navigation_goals'? Did you find_package() it before the subdirectory containing its code is included?")
endif()
list(APPEND simple_navigation_goals_LIBRARIES ${lib})
endif()
endif()
endforeach()
set(simple_navigation_goals_EXPORTED_TARGETS "")
# create dummy targets for exported code generation targets to make life of users easier
foreach(t ${simple_navigation_goals_EXPORTED_TARGETS})
if(NOT TARGET ${t})
add_custom_target(${t})
endif()
endforeach()
set(depends "")
foreach(depend ${depends})
string(REPLACE " " ";" depend_list ${depend})
# the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
list(GET depend_list 0 simple_navigation_goals_dep)
list(LENGTH depend_list count)
if(${count} EQUAL 1)
# simple dependencies must only be find_package()-ed once
if(NOT ${simple_navigation_goals_dep}_FOUND)
find_package(${simple_navigation_goals_dep} REQUIRED)
endif()
else()
# dependencies with components must be find_package()-ed again
list(REMOVE_AT depend_list 0)
find_package(${simple_navigation_goals_dep} REQUIRED ${depend_list})
endif()
_list_append_unique(simple_navigation_goals_INCLUDE_DIRS ${${simple_navigation_goals_dep}_INCLUDE_DIRS})
# merge build configuration keywords with library names to correctly deduplicate
_pack_libraries_with_build_configuration(simple_navigation_goals_LIBRARIES ${simple_navigation_goals_LIBRARIES})
_pack_libraries_with_build_configuration(_libraries ${${simple_navigation_goals_dep}_LIBRARIES})
_list_append_deduplicate(simple_navigation_goals_LIBRARIES ${_libraries})
# undo build configuration keyword merging after deduplication
_unpack_libraries_with_build_configuration(simple_navigation_goals_LIBRARIES ${simple_navigation_goals_LIBRARIES})
_list_append_unique(simple_navigation_goals_LIBRARY_DIRS ${${simple_navigation_goals_dep}_LIBRARY_DIRS})
list(APPEND simple_navigation_goals_EXPORTED_TARGETS ${${simple_navigation_goals_dep}_EXPORTED_TARGETS})
endforeach()
set(pkg_cfg_extras "")
foreach(extra ${pkg_cfg_extras})
if(NOT IS_ABSOLUTE ${extra})
set(extra ${simple_navigation_goals_DIR}/${extra})
endif()
include(${extra})
endforeach()
This is my simple_navigation_goals.pc file
prefix=/home/ubuntu/catkin_ws/devel
Name: simple_navigation_goals
Description: Description of simple_navigation_goals
Version: 0.0.0
Cflags:
Libs: -L/home/ubuntu/catkin_ws/devel/lib
Requires:
package.xml
<?xml version="1.0"?>
<package>
<name>simple_navigation_goals</name>
<version>0.0.0</version>
<description>The simple_navigation_goals package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">ubuntu</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/simple_navigation_goals</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>roscp</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>move_base_msgs</run_depend>
<run_depend>roscp</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Here is my CMakeLists.txt file:
cmake_minimum_required(VERSION 2.8.3)
project(simple_navigation_goals)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
move_base_msgs
roscpp
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# move_base_msgs
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES simple_navigation_goals
# CATKIN_DEPENDS actionlib move_base_msgs roscp
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(simple_navigation_goals
# src/${PROJECT_NAME}/simple_navigation_goals.cpp
# )
## Declare a cpp executable
add_executable(simple_navigation_goals src/simple_navigation_goals.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(simple_navigation_goals_node simple_navigation_goals_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(simple_navigation_goals
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS simple_navigation_goals simple_navigation_goals_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_navigation_goals.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
Originally posted by choog on ROS Answers with karma: 101 on 2014-08-01
Post score: 1
Original comments
Comment by David Lu on 2014-08-01:
Can you post the CMake and package of your simple_navigation_goals package, please?
Comment by choog on 2014-08-01:
Your talking about the whole code?
Where is the CMake file located?
Comment by David Lu on 2014-08-01:
Both should be in the root of your package.
Comment by Moda on 2014-08-04:
can you post the package.xml file please?
Comment by choog on 2014-08-04:
I've added just about all the files now.
Comment by choog on 2014-08-04:
I also noticed that my move_base_msgs package is located under my stack/navigation/move_base_msgs folder. This package does not have a cmake folder therefore there is no move_base_msgs.cmake file.
Comment by David Lu on 2014-08-04:
Can you please post the CmakeLists.txt that is in the same folder as your package.xml?
Comment by choog on 2014-08-05:
I have updated my post and you can see my CMakeLists.txt file. It is in the same folder as my package.xml.
So far this is the only tutorial that has given me issues like that.
|
Hello,
I am following the instructions on the ROS Wiki for setting up a pre-release test for a catkin package. In several places in the documentation including Step 3 , reference is made to a source.yaml file. However, no such file appears to exist anywhere in the rosdistro package. Consequently, I'm not sure how to even get started.
Thanks!
patrick
Originally posted by Pi Robot on ROS Answers with karma: 4046 on 2014-08-01
Post score: 1
|
Hi
I'm trying to publish polygonal position as message. The publisher is make correct but "segmentation error" shows when I rosrun the publisher, saying "Segmentation fault (core dumped)".
int main(int argc,char** argv)
{
ros::init(argc, argv, "line_formation");
ros::NodeHandle na;
geometry_msgs::Polygon destination;
ros::Subscriber sub= na.subscribe<sensor_msgs::Joy>("/joy",1,joyCallback);
ros::Publisher pub= na.advertise<geometry_msgs::Polygon>("uav_positions",10);
ros::Rate loop_rate(2);
while (ros::ok)
{
central_x +=array[4];
central_y +=-array[3];
central_z +=array[1];
destination.points[0].x=central_x;
destination.points[0].y=central_y;
destination.points[0].z=central_z;
pub.publish(destination);
ros::spinOnce();
loop_rate.sleep();
}
}
As it shows, I use message "geometry_msgs/Polygon". It seems its caused by publishing array. If I publish single point message as "geometry_msgs/Point", it works. But I need to publish several points. So I have to publish array.
Any idea how to solve it or other ways to publish several points position?
Thanks
Glen
Originally posted by Glen on ROS Answers with karma: 40 on 2014-08-01
Post score: 0
|
Hi all!
what we want to do is drive the angles of the arm joints of the pr2 manually. They are computet continously in a motion planning algorithm and send to the arm joints.
So far I have looked at: (cant post working links)
Moving the arm using the Joint Trajectory Action tutorial @ wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%20arm%20using%20the%20Joint%20Trajectory%20Action
Here I have to specify waypoints for the joints over time. It does not work when I try to run it with one single waypoint. Is this somehow possible?
2. Adapt the Moving the torso tutorial @ wiki.ros.org/pr2_controllers/Tutorials/Moving%20the%
This one is using the SingleJointPositionAction. I cant make it work because there is no action node related to r_arm_controller running on my gazebo simulator. (see section 1.5 of tutorial) Does driving the head joint differs from driving the arm joint?
Writing my own low level controller? See this tutorial @ wiki.ros.org/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller
Is this a good idea? I cant imagine this is the best way to do it.
I have been working with ros for just two weeks so please dont assume deep knowledge in your answers!
Any help is welcome!
Martin
Originally posted by Ardu Ino on ROS Answers with karma: 1 on 2014-08-01
Post score: 0
|
Hello,
I need to save the poses of several objects and then perform transformations between them (for instance what was the coordinates of the pen with respect to the table at time t). The fact is that coordinates are not published in real time, they are read from a file publishing the frames of the objects from 0 to 100 seconds.
I would like a cache of, say 100ms, but if I want the transformer not to drop all the first 0 to 99.900 seconds so I cannot use them later. So I need a cache of 100 seconds. But with this long cache a transform is valid during 100 seconds, so when an objects disappears 10 seconds, the lookupTransform continues returning the 10s aged transform , while I would prefer it raises an exception in it's more than 100ms old.
My code is, at the moment, something like:
cache_time = 100 # 100 seconds of cache to keep all frames in memory
transformer = tf.Transformer(False, cache_time)
transform = TransformStamped()
transform.header.frame_id = "world"
for line in file:
(time, obj_name, x, y, z, qx, qy, qz, qw) = line.split()
transform.child_frame_id = obj_name
transform.header.stamp = rospy.Time(float(time))
transform.transform = ... # Fill with x, y, z, qx, qy, qz, qw
transformer.setTransform(transform)
for t in all_times:
print t, transformer.lookupTransform("table", "pen", rospy.Time(t))
I could solve it by doing everything in one pass instead of two, but I would like to separate the step "Reading of frame data" and "Usage of frame data" since the second step may be complicated or done interactively with ipython, etc... I could also use the tf.transformations methods with transforms stored in my own arrays but I'm seduced by the idea of the tf.Transformer being the only data structure that I can talk to to perform transformations.
In my problem I consider two kinds of caches: the duration a frame VALID and the duration a frame is KEPT in memory. I'm afraid this is not the tf philosophy.
Any idea before definitively dropping the tf.Transformer option?
Thanks :)
Originally posted by courrier on ROS Answers with karma: 454 on 2014-08-01
Post score: 0
|
In the pr2_mechanism tutorial (http://wiki.ros.org/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller)
it uses 'rosbuild' to build the code which is quite outdated. So in the part 3 of the tutorial, I use 'catkin_make' to build my package instead of using 'rosmake' which is used in the tutorial. But I overcome two errors:
1. Could not find a configuration file for package pr2_mechanism_model.
2. Could not find a configuration file for package pr2_controller_interface.
I can 'roscd' these two packages so I think they should have been found by catkin_make. Can anyone tell me the solution? Thank you very much.
This is the 'find_package" in my CMakeList.txt:
find_package(catkin REQUIRED COMPONENTS
pluginlib
pr2_controller_interface
pr2_mechanism_model
)
PS. Can anyone update the tutorials to use the new build system catkin_make? And I find that some tutorials are quite outdated and need updating immediately. But since I am new to ROS and PR2, I cannot do more but asking questions.
Originally posted by Winston on ROS Answers with karma: 180 on 2014-08-01
Post score: 1
Original comments
Comment by ahendrix on 2014-08-05:
Which version of ROS are you using? Are the pr2_mechanism_model and pr2_controller_interface packages that you're depending on catkin packages?
Comment by Winston on 2014-08-05:
I am using groovy on Ubuntu Precise. I can 'roscd' these two packages which means they are in my system. And I also 'find_package()' both of them in CMakeList.txt. I think I should modify the CMakeList.txt to make it find the corresponding cmake file, right?
Comment by Winston on 2014-08-05:
I have added the 'find_package' in my question. You can read it. @ahendrix
|
Hi guys!
I have a project in which I've been working on groovy and hydro. I want to compile the same thing on indigo because I had to install ubuntu 14.04 on my computer and I need to use that project. I'm having a problem right now when I'm trying to compile. The error comes from the FIND_PACKAGE(Eigen REQUIRED) command.
CMake Error at project/CMakeLists.txt:24 (FIND_PACKAGE):
By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Eigen", but
CMake did not find one.
I got the idea from http://wiki.ros.org/cmake_modules that it should be the same thing in hydro than in indigo for the eigen module (so I shouldn't have any problems). So I don't know what to do. I'm getting that problem and I know that I have the cmake file needed on /opt/ros/indigo/share/cmake_modules/cmake/Modules/FindEigen.cmake.
Just last thing, I have libeigen3-dev installed from the ubuntu repositories, so I'm sure that I shouldn't have any problem because of that.
According to https://github.com/ros/cmake_modules/blob/0.3-devel/README.md I should not have any problem with `FIND_PACKAGE(Eigen REQUIRED)``
Originally posted by silgon on ROS Answers with karma: 649 on 2014-08-01
Post score: 11
|
Hi,
This is a test I created for a customized robot, say DENSO vp6242, which is not available in the original ROS package. This package I create is vp6242_config (according to tutorial, this should be vp6242_moveit_config) with some configurations and Moveit Setup Assistant packge
I'm not certain about how to register this customized package but I used .bashrc and double checked with roscd, rospack find and both recognized vp6242_config package.
However, when I run
roslaunch moveit_planning_execution.launch
the error is returned
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
self._load_config()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 553, in _include_tag
inc_filename = self.resolve_args(tag.attributes['file'].value, context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
return _find_executable(resolve_without_path, a, [args[0], path], context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: [vp6242_config]
Does ResourceNotFound mean any other error?
Thanks!
Originally posted by roskidos on ROS Answers with karma: 110 on 2014-08-02
Post score: 0
|
Hi,
Suppose I'm running ROS on a Arduino Galileo controlled robot (since Galileo can run Linux I suppose it can run ROS)... And the Arduino platform is also connected to a ZigBee radio... How do I communicate with other such Galileo+ZigBee motes but not running ROS? Is it possible or do I have to install ROS on all the motes?
Originally posted by vreg on ROS Answers with karma: 3 on 2014-08-02
Post score: 0
|
On the ROS Introduction page it says ... The ROS runtime "graph" is a peer-to-peer network of processes (potentially distributed across machines) that are loosely coupled using the ROS communication infrastructure ...
For the processes to be distributed across machines do they all have to be running ROS on top of Linux or can only run Linux without the need to install ROS?
Originally posted by vreg on ROS Answers with karma: 3 on 2014-08-02
Post score: 0
|
Hi, I am using but_velodyne_proc package to obtain 2d laser scan sensor_msgs/LaserScan from a 3d Velodyne sensor_msgs/PointCloud2. It seems that it works fine because I can visualize laser scan and point cloud in rviz. However, problem arises when I try to use this 360 degree laser scan data with gmapping to obtain a 2d occupancy map using:
rosrun gmapping slam_gmapping scan:=/velodyne/scan
It gives me following error:
slam_gmapping: /tmp/buildd/ros-hydro-openslam-gmapping-0.1.0-2precise-20140617-1746/scanmatcher/scanmatcher.cpp:563: void GMapping::ScanMatcher::setLaserParameters(unsigned int, double, const OrientedPoint&): Assertion `beams<2048' failed.
Aborted (core dumped)*
The error of "beam 2048" is coming from here. Gmapping is working fine when I am using LaserScan from the lidar installed on my robot. Do you think this is because I am feeding 360 degree scan? I can see that scan header of the lidar is coming with angle_min: -2.35619449615 angle_max: 2.35619449615, whereas header of LaserScan obtained from Velodyne is angle_min: -3.14159274101 angle_max: 3.14159274101.
I am very beginner with all this stuff and do not understand the meaning of "LASER_MAXBEAMS 2048" defined in the header file. Your guideline to fix this problem is much appreciated!
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-08-02
Post score: 1
|
I am trying to get the action lib tutorial (http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) with stage (default simulation) and gazebo (pr2, roslaunch pr2_gazebo pr2_empty_world.launch). I am expecting the robot to move to the goal point, in both stage and gazebo the message I am getting is;
[ INFO] [1407054689.721298051]: Waiting for the move_base action server to come up
The corresponding tutorial(s) for which it was written are obsolete for hydro, any suggestions here would be helpful !!
Originally posted by Arkapravo on ROS Answers with karma: 1108 on 2014-08-03
Post score: 0
Original comments
Comment by ahendrix on 2014-08-03:
"nothing seems to work" is pretty vague. Can you pick one simulation (stage or gazebo) and describe exactly which commands you're running, what you expect, and what actually happens?
Comment by Arkapravo on 2014-08-03:
@ahendrix - updated !!
|
Hello! I am learning ROS recently . I have some questions about velodyne package:
After I run
"$roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/llm/catkin_ws/src/velodyne_pointcloud/params/32db.yaml"
in the terminal , which .cpp file in src/conversions/ was executed ?
I notice that in the file convert.cpp , "output_" publish a "outMsg" (velodyne_rawdata::VPointtCloud::Ptr) in line 78,but in line 31 ,the "output_" advertise "sensor_msgs::PointCloud2" message ,I can not understand this code.
I am focused on this one . I created a node to subscribe the topic "velodyne_points" , and I want to extract the information of the points's XYZ coordinate value from the topic , but I can not understand the message type "sensor::PointCloud2", what should I do?
Looking for you reply ! Thank you very much !
Originally posted by Lau on ROS Answers with karma: 47 on 2014-08-03
Post score: 1
|
I created a package A which only contains a header file to use in some other packages. But when trying to use the header in project B I always get the error "File not found". I found some questions here addressing the problem as "install issue". But I have the installation in my CMakeLists.txt of package A.
I also included ${CATKIN_INCLUDE_DIRS} in project B, but it still does not find the header file.
CMakeLists.txt of A:
cmake_minimum_required(VERSION 2.8.3)
project(A)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
ndt_map
roscpp
rospy
std_msgs
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
include
)
#############
## Install ##
#############
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
important part of CMakeLists.txt of project B:
find_package( catkin REQUIRED COMPONENTS
A
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
Originally posted by HyEnd on ROS Answers with karma: 5 on 2014-08-03
Post score: 0
|
I have followed the ROS site's instructions on installing ROS indigo on Trusty Ubuntu through virtualbox, but I get this error. I know indigo is now released, which was the previous problem for a couple of questions
Originally posted by joshpj1 on ROS Answers with karma: 41 on 2014-08-03
Post score: 3
Original comments
Comment by Arkapravo on 2014-08-03:
Did you add the ROS repository to your list of repos
Comment by 130s on 2014-11-20:
More specifically, can you paste the result of cat /etc/apt/sources.list.d/ros-latest.list' command?
Comment by preto on 2017-02-28:
@130s Not sure if this question is still active but worth a shot. I tried installing jade on my 14.04 and it is not allowing me to setup my sources. Whenever I try the command to setup it up as the tutorial says my terminal simply breaks a new line and does nothing.
Comment by preto on 2017-02-28:
And cat /etc/apt/sources.list.d/ros-latest.list does the same... breaks a line and does nothing, forcing me to Crtl + C
Comment by 130s on 2017-03-01:
@preto please open a new question. Comment sections is not supposed to ask a new one (and you won't get as much attention).
|
Getting error during installing of ROS on pcDuino following instruction on LinkSprite or on pcDuino sites "install ros groovy on pcduino"
On step "Initialize rosdep", command "rosdep update" - an error raised:
ERROR: Rosdep experienced an internal error: Unable to handle format version 2, please update rosdistro
Please go to the rosdep page [1] and file a bug report with the stack trace below.
Traceback (most recent call last):
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 118, in rosdep_main
exit_code = _rosdep_main(args)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 257, in _rosdep_main
return _no_args_handler(command, parser, options, args)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 265, in _no_args_handler
return command_handlers[command](options)
File "/usr/lib/pymodules/python2.7/rosdep2/main.py", line 422, in command_update
error_handler=update_error_handler)
File "/usr/lib/pymodules/python2.7/rosdep2/sources_list.py", line 414, in update_sources_list
for d, dist in get_index().distributions.iteritems():
File "/usr/lib/pymodules/python2.7/rosdep2/rosdistrohelper.py", line 58, in get_index
_RDCache.index = rosdistro.get_index(_RDCache.index_url)
File "/usr/lib/pymodules/python2.7/rosdistro/__init__.py", line 105, in get_index
return Index(data, base_url)
File "/usr/lib/pymodules/python2.7/rosdistro/index.py", line 47, in __init__
assert self.version == 1, 'Unable to handle format version %d, please update rosdistro' % int(data['version'])
AssertionError: Unable to handle format version 2, please update rosdistro
Configuration:
pcDuino V2, extended to 4GB;
Lubuntu - Linaro 12.07 or Libaro 12.11 (upgrated by "apt-get upgrade")
Original images or images from 20140620;
Booted from NAND or from MMC;
Found similar issues in other threads but didn't manage to solve as suggested.
Originally posted by satr on ROS Answers with karma: 13 on 2014-08-03
Post score: 0
Original comments
Comment by ahendrix on 2014-08-03:
I suspect you're using an outdated version of the python-rosdep package. I've bumped your karma so that you can make links - can you link to the tutorial you're following?
Comment by satr on 2014-08-04:
Tutorials:
http://www.pcduino.com/install-ros-groovy-on-pcduino/
http://learn.linksprite.com/pcduino/ros/install-ros-groovy-on-pcduino/
Command " sudo apt-get install --reinstall python-rosdep" among output lines gives following:
. . .
Preparing to replace python-rosdep 0.10.18-1 (using .../python-rosdep_0.10.18-1_all.deb) ...
. . .
Setting up python-rosdep (0.10.18-1) ...
|
I want to find out the differences between 3 files created when using the command 'rosws init ~/fuerte-ws /opt/ros/fuerte' : setup.bash setup.sh setup.zsh. In the rosbuild tutorial, it tells me to source setup.sh. But in catkin tutorial, we source setup.bash. So do these three files serve the same function? Why no one uses setup.zsh? What is it?
Thank you very much.
Originally posted by Winston on ROS Answers with karma: 180 on 2014-08-03
Post score: 1
|
Hi,
I'm running the navigation stack on the Seekur Jr. robot. After a lot of parameter tuning, I have managed to get the robot to move satisfactorily to the goal.
However, when the goal is mostly straight in front of the robot (like at the end of a straight corridor) I find that the robot oscillates about (right and left) the path given to it by move_base. Is there a way to bias the robot to select more linear trajectories and less of angular trajectories?
In my application, I do not care much about the lateral displacement (and so I have set the xy goal tolerance to be high) but that doesn't solve the problem.
Thank you.
EDIT:
Video link: https://vimeo.com/102831405
I am navigating a corridor. I have a wall following algorithm that is computing a goal and sending it to move base. The goal can be seen by the big red marker and the global path (green) and local path (pink) are also visible. Ignore the green points on the floor in front of the robot (those are the computed ground plane).
As you can see, the planner always selects paths that curve a bit to the right. Although it keeps correcting and turning back to the left, it keep going ever so slightly to the right. And finally it gets too close to the obstacle.
So I am guessing that for whatever reason it is choosing trajectories that have negative v_theta. Any help you could proved on this would be great.
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-08-03
Post score: 1
|
Hi,
I am following this tutorial in orden to simulate a .dae file created with Sketchup. Running under Ros Fuerte and Gazebo 1.8.
Im trying to paste the .dae file in /Media/models but I can´t locate it. I´ll probably need your help after solving this doubt, hehe.
Thanks!
Originally posted by azeta on ROS Answers with karma: 16 on 2014-08-03
Post score: 0
|
I am looking at a Map display in RVIZ, using the view_navigation.launch file from the turtlebot_rviz_launchers package (in ROS Hydro). The map is created from the slam_mapping node fed from the depthimage_to_laserscan/DepthImageToLaserScanNodelet nodelet, fed from a Kinect sensor. My robot is stationary at the moment. (It has to be, it's a table :-), but I publish a static TF frame showing that it is stationary.)
I have disabled all of the displays except Map and Grid, and have removed (i.e. clicked on the "Remove" button) the Global Map and Local Map displays (more on that in a minute).
I couldn't upload a screenshot of what I saw when I first wrote this (because I was a newbie and didn't have enough karma to include images), but ahendrix bumped my karma, so I can now include a screenshot. I'll leave my original textual description in place still.
Here is what I see:
I can see the grid (of course).
I can see black lines which match the walls that my Kinect can see. These match the documentation on the wiki at /rviz/DisplayTypes/Map) as being cells that are occupied. So far this makes sense.
But I can also see a greyish green transparent horizontal bar that is about 1.5 grid cells tall, whose lower left corner is at (-1, -1) and which extends to the right off the grid. What is this?
I can see a light grey area, shaped like a pie wedge, extending from the origin to the wall markers. This would seem to be cells for which the occupancy is "unknown" since it is grey. This seems strange to me that the cells have unknown occupancy, since the (fake) laser can see all the way through them right to the solid wall. Perhaps they are supposed to be "white" according to the documentation. It just doesn't look very white to me. [EDIT: it is white if I change the alpha to 1.0]. OK, this makes sense to me as well.
If I don't remove the Global Map and Local Map displays (even if they are disabled), there is yet another greyish greenish 1x1 square whose left corner is at the origin. It goes away if I remove both the Global Map and Local Map displays. [EDIT: Ahhh I just noticed that the Map shows up as a 1x1 square if I delete it (and the other 2 maps) and re-add it. It turns back into the display I described above once I subscribe to the /map topic. Furthermore, I notice that I don't have anything publishing /move_base/global_costmap/costmap and /move_base/local_costmap/costmap topics, so I expect the 1x1 square is some sort of default visualization for the Global and Local Map displays that is shown in the absence of anything rational to be displayed. OK, I suppose that makes sens now too.]
Finally, when I read the documentation, I see that the Map display has 3 parameters: Topic, Alpha, and Request Frequency.
But my version of RVIZ shows 9 parameters: Topic, Alpha, Color Scheme (map vs costmap), Draw Behind, Resolution, Width, Height, Position, and Orientation. It seems that the online documentation is out of date with respect to my version of RVIZ. Is there newer/better documentation available someplace?
Thanks for any tips you can give me.
--wpd
Originally posted by wpd on ROS Answers with karma: 249 on 2014-08-03
Post score: 1
Original comments
Comment by ahendrix on 2014-08-04:
I've bumped your karma. You should be able to post links and images now.
|
hi all,
I would like to do the link between rviz and my phisical robot, when my robotic arm move, i would like the same think into rviz ?
thank you for your help!
Originally posted by a_le_ban on ROS Answers with karma: 3 on 2014-08-03
Post score: 0
|
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