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I'm trying to have my Retina MBP (which won't support Ubuntu 13.04 due to hardware incompatibilities, so I'm stuck with 14.04) communicate with my custom turtlebot, running XUbuntu 13.04 on an Odroid U3 (through UbuntuARM). Essentially, my laptop can only run ROS Indigo and my turtlebot can only run ROS Hydro.
When I try to use the Turtlebot Dashboard, I get a slew of errors about incorrect message types. Has anyone had success running the Turtlebot software across two different versions of ROS?
Originally posted by nckswt on ROS Answers with karma: 539 on 2014-08-10
Post score: 1
|
In my CMakeList.txt, there is ${PROJECT_SOURCE_DIR} but I don't know the exact values it represents. So I enter something like "echo ${PROJECT_SOURCE_DIR}", but nothing comes out. My questions are:
how to find out what ${xxx} represents?
2. are there differences between ${} and $()?
Originally posted by abcgarden on ROS Answers with karma: 49 on 2014-08-11
Post score: 1
Original comments
Comment by gvdhoorn on 2014-08-11:
echo is not a CMake command, and ${PROJECT_SOURCE_DIR} is not an environment variable (so you can't echo it). If you want to print it, use message("PROJECT_SOURCE_DIR: ${PROJECT_SOURCE_DIR}") somewhere in your CMakeLists.txt.
Comment by Winston on 2014-08-11:
Thank you @gvdhoorn, @BennyRe and @Wolf. The combination of your three answers is the perfect answer.
Comment by aissa360 on 2018-05-01:
@gvdhoom thank you for your answer, please once you use message("PROJECT_SOURCE_DIR: ${PROJECT_SOURCE_DIR}") where would it be displayed/printed ?
Comment by gvdhoorn on 2018-05-02:
On the console, during CMake configuration phase.
|
Where Does "catkin_make", "rosmake" and "make" Look to Find its Header Files? (In my question, "make" represents "catkin_make", "rosmake" and "make" :) )
Because of the update of ROS versions, some header files which work in older version do not exist in new version of ROS, which turns out to be a "cannot find xxx header file" error when "make"-ING. What I am going to do is to find out those old header files I need and copy to the path where "make" search for those header files(Is it an advisable behavior?).
Originally posted by abcgarden on ROS Answers with karma: 49 on 2014-08-11
Post score: 0
|
I am working on a robot, which finally should move to the specified location in the map autonomously. (For which I am planning to use Navigation stack).
For which I want to map the environment.
I have a kinect sensor available, so which mapping I should use so that I can generate a map (2D or 3D), which can be later fed to the navigation stack....??
I can fetch the odo ticks from the micro controller and give for the mapping stack.
As the kinect is a fixed connection to the robot, I can publish a static transform from kinect to the base link.
Are these sufficient to use the mapping stack, but the question is which mapping stack to go with..? and any examples suggesting the use of the mapping stack will be great full to start with.
Many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-11
Post score: 0
|
I installed ROS diamondback version on ubuntu 10.04 for Lego nxt.
But when I run the sample test program "rosrun nxt_python touch_sensor_test.py "
I got the same output as the webpage shows:
Traceback (most recent call last):
File "/u/mwise/external_repos/foote-ros-pkg/nxt/trunk/nxt_python/sensor_tests/touch_sensor_test.py", line 21, in <module>
sock = nxt.locator.find_one_brick()
File "/u/mwise/external_repos/foote-ros-pkg/nxt/trunk/nxt_python/src/nxt/locator.py", line 57, in find_one_brick
raise BrickNotFoundError
nxt.locator.BrickNotFoundError
What's the problem?
Originally posted by annie029 on ROS Answers with karma: 1 on 2014-08-11
Post score: 0
|
Hello, I used tabletop_object_detector correctly in my own node and call the segmentation service and get the cluster size correctly. Now I need to get the location in XYZ of the segmented objects (clusters) but I don't know how.
Note: I use the segmentation node only without recognition facility.
Regards,
Originally posted by Haitham El-Hussieny on ROS Answers with karma: 1 on 2014-08-11
Post score: 0
|
How to add 1 or more robots in uwsim ? Can we simply do it by editing cirs.xml ?
Originally posted by Mind_hunter on ROS Answers with karma: 51 on 2014-08-11
Post score: 0
|
Some time ago i released base package, mavros.
Now i have additional package with extras. It require cv_bridge and absolutely optional.
Also i plan to do some rqt plugins for mavros, so it is another package.
Should i make stack from that packages? How to do it?
How to keep package naming?
Update: stacks are gone, but i mean same schema, when all packages stored in one repo.
Originally posted by vooon on ROS Answers with karma: 404 on 2014-08-11
Post score: 0
|
Hello,
I am trying to build a new package in a catkin_workspace.
After trying to build this package everything seems to be malfunctioning.
E.g. if i delete the package under construction and only leave one surely working package in my
catkin_ws (e.g. image_view, viso2_ros) i still get the following errors when doing catkin_make.
.......
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package cv_bridge.
Set cv_bridge_DIR to the directory containing a CMake configuration file
for cv_bridge. The file will have one of the following names:
cv_bridgeConfig.cmake
cv_bridge-config.cmake
Call Stack (most recent call first):
viso2-hydro/viso2_ros/CMakeLists.txt:4 (find_package)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package image_geometry.
Set image_geometry_DIR to the directory containing a CMake configuration
file for image_geometry. The file will have one of the following names:
image_geometryConfig.cmake
image_geometry-config.cmake
Call Stack (most recent call first):
viso2-hydro/viso2_ros/CMakeLists.txt:4 (find_package)
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- looking for PCL_COMMON
........
What the f** has happened.
Did my package under construction destroy anything?
Sidenote: I am a beginner to ROS!
Also here is my original CMakeLists.txt for my new package "stereo_setup":
cmake_minimum_required(VERSION 2.8.3)
project(stereo_setup)
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include)
# set include directories for headers and libraries
include_directories($(stereo_setup_INCLUDE_DIRS), include, lib)
FIND_LIBRARY(FLYCAP_SDK NAMES libflycapture.so library
PATHS /lib)
# set the executable for executing ROS cmds
add_executable(stereo_setup_exe src/stereo_setup.cpp)
#set the properties
SET_TARGET_PROPERTIES(stereo_setup_exe PROPERTIES OUTPUT_NAME stereo_setup)
# add the sourcecode as a "library"
#add_library(stereo_setup src/stereo_setup.cpp)
# target; link against
target_link_libraries(stereo_setup ${FLYCAP_SDK})
target_link_libraries(stereo_setup ${catkin_LIBRARIES})
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-08-11
Post score: 0
Original comments
Comment by Winston on 2014-08-11:
Which version of ROS are you using? Do you install it correctly? I use "sudo apt-get install ros-groovy-desktop-full" to install my ROS groovy and I can "roscd" those two packages you mention. Maybe you should add them into package.xml, or maybe you should source setup.bash.
|
Hello folks,
I am making an odometry node for an omnidirectional robot using mechanum wheels. I've followed the tutorial on the ROS wiki, making changes as needed for my particular robot. The problem is that while I get values for the twist values, I get NaN for the pose. You can find the code here. I've tried debugging my code, and I get values up to the delta_th line. When I look at x, y, and th though that is where I get NaN. The variable types match, so that shouldn't be a problem. When I try adding a constant (1 and 1.0) instead of the delta then I do get a value returned. I am unsure why this is. Can anyone see what I am doing wrong?
Thanks,
Originally posted by Icehawk101 on ROS Answers with karma: 955 on 2014-08-11
Post score: 1
Original comments
Comment by bvbdort on 2014-08-11:
did you if dt_front, dt_rear are getting zero ?
Comment by Icehawk101 on 2014-08-11:
I checked that, they are getting values.
Comment by Tom Moore on 2014-08-11:
Why not just add a lot of ROS_INFO_STREAM statements before and after every calculation until you find the culprit? Also, just from a "good practices" standpoint, you really should initialize the variables in lines 6 - 11 in your main function (before you subscribe to any callbacks).
Comment by Icehawk101 on 2014-08-11:
dt_front: 0.999999
dt_rear: 0.999926
v_w1: 0.122492
v_w2: -0.119761
v_w3: 0.119651
v_w4: -0.117248
avg_dt: 0.999963
vx before: 0.000160434
vx after: 0.000160434
vy before: -0.0149735
vy after: -0.0149735
vth before: -2.32918e-05
vth after: -2.32918e-05
Comment by Icehawk101 on 2014-08-11:
delta_x: 0.000160428
delta_y: -0.0149729
delta_th: -2.32909e-05
x before: -nan
x after: -nan
y before: -nan
y after: -nan
th before: nan
th after: nan
|
We're trying to use a Bayesian Filter to do some sensor fusion for estimating the joints positions on a joint based robot. For this we're using the BFL library as is done in the robot-pose-ekf package.
We now have two versions of the same filter (one using ExtendedKalmanFilter, the other one a particle filter: BootstrapFilter) that converges but haven't yet found a way of binding the BFL state representation variables. In our case, we'd like to make sure that each variable of the state stays within the joint limits.
Feel free to ask for more details as I'm not exactly sure what is most relevant.
Originally posted by Ugo on ROS Answers with karma: 1620 on 2014-08-11
Post score: 0
|
Hi there, I am new to ros and having a bit of problem when using subscribers. Here is some lines of my code and it is for leader following:
main(int argc, char **argv)
{
ros::init(argc, argv, "mycontrol_1");
ros::NodeHandle n;
ros::Subscriber h_sub = n.subscribe("/uav1/sonar_height",1000,hcontrol);
switch (squad_leader_no){
case 1:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav1/split_cmd", 1000, getsplitcmd);
break;}
case 2:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav2/split_cmd", 1000, getsplitcmd);
break;}
case 3:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav3/split_cmd", 1000, getsplitcmd);
break;}
case 4:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav4/split_cmd", 1000, getsplitcmd);
break;}
}
// loop rate of 35Hz
ros::Rate cycle(35);
...
In above case, subscription fails. However, when I pull the subscriber out of the switch-case statement, it subscribes successfully. Could anybody explain this if know why, please? Thank you in advance.
Originally posted by PJ on ROS Answers with karma: 30 on 2014-08-11
Post score: 0
Original comments
Comment by ahendrix on 2014-08-11:
This is a duplicate of http://answers.ros.org/question/189706/subscriber-and-if-elseswitch-case-statement/ . Please do not ask duplicate questions.
|
Hi there, I am new to ROS and having a bit of problems when using subscriber. I am writing a leader following function and trying to subscribe to a rostopic under a conditional statement, switch statement in this case, but it doesn't work. Key lines of the problem are shown below:
main(int argc, char **argv)
{
ros::init(argc, argv, "mycontrol_1");
ros::NodeHandle n;
ros::Subscriber h_sub = n.subscribe("/uav1/sonar_height",1000,hcontrol);
switch (squad_leader_no){
case 1:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav1/split_cmd", 1000, getsplitcmd);
break;}
case 2:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav2/split_cmd", 1000, getsplitcmd);
break;}
case 3:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav3/split_cmd", 1000, getsplitcmd);
break;}
case 4:
{ros::Subscriber splitcmd_sub = n.subscribe("/uav4/split_cmd", 1000, getsplitcmd);
break;}
}
...
// loop rate of 35Hz
ros::Rate cycle(35);
...
In above case, subscription fails. But when I pull the subscriber out of the conditional statement, it subscribe successfully. Could anybody be helpful on this problem if know why, please? Thanks in advance.
Originally posted by PJ on ROS Answers with karma: 30 on 2014-08-11
Post score: 1
Original comments
Comment by bvbdort on 2014-08-11:
what do you mean by "subscription fails" , you are using same callback function for all subcriptions, so for all message it will get called. I mean once you get case 1 , for next your callback will be called for all messages from uav1. I missed the scope part
|
I am trying to retrieve the Pseudoranges from the satellite to the GPS receiver mounted on the Husky robot. The type of messages I have related to GPS are :
sensor_msgs/NavSatFix
nmea_msgs/Sentence
sensor_msgs/TimeReference
geometry_msgs/TwistedStamped
geometry_msgs/PoseWithCovarianceStamped
All I can log now is GPS solution (longitude, latitude and altitude) which is part of the sensor_msgs/NavSatFix message . I wonder where can I find the Pseudoranges from the satellite to the GPS receiver.
Thanks in Advance,
Naz
Originally posted by Naz on ROS Answers with karma: 1 on 2014-08-11
Post score: 0
Original comments
Comment by ahendrix on 2014-08-11:
The default ROS driver probably doesn't expose the data you're looking for. You should probably contact Clearpath or the GPS manufacturer directly.
Comment by Tom Moore on 2014-08-12:
Can you tell us what you're trying to do with the pseudoranges?
Comment by Naz on 2014-08-12:
Sure, I am trying to estimate the relative distances between two vehicles. The two vehicles are equipped with GPS , using the Pseudoranges and the satellite positions the relative distance can be computed using the double differencing method.
Comment by Naz on 2014-08-12:
Here is a link to the GPS integrated in our Husky robot (vehicle) :
http://static.garmincdn.com/pumac/GPS_18x_Tech_Specs.pdf
Comment by ahendrix on 2014-08-12:
A quick read of the datasheet suggests that your GPS doesn't provide pseudorange output.
|
Hi, all,
I am trying to run hokuyo urg-04lx-ug01.
But it seems missing from the package hydro.
The command
rosrun hokuyo_node hokuyo_node
is not run successfully.
return error
Error: stack/package hokuyo_node not found
install the package
sudo apt-get install ros-fuerte-laser-drivers
puts the additional package under fuerte folder, not able to be called in hydro.
I notice there's another package urg_node, but I can't find the install instruction.
How to install it under hydro?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-11
Post score: 0
|
Hey guys,
I am trying to add and move some objects to my planning_scene in MoveIt. Since I am currently running into weird errors, I wanted to know if it is correct, when I create my collision_object and publish it to /collision_object OR do I also have to publish it to /planning_scene as a diff?
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-08-11
Post score: 0
|
Hello,
I'm looking for a tool to establish a communication link between 2 or more robots in the Gazebo Simulator. I was thinking in a wireless module but I don't find anything like that.
Any help will be appreciated.
Thanks
Originally posted by Joao Luis on ROS Answers with karma: 110 on 2014-08-11
Post score: 1
Original comments
Comment by Kurt Leucht on 2014-08-11:
Interesting question. I think I'm interested in the answer too.
|
Hello,
I have a very simple question. What's the relation between services and nodes? Can we say services are functions/methods defined in a node. For example, according to this tutorial:
http://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParams
when I'm running the turtlesim_node node, here is the list of active services:
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
The question is where are all these services defined? Where can I find their codes?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-11
Post score: 0
|
Is there a documented process?
Is the accepted practice to make pull requests with the changes to the rosdep files here:
https://github.com/ros/rosdistro/tree/master/rosdep
Thanks in advance for any clarifications/info.
Originally posted by Aaron Blasdel on ROS Answers with karma: 211 on 2014-08-11
Post score: 1
|
I am looking for the Pseudoranges from the Satellite to the GPS receiver mounted on the Husky robot. I thought maybe I could find them logged in the message which has the data type "nmea_msgs/Sentence" however when I use :
rosmsg show nmea_msgs/Sentence
I get this error : Unable to load msg [nmea_msgs/Sentence] : Cannot locate message [Sentence]: unknown package [nmea_msgs] on search path ................ and the error goes on
Any clue why is this happening ? , rosmsg show is working find with all other message types
Thanks in advance,
Naz
Originally posted by Naz on ROS Answers with karma: 1 on 2014-08-11
Post score: 0
|
Hello,
I am working in a lab which does not allow direct internet access. Basically the way that we download packages and such is to ssh into another computer with internet access that can get these files. So installing anything over the internet is still possible.
However, there is a problem with two things: 1. running "rosdep init" and 2. setting up ROS keys.
Both of these seem to want to directly access GitHub in order to complete their task. I have directly obtained the sources.list file that rosdep init uses and it is now on the computer. However, rosdep init still wants to access GitHub even though the sources.list file is now on the computer and can be accessed without the internet. What can I do to circumvent this problem?
Eventually I think I will run into the same sort of issue with setting up the ROS keys, but for now I just want to solve the rosdep init problem.
I found this other question that I think is related, but it seems that the problem was not solved: http://answers.ros.org/question/132911/rosdep-init-error-when-running-without-internet/
Thank you,
-Adrian
Originally posted by clarkeaa on ROS Answers with karma: 51 on 2014-08-11
Post score: 1
|
If I roslaunch something that broadcasts a TF, then launch RViz, I can visualize the TF in RViz. However, if I then restart the launch file, the new TF is not picked up. I need to also restart RViz to get the new TF.
Originally posted by Neil Traft on ROS Answers with karma: 205 on 2014-08-11
Post score: 0
|
I run tf tf_echo /Pioneer3AT/map /Pioneer3AT/base_link and compute exact data needed (so far so good):
...
At time 1407419581.729
- Translation: [-8.999, -22.000, 0.000]
- Rotation: in Quaternion [-0.000, 0.000, 0.850. 0.526]
in RPY [0.000. -0.000, 2.034]
...
I set up the following listener:
import roslib
import rospy
import tf
import sys, traceback
from nav_msgs.msg import Odometry
if __name__ == '__main__':
rospy.init_node('tf_P3AT')
listener = tf.TransformListener()
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
try:
now = rospy.Time(0)
(trans, rot) = listener.lookupTransform("/Pioneer3AT/map", "/Pioneer3AT/base_link", now)
except: (tf.LookupException, tf.ConnectivityException):
continue
print 'translation: ',trans
print 'rotation: ', rot
rate.sleep()
Prints out the correct data as above.
Next step: I would like to record this transform with rosbag.
Is this just a matter of publishing this data within my listener file, then running rostopic echo, then running rosbag record? Thanks for reading this.
Originally posted by Orso on ROS Answers with karma: 37 on 2014-08-11
Post score: 0
|
Now that Ubuntu 14.04.1 LTS is released, is it advisable to upgrade or are there any known issues running ROS with the new Ubuntu version? I haven't seen many questions-answers regarding Ubuntu 14.04.
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-08-11
Post score: 1
|
Hi,
I have a question regarding a simple robotic arm, which I already modeled in URDF, and the TF Broadcaster.
In order to really understand how thinks works, I realized a simple base_link shape with above a small arm, which is free to rotate around one axis. Everything compiles and run smooth in RViz.
Now let s say I want to drive the arm trough another node. So...
Am I right if I create one state_publisher (broadcaster) (Node A) for the robotic arm, which publish constantly the joint_state of the arm (like the tutorials) WHILE the second node (Node B) will subscribe on the joint_state' topic the new joint_state position?
My idea is to broadcast the joint_state of the arm (Node A) while Node B will send the joint_state value (which could be for istance calculated by a math formula) and see it moving in RViz.
It would be helpful if you have some example!
Regards
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-08-12
Post score: 1
|
I want to use POCO library within my package.
I followed this manual http://wiki.ros.org/UsingThirdPartyLibraries
but it was not successful.
I tried to add
find_package(poco REQUIRED)
to CMakeLists.txt but cmake can't find it.
Would you please help me to add POCO to my project.
Originally posted by pjnsoo on ROS Answers with karma: 11 on 2014-08-12
Post score: 1
Original comments
Comment by dornhege on 2014-08-12:
Maybe it might be a good idea to find out if what you'd like to do is handled by http://wiki.ros.org/pluginlib.
|
hi, All,
I am using an LMS100 for localization and one hokuyo URG laser for local path planing.
question is, how do I specify which one goes where?
I am using Navigational Stack and in the costmap_common_params.yaml, following parameters are set
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: base_laser, data_type: PointCloud, topic: point_cloud, marking: true, clearing: true}
how do I specify which one is for AMCL which one is for local path plan?
regards
Ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-12
Post score: 1
|
Is there a documentation on how the information transferred in ros messages is stored in the message's binary data (given that I have the describing msg file) ?
E. g. if I would want to create my own serializer and deserializer for an arbitrary programming language / system, where to find the information on how to do this?
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-08-12
Post score: 1
|
I am using ROS groovy on Ubuntu precise. Recently I am trying to convert a code which works on Diamondback to Groovy. But the problem is that some files used to be available in Diamondback now does not exist in Groovy. For example, when I look at file "regression_test_pose_goal_floorobj.cpp" located at "/opt/ros/groovy/stacks/arm_navigation/move_arm/test/regression_test_pose_goal_floorobj.cpp ", it has "#include <arm_control_msgs/TrajectoryStart.h>" but I cannot find TrajectoryStart.h, even worse, I cannot find out any folder or file named arm_control_msgs in the root directory of groovy. When I search for the dos of packages of Diamondback and Electric, I cannot find out anything similar to arm_control_msgs. So :
anyone can help me find out where "arm_control_msgs" is?
Or tell me what kind of changes have been made to this file(or package?) in Groovy so that I cannot include the new version of header file in my program or make some changes to my program.
Originally posted by abcgarden on ROS Answers with karma: 49 on 2014-08-12
Post score: 0
Original comments
Comment by BennyRe on 2014-08-12:
Did you create this cpp file in this path?
Comment by abcgarden on 2014-08-12:
Do you mean the "regression_test_pose_goal_floorobj.cpp"? No, I don't create it; it comes with the groovy distro. @BennyRe
|
I have asked a specific question last time, now I want to ask a more general question to which the answer will be definitely helpful to people who also have the confuse like I do. The question is:
There are always many changes to files(the content and the file name!) from one ROS version to another version. So I want to know what kind of changes have been made(as detailed as possible) so that I can modify my program to run in the new ROS version. I think my possible solution is either one of the following:
Condition I: what is no longer available in the new ROS version is a header file
Solution: Copy-paste the old header file into the package folder of the new ROS version and include it in the source code.
But the problem is the header file maybe rely on other header files so I will copy-paste many of them.
Consition II: what is no longer available in the new ROS version is a package
Solution: 1. Copy-paste the whole package to the package directory of the new ROS version and "depend" on it.
2. Find out similar package in the new ROS version and change my programs.
Solution 1 is direct but seems not practical, the old package may not be compatible with new ROS and another problem is how to make it "dependable"?
Solution 2 seems better but it involves much work to do. The most important thing is how to find out a similar package? Should I compare each class, function and variable between them(I have to compare each new package?!) And in each package there are many classes, functions and it takes me much time to understand them. And even worse, if there is no similar package, I should write a new package available in the new ROS.
Any suggestion or more possibly better solutions to my question?
Originally posted by abcgarden on ROS Answers with karma: 49 on 2014-08-12
Post score: 1
Original comments
Comment by Moda on 2014-08-12:
I did not find other solution. I was in groovy, and changed for hydro. I've been oblige to check one by one all my package. But most of package works fine in the new ROS version
|
Hi,
I am struggling with the following problem: I am running openni_launch and ar_track_alvar. To minimize data sent over our network, we have set the image and depth mode of the camera to 5 (QVGA).
However, when I want to detect some markers I set the camera image and depth mode to 2 to provide a higher resolution. I do this by running the following line from C++ code (found this example at the ROS wiki):
system("rosrun dynamic_reconfigure dynparam set_from_parameters camera/driver _image_mode:=2 && rosrun dynamic_reconfigure dynparam set_from_parameters camera/driver _depth_mode:=2");
At a certain moment in time I received the following error:
[camera/camera_nodelet_manager-5] process has died [pid 30792, exit code -11, cmd /opt/ros/hydro/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/rose/.ros/log/9534a258-21f7-11e4-aed4-000cf6bedafb/camera-camera_nodelet_manager-5.log]
I thought this was caused by changing the resolution. I tested the openni_launch package separately by changing the resolution again and again from the terminal in a while-loop. But, the camera nodelet did not crash.
When I started ar_track_alvar in combination with the previous set up (changing the resolution in this while-loop), the error occurred when the marker was in the camera view. Hence, I think ar_track_alvar is causing the camera_nodelet_manager to crash.
I have tried to change the output_frame to /camera_depth_optical_frame. However, that did not work..
Launching the camera_nodelet_manager in gbd shows the following error:
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff9297f700 (LWP 25102)]
0x00007fffa309e522 in openni_wrapper::ImageBayerGRBG::fillRGB(unsigned int, unsigned int, unsigned char*, unsigned int) const ()
from /opt/ros/hydro/lib/libopenni_driver.so
Has anyone experienced the same issues? Are there solutions for this problem?
--- Extra information ---
Launch files:
ar_track_alvar.launch
<launch>
<arg name="marker_size" default="4.4" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="/camera/depth_registered/points" />
<arg name="cam_info_topic" default="/camera/rgb/camera_info" />
<arg name="output_frame" default="/camera_link" />
<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkers" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />
<node pkg="tf" type="static_transform_publisher" name="right_gripper_marker_tf" args="0.087 0 0.025 3.1415 0 3.1415 /right_arm_wrist /right_arm_grippermarker_expected 10" />
<node pkg="tf" type="static_transform_publisher" name="left_gripper_marker_tf" args="0.087 0 0.065 3.1415 0 3.1415 /left_arm_wrist /left_arm_grippermarker_expected 10" />
<node pkg="tf" type="static_transform_publisher" name="ar_marker_1_rename" args="0 0 0 0 0 0 /ar_marker_1 /right_arm_grippermarker_observed 10" />
<node pkg="tf" type="static_transform_publisher" name="ar_marker_2_rename" args="0 0 0 0 0 0 /ar_marker_2 /left_arm_grippermarker_observed 10" />
</launch>
kinect.launch
<launch>
<arg name="kinect_camera_name" default="camera" />
<!-- Openni kinect -->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="depth_registration" value="true"/>
<arg name="num_worker_threads" value="8"/>
<arg name="sw_registered_processing" value="false"/>
<arg name="camera" value="$(arg kinect_camera_name)" />
</include>
<param name="/$(arg kinect_camera_name)/driver/image_mode" value="5" /> <!-- 2 is default, 5 is QVGA -->
<param name="/$(arg kinect_camera_name)/driver/depth_mode" value="5" /> <!-- 2 is default, 5 is QVGA -->
<!-- Point cloud filters -->
<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
<!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
<node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
<remap from="~input" to="/camera/depth_registered/points" />
<remap from="~output" to="/point_cloud/downsample" />
<rosparam>
leaf_size: 0.04
filter_field_name: z
filter_limit_min: 0.30
filter_limit_max: 3.00
filter_limit_negative: False
</rosparam>
</node>
<!-- Run a StatisticalOutlierRemoval filter to remove outliers -->
<node pkg="nodelet" type="nodelet" name="statistical_outlier_removal" args="load pcl/StatisticalOutlierRemoval pcl_manager" output="screen">
<remap from="~input" to="/point_cloud/downsample" />
<remap from="~output" to="/point_cloud/downsample_outlier" />
<rosparam>
<!-- The number of points (k) to use for mean distance estimation Range: 2 to 100 -->
mean_k: 2
<!-- The standard deviation multiplier threshold. All points outside the mean +- sigma * std_mul will be considered outliers. Range: 0.0 to 5.0 -->
stddev: 0.4
<!-- Set whether the inliers should be returned (true) or the outliers (false) -->
negative: false
</rosparam>
</node>
</launch>
[Ubuntu 12.04 LTS 64-bits, ROS Hydro]
Originally posted by mathijsdelangen on ROS Answers with karma: 88 on 2014-08-12
Post score: 0
|
Hi, I have a question. I´m use ROS Hydro in Ubuntu 12.04. I have a program in C++ that launch ros --> roscore and others nodes, as are: hokuyo_node or hector_slam.
I want launch this program.c++ with double-click.
If I launch this program in a ubuntu-terminal, the program run is OK, but I can´t do a launcher for this program. I try:
gnome-desktop-item-edit {ubication} --create-new ---> In order, I write the program.c++ path and select terminal aplication. The window terminal open with this launcher said:
sh: 1: rosnode: not found
gnome-desktop-item-edit {ubication} --create-new ---> In order, I write the program.c++ path and select aplication. The launcher not do nothing.
I do a script for launch the program.c++ :
#!/bin/sh
cd
cd /home/lab18/terese3_adq/data/principal
./mainexecut > mainbash.log &
disown -h %1
bg 1
mainexecut = program.c++ and "/home/lab18/terese3_adq/data/principal" is the path to is this program.
The result is similar, if I launch this script in a terminal, the program run is Ok, but if I do a launcher or launch with double-click on the script, the result is:
sh: 1: rosnode: not found
I do other script for launch the program.c++ :
#!/bin/sh
gnome-terminal -e "bash -c "cd; cd /home/lab18/terese3_adq/data/principal/; ./mainexecut; exec bash""
This script has the same result.
I haven't idea from where is the error, or the possible solution.
I thank for some idea.
Originally posted by alex.filgueira on ROS Answers with karma: 62 on 2014-08-12
Post score: 0
|
Hello,
I want to add GPS data to my project in order to improve robot localization estimate.
I've read that some people did this successfully using an external GPS device.
However, I would like to do this by pulling the GPS data from a smartphone.
A few questions:
Does someone have already done this? I did some research but I couldn't find it.
How could I pull the GPS data from the smartphone?
Does the smartphone output the GPS data in the same format as a regular GPS device?
Thanks!
Originally posted by gerhenz on ROS Answers with karma: 53 on 2014-08-12
Post score: 0
|
How to get a view of an object from virtual camera in robot in uwsim?There is not much documentation for uwsim. So how to learn using it . Should i try to understand its coding first because that also requires a lot of time , reading its sources , its libraries, osg, various classes in osg, etc ??
Originally posted by Mind_hunter on ROS Answers with karma: 51 on 2014-08-12
Post score: 0
|
I got in a variable Position (which I get from transform.getOrigin) and I want to convert it in a pair of float.
How can I do that?
I'm in Hydro, Ubuntu 12.04 and programming in c++
Originally posted by Moda on ROS Answers with karma: 133 on 2014-08-12
Post score: 0
Original comments
Comment by BennyRe on 2014-08-12:
Should we guess which programm language you use? I will never understand why people ask questions with that minimal amount of information.
Comment by dornhege on 2014-08-12:
How is this supposed to work? The origin has 3 degrees of freedom and you want to somehow store them in 2 floats?
Comment by Moda on 2014-08-12:
yes this is the case
Comment by bvbdort on 2014-08-12:
use typecast float posf = (float) position;
Comment by Moda on 2014-08-12:
It works, thank you!!!
|
Will it create conflicts if I try to release a ROS package which has the same name as a rosdep key for an existing Debian package? So, basically, if I'm not mistaken it will be a new entry in the distribution file:
https://github.com/ros/rosdistro/blob/master/indigo/distribution.yaml
with the same name as an existing entry in the rosdep keys list:
https://github.com/ros/rosdistro/blob/master/rosdep/base.yaml
So, assuming that it is possible, what will happen when somebody will depend on that package in their package.xml: will rosdep get confused or will it choose one of the two alternatives and if so which one will it be (the ROS package or the Debian package or the behaviour is non-deterministic)?
Thanks.
Originally posted by gaya on ROS Answers with karma: 311 on 2014-08-12
Post score: 0
|
Hi guys,
The robot_state_publisher has 2 different mechanisms for publishing moving and fixed frames. Moving frames are published on joint_states callback.
Does anyone know why robot_state_publisher publishes the fixed frames using a timer independent from the joint_states subscriber and ahead of 0.5 seconds?
Could not find any valid reason whether from the internet or the code...
Thanks ;)
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-08-12
Post score: 1
|
I am using my URDF file (for my custom robot) for simulation in rviz, then publishing state (based on the odo data coming from real robot) robot moves in RVIZ in accordance with real robot, but the robot in rviz keeps on flashing..?
any reason why this happens..?
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-12
Post score: 1
|
Hi, I'm running on Ubuntu 12.04 and hydro,
When using a joystick with my computer I see it assigned as js1. With nothing plugged into my computer, when I run the command ls /dev/input/' there is a js0 listed, I don't know what it is.
Anyway, when I use rosrun joy joy_node I get an error
[ERROR] [1407853001.741326266]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...
unless I first do
rosparam set joy_node/dev "/dev/input/js1"
but I need to do this every time I use ROS. Is there a way to save the setting or something like that?
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-08-12
Post score: 0
|
hi, I am trying to work with cmvision/Blobs topic "message" and when I use in my code cmvision/Blobs.x it gives me an error, can anyone please show me how to access the elements of Blobs (x,y in particular)?
EDIT:
Here is the code:
#include "ros/ros.h"
#include <geometry_msgs/Twist.h>
#include "cmvision/Blobs.h"
#include <turtlesim/Pose.h>
using namespace std;
ros::Publisher pub_msg;
geometry_msgs::Twist cmd_msg;
cmvision::Blobs lastobjectpose;
turtlesim::Pose lastFollowerPose;
void fblobCallback(cmvision::Blobs object_pose)
{
lastobjectpose=object_pose;
}
void fposeCallback(turtlesim::Pose follower_pose)
{
lastFollowerPose=follower_pose;
}
int main (int argc, char** argv)
{
//ROS Initialization
ros::init(argc, argv, "follower_leader");
ROS_INFO("Node follower_leader Connected to roscore");
ros::NodeHandle n ("~");
ros::Subscriber pose_sub_object = n.subscribe<cmvision::Blobs>("/blobs",1,fblobCallback);
ros::Subscriber pose_sub_follower = n.subscribe<turtlesim::Pose>("follower_pose",1,fposeCallback);
pub_msg = n.advertise<geometry_msgs::Twist>("follower_velocity",1);
ros::Rate rate(10);
ROS_INFO("SPINNING @ 10Hz");
while (ros::ok()){
ros::spinOnce();
double d = 0;
d = sqrt( pow(lastobjectpose.x-lastFollowerPose.x,2)
+ pow(lastobjectpose.y-lastFollowerPose.y,2) ) ;
double dtheta = 0.0 ;
if( d>0.01 ) {
dtheta = atan2(lastobjectpose.y-lastFollowerPose.y,
lastobjectpose.x-lastFollowerPose.x)
- lastFollowerPose.theta ;
}
if(d>0.01){
cmd_msg.linear.x = 0.2*d;
cmd_msg.angular.z = 4*dtheta;}else{cmd_msg.linear.x = 0;
cmd_msg.angular.z = 0;}
pub_msg.publish(cmd_msg);
rate.sleep();
}
ROS_INFO("ROS-Node Terminated\n");
}
And here is the error i receive when i do "catkin_make":
Base path: /home/ghanim/catkin_ws
Source space: /home/ghanim/catkin_ws/src
Build space: /home/ghanim/catkin_ws/build
Devel space: /home/ghanim/catkin_ws/devel
Install space: /home/ghanim/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/ghanim/catkin_ws/build"
####
####
#### Running command: "make -j2 -l2" in "/home/ghanim/catkin_ws/build"
####
[ 0%] [ 0%] Built target std_msgs_generate_messages_py
Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 18%] Built target colorgui
[ 25%] Building CXX object color_follower/CMakeFiles/color_follower_node.dir/src/color_follower_node.cpp.o
[ 31%] Built target follower_leader_node
[ 43%] Built target cmvision_generate_messages_cpp
[ 62%] Built target cmvision_generate_messages_py
[ 75%] Built target cmvision_generate_messages_lisp
[ 75%] Built target cmvision_gencpp
[ 75%] Built target cmvision_generate_messages
[100%] Built target cmvision
/home/ghanim/catkin_ws/src/color_follower/src/color_follower_node.cpp: In function ‘int main(int, char**)’:
/home/ghanim/catkin_ws/src/color_follower/src/color_follower_node.cpp:60:33: error: ‘cmvision::Blobs’ has no member named ‘x’
/home/ghanim/catkin_ws/src/color_follower/src/color_follower_node.cpp:61:39: error: ‘cmvision::Blobs’ has no member named ‘y’
/home/ghanim/catkin_ws/src/color_follower/src/color_follower_node.cpp:64:36: error: ‘cmvision::Blobs’ has no member named ‘y’
/home/ghanim/catkin_ws/src/color_follower/src/color_follower_node.cpp:65:39: error: ‘cmvision::Blobs’ has no member named ‘x’
make[2]: *** [color_follower/CMakeFiles/color_follower_node.dir/src/color_follower_node.cpp.o] Error 1
make[1]: *** [color_follower/CMakeFiles/color_follower_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by ghanimmukhtar on ROS Answers with karma: 41 on 2014-08-12
Post score: 1
Original comments
Comment by Dan Lazewatsky on 2014-08-12:
Please update your question with the error message you're getting, and the code that produces it.
Comment by jarvisschultz on 2014-08-12:
When adding code, please don't create an answer. I moved the code to your original question, and deleted the answer you created.
Comment by ghanimmukhtar on 2014-08-13:
okay and thanks
|
Hey!
I want to draw some triangles in RVIZ via TRIANGLE_LIST and have problems to understand the scale in this case. I had the size set to
marker.scale.x = marker.scale.y = 0.001;
marker.scale.z = 1;
from visualizing another type. A marker with this scale was not drawn in RVIZ (also no warning was generated). It took me some time to find this error and my triangles are rendered nicely if I set the scale to [1,1,1]. Can someone tell me why this is implemented in this way? Shouldn't the scale be ignored completely?
Originally posted by NEngelhard on ROS Answers with karma: 3519 on 2014-08-12
Post score: 0
Original comments
Comment by bvbdort on 2014-08-12:
0.001 is 0.1 cm which is very small, you can zoom out more to see.
|
1-Can someone please explain what exactly is the timestamp that is sent along with every message regardless of the data type ? This number is huge and its in the range of 4.7x10^18 .
2- For synchronization between GPS and for example IMU, can we simple look for the closest Timestamp and regard them as one ?
Thanks,
Naz
Originally posted by Naz on ROS Answers with karma: 1 on 2014-08-12
Post score: 0
|
Hello, I'm currently trying to set up a GPS receiver and base station my boss purchased to work in ROS. It is a trimble Ag
GPS 542 GNSS receiver. I tried looking online to see if there were any ROS drivers already written for this specific model, but didn't have any. I was wondering if anyone knew of any ros drivers that might be compatible with this device, either a specific one or a more general one that could be adapted specifically for use with this receiver.
Thanks!
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-08-12
Post score: 0
Original comments
Comment by mysteriousmonkey29 on 2014-08-12:
Here is the info sheet: http://ssmgps.com/pdf/AGPB_AgGPS542_BaseAndReceiver_ROW_16502.pdf
|
I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in terms of localization and things like that?
If I let two wheels on the same side of my robot (two on left side and two on the right side) maintain same velocity and acceleration, would the unicycle model of a differential drive robot still apply for skid steering?
Originally posted by Pototo on ROS Answers with karma: 803 on 2014-08-12
Post score: 2
Original comments
Comment by ahendrix on 2014-08-12:
Are you using the nav stack with your current, diff-drive robot?
|
Hi all,
When MoveIt computes and executes a trajectory, it does the following steps:
Compute the desired joints trajectories (i.e. the path)
Publish the desired path on topic /move_group/display_planned_path
The desired is provided as a set of samples of desired joint angles
Execute this desired path
In order to execute the path, the desired path samples are input into the joints controllers (arm_controller)
Do you know which topic is used to provide the controllers with the desired angles?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-08-12
Post score: 1
|
I'm trying to learn rosserial_arduino. I've worked through the tutorials and am now going back and walking through them with my own code. My initial test code will use rosserial_arduino to turn 8 LEDs on and off. I've created the package (arduino) and a custom message called 8Leds.msg. I added the lines per the tutorials to package.xml and CMakeLists.txt. I source my files and run catkin_make. Everything seems to compile properly and the 8Leds.h file is created in devel/include/arduino. However, when I try to compile the sketch for the arduino I get this error:
In file included from light_8_leds_test.ino:2:0:
/home/jcicolani/catkin_ws/devel/include/arduino/8Leds.h:42:18: fatal error: string: No such file or directory
compilation terminated.
I don't get it. It's even showing the exact path and file name.
Thoughts?
Originally posted by jcicolani on ROS Answers with karma: 3 on 2014-08-12
Post score: 0
|
I have a node that should be able to run other nodes. It has a basic method of doing so using
system("rosrun myproject Robot robotname:='Botty'");
This should set the parameter robotname to 'Botty'. In my Robot node file, I have this code that should retrieve that parameter:
std::string robotname;
n.getParam("robotname", robotname);
ROS_INFO(robotname.c_str());
However, nothing is printed. When I execute rosparam list, the corresponding parameter is /RobotNode1/robotname. What am I doing wrong? I think that rosparam list output might be a good hint - is there a way to set that parameter when executing rosrun without referencing RobotNode1?
[edit] n is a NodeHandle.
Originally posted by falseazure on ROS Answers with karma: 65 on 2014-08-12
Post score: 2
Original comments
Comment by dornhege on 2014-08-13:
Note that robotname:='Botty' does not set /RobotNode1/robotname, but just /robotname. Use _robotname:=Botty for parameters in the node's namespace.
|
I am using th example from this link: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom, for publishing my odo data from the robot, though I have made some small changes like:
Added a callback, so as to subscribe to the incoming data from the robot.
Changed the velocities to suit for differential drive robot.
Small change in calculation of the robot position based on odo.
When I run the node with the launch file as below:
<launch>
<param name="robot_description" command="cat $(find my_robot_urdf)/my_robot.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="my_state_publisher_temp" pkg="security_robot_urdf" type="my_state_publisher_temp" />
</launch>
then open the rviz, select /odom as fixed frame in global options and add a robot model, I can see that robot moves in simulation exactly how the real robot moves in the world.
But when I run the same node using "rosrun" as rosrun folder my_state_publisher_temp, then open the rviz, select /odom as fixed frame in global options and add a robot model, I can see only the base_link moving according to the real robot in the world, But other links (I have wheels, scanner etc.) remains rigid at the initial position.
any insights why this happens..?
Many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-13
Post score: 0
|
Hi there,
as we started migrating our code to indigo yesterday we had performance issues, especially when working with pointclouds. The code compiled with catkin_make runs just with 1Hz, whereas using rosbuild we achieve 30Hz. We found out, related to the following topic:
http://answers.ros.org/question/71965/catkin-compiled-code-runs-3x-slower/
that we need to enable compiler optimization by setting catkin_make -DCMAKE_BUILD_TYPE=Release and the code runs at the expected framerate of 30Hz.
Now to the topic:
Displaying just a pointcloud from the asus xtion in rviz installed from the repository gives us a performance of 14Hz on our desktop.
Intel i7-3770 3.4 GHz quad-core
Nvidia GeForce GTX660
16GB ram
Ubuntu 14.04 - 64bit
ros-indigo
Knowing the above (catkin compiled code runs 3x slower) we build rviz from source with the following compiler options:
set(CMAKE_BUILD_TYPE RelWithDebInfo)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++0x -Wall -msse2 -msse3 -mssse3 -msse4 -msse4.2")
This gives us a performance of 30Hz displaying a pointcloud, resulting in a much smoother usage of rviz.
Evaluating the same on a laptop:
Intel i7-4600M, 2.1Ghz dual core
Intel HD Graphics 4600
8 GB RAM
Ubuntu 14.04 - 64bit
ros indigo
rviz from repository: 4Hz vs. rviz from source 9Hz
EDIT
I prepared a table containing all build tests I have done:
This leads to the question: Are the ros-indigo packages really compiled with compiler optimizations turned on e.g. as Release?
Have a nice day!
Originally posted by kluessi on ROS Answers with karma: 73 on 2014-08-13
Post score: 4
Original comments
Comment by jorge on 2014-08-13:
Out of curiosity, did u try to set PLATFORM_CXX_FLAGS to "${CMAKE_CXX_FLAGS} -std=gnu++0x -Wall -march=native"? According to this should add the apropriate -msseN for your platform
Comment by kluessi on 2014-08-13:
I tried your suggestion. For results please look in my post above. Not much difference. Still faster than the repository, but as fast as without SSE optimizations turned on.
Comment by jorge on 2014-08-13:
Make sense. Thanks!
Comment by William on 2014-08-13:
Probably related to https://github.com/ros-visualization/rviz/issues/775
Comment by William on 2014-08-13:
Also probably related to https://github.com/ros-infrastructure/bloom/issues/277
Comment by kluessi on 2014-08-14:
Thanks for the links William. Seem to be related.
|
Hello, I want to use a .so file in the ros. And I add the .h and .so file in the /usr/include/
What else should I do? Thanks very much!
Originally posted by general_zclu on ROS Answers with karma: 1 on 2014-08-13
Post score: 0
|
Hello I am trying to get a map of the area with a differential drive mobile robot, for which the following are the steps followed.
Open the kinect with openini using "roslaunch openni_launch openni.launch".
Change the pointcloud to the laser scan using "rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw", after step-2 I am able to see the "laser scan" in the RVIz properly.
Running the gmapping with "rosrun gmapping slam_gmapping scan:=/scan tf:=/odom" , I am running the node which publishes the odom (the odometry data from the real robot).
Then open rviz with "rosrun rviz rviz".
But in RVIZ I am unable to see any mapping.
Questions:
The procedure which I follwed is correct or Is there something I am missing..?
For publishing the odo data I am using the example from the following link: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom with the following changes:
Added a callback, so as to subscribe to the incoming data from the robot.
Changed the velocities to suit for differential drive robot.
Small change in calculation of the robot position based on odo.
But the odom published from this has many fields:
nav_msgs::Odometry odom;
odom.header.stamp = current_time;
odom.header.frame_id = "odom";
//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
//set the velocity
odom.child_frame_id = "base_link";
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy;
odom.twist.twist.angular.z = vth;
which one I should give to the gmapping...?
Please find the rqt_graph here
Please find the frames.pdf here
Many thanks in advance
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-13
Post score: 1
Original comments
Comment by bvbdort on 2014-08-13:
share your rqt_graph here in question
Comment by sumanth on 2014-08-13:
I am unable to attach the rqt_graph here because of lack of points!!
Comment by bvbdort on 2014-08-13:
i did upvote, try now if its possible. or use http://imgur.com/
Comment by sumanth on 2014-08-13:
I have modified the question
Comment by bvbdort on 2014-08-13:
you can see from image that odom is not published . publish Odom and start gmapping like "rosrun gmapping slam_gmapping scan:=scan _odom_frame:=/odom"
Comment by sumanth on 2014-08-13:
Its getting published, I have reuploaded the rqt_graph.
but how to link the odom to the gmapping...?
Comment by bvbdort on 2014-08-13:
rosrun gmapping slam_gmapping scan:=scan odom_frame:=/odom
Comment by sumanth on 2014-08-13:
No its not geeting linked, you can check the rqt_graph
Comment by bvbdort on 2014-08-13:
try rosrun gmapping slam_gmapping scan:=scan odom_frame:=/odom (i removed underscrore _ )
Comment by sumanth on 2014-08-13:
Still NO luck.
Comment by sumanth on 2014-08-13:
In Rviz, what should I select in fixed frame and what should I add to see the mapping in Rviz.
Comment by sumanth on 2014-08-13:
But Gmapping documentation say
<
the frame attached to incoming scans> → base_link
usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.
base_link → odom
usually provided by the odometry system (e.g., the driver for the mobile base)
Comment by sumanth on 2014-08-13:
how to give these tf's
Comment by bvbdort on 2014-08-13:
in RVIZ select map as frame in global option; check the laser frame id by "rostopic echo /scan " and add in launch file.
Comment by sumanth on 2014-08-13:
I can see data when I echo the topic /scan, even launched the file with static transform.
But still I am unable to see anything on the RVIZ.
Comment by sumanth on 2014-08-13:
same old problem topic /odom is not getting linked to the gmapping.
Comment by bvbdort on 2014-08-13:
rosrun tf view_frames , share the frames.pdf picture. wht is the frame id ur getting for laser scan ?
Comment by sumanth on 2014-08-14:
@bvbdort: I have modified the question with frames.pdf.
Comment by bvbdort on 2014-08-14:
i cannt see the static publisher in frames.odf, what is ur laser scan frame id ? i guess it is camera_depth_optical_frame. so run
Comment by sumanth on 2014-08-14:
I have followed ahendrix answer and changed the scanner link name to camera_link in the URDF file,
Then it staretd to map.
Comment by sumanth on 2014-08-14:
so now I need to change in the launch file as
<node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0 base_link camera_link 100"/>
Is this correct..???
Comment by bvbdort on 2014-08-14:
yes add above line in your launch file.
|
Hello,
I have a non holonomic robot, "Seekur Jr." I set up the navigation stack, and I am using TrajectoryPlannerROS as a base local planner, with DWA set to true.
The path planning works fine but I would like to enhance it more. As you can see in the video the re-planned path by the robot after it sees the obstacle doesn't consider the dimensions of the robot. It doesn't directly avoid the obstacle and it keeps on rotating to decide on the path. I have been tuning the parameters and I think the problem is there but am not sure which one is directly connected to this issue. Please guide me on this issue. I'd be glad and thankful to your suggestions.
http://www.youtube.com/watch?v=u35uZr1yFNw
Originally posted by AmiraJr on ROS Answers with karma: 28 on 2014-08-13
Post score: 0
|
Hi,
i am doing http://wiki.ros.org/rosjava/Tutorials/hydro/Unofficial%20Messages
and http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv
can anyone have a short look on my CMakeList.txt?
When i do catkin_make i get the error
-- ==> add_subdirectory(custom_msgs)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:85 (message):
add_message_files() directory not found:
/home/user/rosjava/src/custom_msgs/msg
Call Stack (most recent call first):
custom_msgs/CMakeLists.txt:68 (add_message_files)
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Fehler 1
Invoking "make cmake_check_build_system" failed
In my Folder custom_msgs i have the file mycustomMSG.msg
CMakeList:
cmake_minimum_required(VERSION 2.8.3)
project(custom_msgs)
##Tutorial http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv
## 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
## std_msgs
##)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## 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
## )
add_message_files(
FILES
mycustomMSG.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
##uncommented
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES custom_msgs
# CATKIN_DEPENDS std_msgs message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(custom_msgs
# src/${PROJECT_NAME}/custom_msgs.cpp
# )
## Declare a cpp executable
# add_executable(custom_msgs_node src/custom_msgs_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(custom_msgs_node custom_msgs_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(custom_msgs_node
# ${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 custom_msgs custom_msgs_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_custom_msgs.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)
Package.xml:
<?xml version="1.0"?>
<package>
<name>custom_msgs</name>
<version>0.0.0</version>
<description>The custom_msgs package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">user</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/custom_msgs</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>std_msgs</build_depend>
<run_depend>std_msgs</run_depend>
<!-- eingefügt -->
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
MyCustomMessage:
# ROS Header
Header header
# X
float64 X # description
# Y
int16 yi # description
string ys # description
Folders /Files:
rosjava: build devel src my_custom_messages
rosjava/mycustom_messages: custom_msgs gradle (Files: build.gradle, CMakeList.txt, gradlew, gradlew.bat, package.xml, settings.gradle)
rosjava/src: custom_msgs rosjava rosjava_bootstrap rosjava_build_tools rosjava_core rosjava_extras rosjava_messages zeroconf_jmdns_suite (File toplevel CMakeLists.txt for a catkin workspace)
i ve edited the cMakeList and package in rosjava/src/custom_msgs(There is CMakeList.txt, package.xml, mycustomMSG.msg in this Folder)
Thanks
Edit:
Adding the folder msg solved the error but my new message is not being built
i get this log, when i do catkin_make
and i am missing my custom stuff
:rosjava_messages is spawning subprojects: [map_store, r2_msgs, rocon_service_pair_msgs, tf, cob_lookat_action, rosruby_tutorials, moveit_msgs, grasp_stability_msgs, jsk_rviz_plugins, dynamixel_msgs, rosruby, visualization_msgs, baxter_maintenance_msgs, epos_driver, microstrain_3dmgx2_imu, moveit_simple_grasps, visp_camera_calibration, cob_relayboard, manipulation_msgs, rospy_message_converter, underwater_sensor_msgs, segbot_gui, c...]
the name of my custom Msg is function drivinggoal:
when i try to locate it i get
user@Ubuntu-Test:~/rosjava$ locate function_drivinggoal
/home/user/catkin_ws/src/architecture/ros_messages/msg/function_drivinggoal.msg
/home/user/catkin_ws/src/architecture/yamdl_messages/include/function_drivinggoal_yamdl.hh
/home/user/catkin_ws/src/architecture/yamdl_messages/src/function_drivinggoal_yamdl.cpp
/home/user/rosjava/devel/include/custom_msgs/function_drivinggoal.h
/home/user/rosjava/devel/lib/python2.7/dist-packages/custom_msgs/msg/_function_drivinggoal.py
/home/user/rosjava/devel/share/common-lisp/ros/custom_msgs/msg/_package_function_drivinggoal.lisp
/home/user/rosjava/devel/share/common-lisp/ros/custom_msgs/msg/function_drivinggoal.lisp
/home/user/rosjava/src/custom_msgs/msg/function_drivinggoal.msg
Edit:
I moved the mycustom_messages folder to src next to the folders custom_msgs rosjava rosjava_bootstrap rosjava_build_tools rosjava_core ...
did catkin_make
now i get
user@Ubuntu-Test:~/rosjava$ locate function_drivinggoal
/home/user/catkin_ws/src/architecture/ros_messages/msg/function_drivinggoal.msg
/home/user/catkin_ws/src/architecture/yamdl_messages/include/function_drivinggoal_yamdl.hh
/home/user/catkin_ws/src/architecture/yamdl_messages/src/function_drivinggoal_yamdl.cpp
/home/user/rosjava/devel/include/custom_msgs/function_drivinggoal.h
/home/user/rosjava/devel/lib/python2.7/dist-packages/custom_msgs/msg/_function_drivinggoal.py
/home/user/rosjava/devel/share/common-lisp/ros/custom_msgs/msg/_package_function_drivinggoal.lisp
/home/user/rosjava/devel/share/common-lisp/ros/custom_msgs/msg/function_drivinggoal.lisp
/home/user/rosjava/src/custom_msgs/msg/function_drivinggoal.msg
/home/user/rosjava/src/my_custom_messages/custom_msgs/build/classes/main/custom_msgs/function_drivinggoal.class
/home/user/rosjava/src/my_custom_messages/custom_msgs/build/generated-src/custom_msgs/function_drivinggoal.java
and i think i got it
custom_msgs-0.0.0.jar finally exists
What are the steps to use this custom messages in my android project???
Originally posted by stefan on ROS Answers with karma: 15 on 2014-08-13
Post score: 0
|
Hello everybody! I would like to create a map with gmapping with 10x10 cells dimension and that every cells are bigger than my robot. Is it possibile? which parameters of gmapping do I have to modify?
Originally posted by alex920a on ROS Answers with karma: 35 on 2014-08-13
Post score: 0
|
Hi All,
I am interested in knowing how does ROS determines the actual path traversed by the robot. What is the mathematics behind it. I could get some answer following hector_trajectory package but in Rviz there is an option robot_path. How to get accurate trajectory of the path followed by robot?
Thanks
Originally posted by Vegeta on ROS Answers with karma: 340 on 2014-08-13
Post score: 0
Original comments
Comment by dornhege on 2014-08-13:
Are you interested in the path that was driven by the robot or the path that the robot plans to drive?
Comment by Vegeta on 2014-08-13:
The path that was driven by the robot. I understand how the robot_pose_ekf can be used to correct the path.
|
Hi,
I'm trying to get this package in order to use it or port it to the newest ROS version:
http://wiki.ros.org/polar_scan_matcher
However, I could only find this, which seems to be basically only the scan matching function without the wrapper, which could save me a lot of time:
http://www.irrc.monash.edu.au/adiosi/downloads.html
Do you know where I can find the wrapper?
The github archive points to a library that only seems to be using CSM by Andrea Censi to do the scan matching and not polar scan matching.
Originally posted by lucaluca on ROS Answers with karma: 74 on 2014-08-13
Post score: 1
|
Hello All,
I have two callbacks within a class that share the same data in python. Is it possible that these callbacks are altering the data at the same time?
I am getting an error while trying to take the cholesky of a covariance matrix.
Originally posted by holmes.kirby on ROS Answers with karma: 20 on 2014-08-13
Post score: 0
|
hi, All,
I am getting TF transform error.
my setup is two laser, one SICK LM100 for AMCL. one Hokuyo URG for local cost map.
the move_base Local cost map is dropping packages and complains old data.
Transform [sender=/hokuyo_scan]
For frame [local_laser]: No transform to fixed frame [world]. TF error: [Lookup would require extrapolation into the future. Requested time 1407940054.418783996 but the latest data is at time 1407940054.271341707, when looking up transform from frame [local_laser] to frame [world]]
I found there's a transform_tolerance setting in costmap_2d package, and I believe it's been set more than enough >1.0s.
the error still persists.
however, when I use either single laser for both purposes, there isn't such problem.
anyone share a light?
thanks.
ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-13
Post score: 1
Original comments
Comment by dornhege on 2014-08-13:
Does this happen once or all the time?
|
Hi,
I'm setting up a ROS build farm (we have a number of private repo that we want to test, too; release will will still be submitted via rosdistro). I'm following all the instructions in http://wiki.ros.org/buildfarm and have forked jenkins_tools into https://github.com/marc-hanheide/jenkins_tools to deploy devel jobs to the jenkins instance. This is all working like a charm, but a problem I can't get my head round is how to resolve source dependencies when submitting "Development Tests" (see http://wiki.ros.org/regression_tests#Development_Tests). The problem is that we have repositories that depend on other not yet released repos (i.e. there are no .deb packages generated for them that could be resolved via rosdep). What I'd expect for the devel script in https://github.com/ros-infrastructure/jenkins_scripts/blob/master/devel to do is to provide a mechanism to resolve those dependencies as well, but I found now way to solve this with the tools provided. Am I missing something here?
Summarised: How to build a repository in a Jenkins "Development Test" against other repositories that are also not yet released as debian packages?
Anyone has an idea?
Thanks,
Marc
Originally posted by Marc Hanheide on ROS Answers with karma: 11 on 2014-08-13
Post score: 1
|
I was trying one of the first CRAM tutorial and it says 'launch lisp REPL.'
I have installed roslisp but when i run 'rosrun roslisp_repl repl' as the roslisp tutorial says to do, I get "[rosrun] Couldn't find executable named repl below /opt/ros/groovy/share/roslisp_repl"
Any ideas what I am doing wrong?
Btw, I am using Ros Groovy on ubuntu 12.04.
Thanks!
Originally posted by Kat on ROS Answers with karma: 155 on 2014-08-13
Post score: 0
Original comments
Comment by joq on 2014-08-14:
Does that directory exist? What files does it contain?
|
Hello,
Since I m really trying to undertand the principles of ROS in order to write programs on my own, I find somehow some concepts really hard to digest.
It could be for you maybe easy at first, but I have some sublte questions regarding ROS and some functions even if I did the tutorials more than one time.
Ok, as far as I understood the tf package is used to transform position and orientation in one system in another system.
Let s say I have a frame
/world = {Xw, Yw, Zw}
, which is absolut and fixed with the world as in the following figure:
It is supposed to be fixed and cannot move.
and let's take another frame, for istance
/base_frame = {Xf, Yf, Zf}
, which is attached to our robot and moves with its frame:
Now: as far as I understood from my mecatronics' lessons is that, due to cumulative errors of the internal sensor, lack of precision etc... then the odometry position of the robot will drift during time of a little bit from the true position.
So the position our robot could not anymore considered absolut and precise but there is small offset which will be bigger and bigger (in the following figure);
/odom = {Xo, Yo, Zo}
Am I right till now?
Ok, perfect..
I was reading with attention the tutorial of the pr2_controller here and I was a little bit surprised to read the following line of code:
//record the starting transform from the odometry to the base frame
listener_.lookupTransform("base_footprint", "odom_combined",
ros::Time(0), start_transform);
What kind of transformation is going to be calculated? To me (maybe I am wrong) there is no sense to calculated of a transformation between a frame which is unknow (/base_footprint) and the frame /odom . To me should be the only /odom information available to calculate the estimated position of the robot, since theoretically I going to calculate the position whit the measured speed and acceleration. So I find the "base_footprint" in the lookupTransform a litlle bit misleading.
I hope my question is clear :)
Thanks in advance
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-08-13
Post score: 5
|
I am taking a depth image from /camera/depth_registered/image_raw and thresholding it to find objects within a certain range. I would like to find the xyz co-ordinates of these objects in order to calculates relevant velocities. I'm trying to avoid using PCL as this gave me a lot of noise when I tried to use it to detect the obstacles. I've been told that I could find the co-ordinates using tf but I have no idea what to do with it.
Originally posted by neb42 on ROS Answers with karma: 23 on 2014-08-13
Post score: 2
Original comments
Comment by ahendrix on 2014-08-13:
I've merged your questions; please don't ask duplicate questions.
Comment by neb42 on 2014-08-13:
Sorry opened a new account and thought my first one didn't post. Wasn't that clear.
|
I am using Hydro on Ubuntu 12.04. I am attempting to make an approximate time synchronizer for my application. I created a simple example to try to get it to work but I am running into the three errors below and cannot figure out what is going wrong by looking through the wiki, FAQs, and other answers. My code is found below the three errors. Does anyone have insight on this? Thanks in advance!
CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o:-1: In function `message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<geometry_msgs::TransformStamped_<std::allocator<void> >, geometry_msgs::TransformStamped_<std::allocator<void> >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType> >::disconnectAll()':
File not found: CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o
CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o:-1: In function `message_filters::Connection message_filters::Signal9<geometry_msgs::TransformStamped_<std::allocator<void> >, geometry_msgs::TransformStamped_<std::allocator<void> >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::addCallback<boost::shared_ptr<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&, boost::shared_ptr<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&>(boost::function<void (boost::shared_ptr<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&, boost::shared_ptr<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&, boost::shared_ptr<message_filters::NullType const> const&)> const&)':
File not found: CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o
CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o:-1: In function `message_filters::Connection message_filters::SimpleFilter<geometry_msgs::TransformStamped_<std::allocator<void> > >::registerCallback<ros::MessageEvent<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&>(boost::function<void (ros::MessageEvent<geometry_msgs::TransformStamped_<std::allocator<void> > const> const&)> const&)':
File not found: CMakeFiles/test_pack_node.dir/src/test_pack_node.cpp.o
My example code is:
#include <ros/ros.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <geometry_msgs/TransformStamped.h>
class ExampleClass
{
public:
ExampleClass() :
nh_(ros::NodeHandle()),
sub1_(nh_, "topic1", 10),
sub2_(nh_, "topic2", 10),
sync_(MySyncPolicy(10), sub1_, sub2_)
{
sync_.registerCallback(boost::bind(&ExampleClass::Callback, this, _1, _2));
}
void Callback(const geometry_msgs::TransformStampedConstPtr msg1, const geometry_msgs::TransformStampedConstPtr msg2)
{
ROS_INFO("Sync is working");
}
private:
ros::NodeHandle nh_;
message_filters::Subscriber<geometry_msgs::TransformStamped> sub1_;
message_filters::Subscriber<geometry_msgs::TransformStamped> sub2_;
typedef message_filters::sync_policies::ApproximateTime<geometry_msgs::TransformStamped, geometry_msgs::TransformStamped> MySyncPolicy;
message_filters::Synchronizer<MySyncPolicy> sync_;
};
int main(int argc, char** argv){
ros::init(argc, argv, "test_pack");
ExampleClass foo;
ROS_INFO("SPINNING...");
ros::spin();
return 0;
}
Originally posted by pnyholm on ROS Answers with karma: 97 on 2014-08-13
Post score: 0
Original comments
Comment by Murilo F. M. on 2014-08-13:
Your code is correct, it should work. From the errors you posted, I'd guess it's something to do with how you configured your ROS package (more specifically, your CMakeLists.txt).
|
Hello, I'm currently trying to set up a GPS receiver and base station my boss purchased to work in ROS. It is a trimble Ag GPS 542 GNSS receiver (http://ssmgps.com/pdf/AGPB_AgGPS542_BaseAndReceiver_ROW_16502.pdf). It looks like the deivce can work in NMEA-0183 sentences, and thus that it should be compatible with the nmea_navsat_driver ROS package, found here: http://wiki.ros.org/nmea_navsat_driver, but I am encountering some installation issues.
First off, the package is in python, which I've never worked with in ros before (just C++ before now). Is it a problem to have one node in a project with several different nodes be written in python, while the others are in C++? And if not, what's the general installation procedure for python packages? I git cloned the source into my catkin_ws, and then ran the lines
python setup.py build
python setup.py install
without issue. However, when I now to try to test out the package with
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyUSB0 _baud:=38400
I get the error
[rospack] Error: stack/package nmea_navsat_driver not found
no matter where I am in the file tree. This makes me think I have goofed up the installation somehow.
Anyone have any advice?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-08-13
Post score: 0
Original comments
Comment by angshumanG on 2017-02-15:
https://github.com/ros-drivers/nmea_navsat_driver
Comment by angshumanG on 2017-06-16:
Inside the driver go to this folder :
roscd nmea_navsat_driver/scripts/
and then make all the files executable by
chmod +x *
|
Hello, I'm currently trying to set up a GPS receiver and base station my boss purchased to work in ROS. It is a trimble Ag GPS 542 GNSS receiver ( http://ssmgps.com/pdf/AGPB_AgGPS542_BaseAndReceiver_ROW_16502.pdf). I am trying to get it to work with the gps_common package, found here: http://answers.ros.org/question/75337/gps_common-installation/
However, when I install the package, using either
sudo apt-get install ros-hydro-gps-umd
or
git clone https://github.com/ktossell/gps_umd
I get a gps_common directory containing a cmake directory, a msg directory, and a package.xml, but no src directory or CMakeLists. Thus when I try to run nodes that are supposed to be within this package (for example,
rosrun gps_common utm_odometry_node
), it just freezes and doesn't work. I've encountered similar problems before when downloading random ros packages, and guess the solution must somehow have to do with somehow cmaking the cmake folders or files, but I cannot for the life of me figure out how to do this. If I cmake an individual file I get the error
CMake Error: The source directory "/opt/ros/hydro/share/gps_common/cmake/<whatever_file_I_choose>.cmake" is a file, not a directory.
, and if I try to cmake the cmake directory, I get
CMake Error: The source directory "/opt/ros/hydro/share/gps_common/cmake" does not appear to contain CMakeLists.txt.
Amyone know what I'm doing wrong here? Am I at least on the right track, or is there some other way to access these nodes short of manually creating my own package and copying the contents of each file into it from github, then catkin_making? (which I have tried successfully in the past, but am tired of doing)
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-08-13
Post score: 0
|
I'm using the /compute_fk service from moveit to calculate forward kinematics. This works as I expected except for the case of an empty joint state given as the current joint state to the service. In that case, the service calculates the FK for the current pose of the link, e.g., the end effector. Should not the Forward Kinematics calculation fail if the joint angles are equal to the zero vector?
Originally posted by atp on ROS Answers with karma: 529 on 2014-08-13
Post score: 2
|
Hello , I stuckup while installing Indigo. I did as per installation guidelines as shown in below link: http://wiki.ros.org/indigo/Installation/Ubuntu
I really did not understand guideline in "1.3 Set up your keys" . There is no proper explanation for this point. So I skipped this instruction and tried to proceeded with guideline "1.4 Installation" .
while installation I got this error :
admin51@admin51-ThinkPad-X201:~$ sudo apt-get install ros-indigo-desktop-full
E: Could not get lock /var/lib/dpkg/lock - open (11: Resource temporarily unavailable)
E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?
Based on the response from terminal. What could be the problem ?
Originally posted by omc on ROS Answers with karma: 1 on 2014-08-13
Post score: -1
|
Hi, I'm using Ubuntu 14.04 with ros indigo.
I've dowloaded the rosserial source from git
git clone https://github.com/ros-drivers/rosserial
When I try to compile in catkin_ws I get the message that rosserial_msgs/TopicInfo.h is missing (see below).
Now I'm wondering where this file is. It's not in the repository.
Where can I get it?
...
[ 4%] Building CXX object rosserial/rosserial_server/CMakeFiles/rosserial_server_serial_node.dir/src/serial_node.cpp.o
[ 4%] Building CXX object rosserial/rosserial_server/CMakeFiles/rosserial_server_socket_node.dir/src/socket_node.cpp.o
In file included from /home/pat/catkin_ws/src/rosserial/rosserial_server/include/rosserial_server/serial_session.h:43:0,
from /home/pat/catkin_ws/src/rosserial/rosserial_server/src/serial_node.cpp:40:
/home/pat/catkin_ws/src/rosserial/rosserial_server/include/rosserial_server/session.h:44:38: fatal error: rosserial_msgs/TopicInfo.h: Datei oder Verzeichnis nicht gefunden
#include <rosserial_msgs/TopicInfo.h>
^
compilation terminated.
In file included from /home/pat/catkin_ws/src/rosserial/rosserial_server/src/socket_node.cpp:40:0:
/home/pat/catkin_ws/src/rosserial/rosserial_server/include/rosserial_server/session.h:44:38: fatal error: rosserial_msgs/TopicInfo.h: Datei oder Verzeichnis nicht gefunden
#include <rosserial_msgs/TopicInfo.h>
^
compilation terminated.
...
Originally posted by Pat on ROS Answers with karma: 62 on 2014-08-13
Post score: 0
Original comments
Comment by BennyRe on 2014-08-14:
You cloned the complete repository right?
Comment by Pat on 2014-08-14:
I assume. I used git clone https://github.com/ros-drivers/rosserial in catkin_ws/src
Comment by Pat on 2014-08-17:
Issue disapear due to fix https://github.com/ros-drivers/rosserial/issues/133
|
I am trying to follow the ROS tutorial titled: "How to Calibrate a Monocular Camera", link I am using the gscam driver and have verified that it is publishing correctly. Also steps 1.1-1.3 executed without error, but at step 1.4 when I enter:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera
I get:
('Waiting for service', '/camera/set_camera_info', '...')
Service not found
(display:17709): GLib-GObject-WARNING **: cannot register existing fundamental type 'gchar' (as 'gchar')
**
GLib-GObject:ERROR:/build/buildd/glib2.0-2.40.0/./gobject/gvaluetypes.c:455:_g_value_types_init: assertion failed: (type == G_TYPE_CHAR)
Aborted (core dumped)
If I run it with the "--no-service-check" option, I get:
Exception in thread Thread-4:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/opt/ros/indigo/share/camera_calibration/nodes/cameracalibrator.py", line 93, in run
self.function(m)
File "/opt/ros/indigo/share/camera_calibration/nodes/cameracalibrator.py", line 161, in handle_monocular
checkerboard_flags=self._checkerboard_flags)
File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 525, in __init__
super(MonoCalibrator, self).__init__(*args, **kwargs)
TypeError: __init__() got an unexpected keyword argument 'checkerboard_flags'
Killed
If it helps below is the output of "rostopic list"
/camera/camera_info
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/rosout
/rosout_agg
Any help would be appreciated, I'm running this on Indigo, Ubuntu 14.04
Edit: Output from "rosservice list"
/camera/image_raw/compressed/set_parameters
/camera/image_raw/compressedDepth/set_parameters
/camera/image_raw/theora/set_parameters
/cameracalibrator/get_loggers
/cameracalibrator/set_logger_level
/gscam_publisher/get_loggers
/gscam_publisher/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
/set_camera_info
Originally posted by RF on ROS Answers with karma: 1 on 2014-08-13
Post score: 0
Original comments
Comment by ahendrix on 2014-08-13:
I suspect the /camera/set_camera_info service doesn't exist, or isn't remapped properly. Can you add the output of rosservice list to your question please?
|
How do I install OpenNI 2 in ROS
Originally posted by Francis Dom on ROS Answers with karma: 21 on 2014-08-13
Post score: 0
|
Hi all,
I've been progressing through the tutorials, but have hit a snag with rqt_graph. On my high-dpi screen (3200x1800, 262ppi) the font used for node/topic labels is far too large and obscures important details of the graph. Is there a way to lower the font size?
Screenshots follow:
At my normal resolution (3200x1800):
...and at a lower resolution (1920x1080):
Thanks for your help!
-Jack
Originally posted by JSR694 on ROS Answers with karma: 33 on 2014-08-13
Post score: 3
Original comments
Comment by antonio on 2015-11-18:
I would like just to mention that I have the very same problem, and I do think it would be important to address it.
|
Hello,
I have a problem when I install kobuki in turtlebot installation of indigo. Following the tutorial, there was nothing wrong with rocon. However, when I continued to kobuki and run "rosdep install --from-paths src -i -y", I got the following error messages:
$ rosdep install --from-paths src -i -y
...
executing command [sudo apt-get install -y ros-indigo-kobuki-apps]
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-indigo-kobuki-apps
ERROR: the following rosdeps failed to install
apt: command [sudo apt-get install -y ros-indigo-kobuki-apps] failed
The packages before "ros-indigo-kobuki-apps" (e.g., "ros-indigo-move-base-msgs") were installed without an error when running "rosdep install --from-paths src -i -y", but "ros-indigo-kobuki-apps" cannot be located.
Any help would be appreciated.
Originally posted by kevinma on ROS Answers with karma: 13 on 2014-08-13
Post score: 1
|
Dear all,
I would like to put in place a callback each time a new value of a given source frame in a given target frame is available.
You can do this with a listener (waitForTransform() + lookupTransforms()) but I find this is a rather dirty solution. So what I would like to do is use something like a tf::MessageFilter. The problem is tf::MessageFilter does not work for tf2_msgs::TFMessage (the message type for topic /tf).
Any idea of the best practise to do that?
Also, why isn't this the default solution to work with transforms? This is what most people most likely want to do, no?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-08-14
Post score: 1
Original comments
Comment by NEngelhard on 2014-08-14:
"This is what most people most likely want to do, no?" I'm not sure about that. Some of my tf-sending nodes do that with a frequency of a kHz, but i just need the position maybe once every 20secs when I need the position of a camera. And even in this case, I only need the interpolated position.
Comment by arennuit on 2014-08-14:
@FooBar: Obviously I did not mean everyone had to use the above mentioned method ;) In some situations (like yours) it is clearly not relevant ;)
|
hello,
I want to check if my path is correct on many maps, so i want to know the position of the obstacles.
The map is provided by map_server ( a picture in black for obstacles and white for empty spaces).
I Was thinking that these values were stored in the cotmap_ of my global_planner but I have checked costmap_.getCost(i,j) for all the position and everything is empty. ( if i sent a goal to my move_base, my robot avoid the obstacles)
So my question is where are stored obstacles from my map?
thanks
Originally posted by GuillaumeB on ROS Answers with karma: 312 on 2014-08-14
Post score: 0
|
Hi, All,
I am using a 6m laser range finder to generate local cost map. (Hokuyo URG).
I found the the local cost map was not updated promptly.
what happens is that, whenever an obstacle occurs in the range. an inflated object is generated in the local cost map.
however, after it disappears, the inflated object remains there for a very long time.
I have set the cost map update frequency to 10Hz. but it does not seems to help.
any other suggestion?
I have an unverified postulation here. on the actual laser packets received, after the obstacle disappears, the range readings at that particular points becomes 0 or NaN. somehow cost_map_2D keeps the old data if the particular beam is 0.
thanks
ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-14
Post score: 3
Original comments
Comment by dreamcase on 2014-08-14:
http://wiki.ros.org/costmap_2d#Marking_and_Clearing
I notice the error could be an anomaly in clearing process. somehow, the clearing part is not functioning.
below is my config file. can someone help me check it?
costmap_common_params.yaml
obstacle_range: 4.0
raytrace_range: 4.0
transform_tolerance: 5.0
footprint: [[0.75,0.4], [0.8, 0], [0.75, -0.4],[-0.75, -0.4], [-0.75, 0.4]]
robot_radius: 1.0
inflation_radius: 2.0
footprint_padding: 0.01
cost_scaling_factor: 7
lethal_cost_threshold: 100
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: local_laser, data_type: LaserScan, topic: localscan, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: local_laser, data_type: PointCloud, topic: point_cloud, marking: true, clearing: true}
local_costmap_params.yaml
local_costmap:
global_frame: /world
robot_base_frame: base_link
update_frequency: 5.0
transform_tolerance: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.05
origin_x: -293.6
origin_y: -100.0
allow_unknown: false
Comment by pkohout on 2014-08-14:
can you please also post the output of rostopic list ?
Comment by dreamcase on 2014-08-14:
some more observations. if change the laser source to SICK long range laser LMS111, the cost map gets updated properly.
has it something to do with the resolution of the laser? what if the laser is not able to cover all the 5cmx5cm grid within the local cost map? does it cause residues on the local cost map?
|
when I tried to install ROS in a 64-bit Ubuntu, some problems occurred.
arkin@arkin-OptiPlex-790:~$ sudo apt-get install ros-indigo-desktop-full
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-indigo-desktop-full:i386 :
Depends: ros-indigo-desktop:i386 but it is not going to be installed
Depends: ros-indigo-perception:i386 but it is not going to be installed
Depends: ros-indigo-simulators:i386 but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
===============================================
What is the problem? How to solve it?
Also I tried in Synaptic. I typed "ros-indigo-desktop" in the filter and the results are:
ros-indigo-rosh-desktop: i386
ros-indigo-rosh-desktop-plugins: i386
ros-indigo-desktop-full: i386
ros-indigo-desktop: i386
why they all have an suffix "i386"? (my OS is Ubuntu-14.04-AMD64)
But if I search it in terminal, it shows that:
arkin@arkin-OptiPlex-790:~$ sudo apt-cache search ros-indigo-desktop
[sudo] password for arkin:
ros-indigo-desktop - A metapackage to aggregate several packages.
ros-indigo-desktop-full - A metapackage to aggregate several packages.
Does the ROS have 64bits version and 32bits version respectively?
How to install a 64-bit version of ROS correctly in a AMD64 version of Ubuntu 14.04 trusty?
Thank you!
Originally posted by arkin on ROS Answers with karma: 71 on 2014-08-14
Post score: 5
Original comments
Comment by Andromeda on 2014-08-14:
Tell us please which architecture you have typing in a console:
$uname -m
Comment by arkin on 2014-08-15:
I don't know how to make the code typed in a console showed in a cell. How to make it? It makes the text very easy to read.
Comment by Anurag on 2017-07-11:
Copy the text after '$' and paste it in a terminal(ctrl+alt+T)
|
HI,
i want to display something published in a custom Message on my android device
I get the error:
E/scriberHandshakeHandler﹕ Subscriber handshake failed: Message types don't match.
i had some troubles setting up my textview
rosTextView_speed = (RosTextView_speed<vehicle_model_dynamics>) findViewById(R.id.TextView01);
rosTextView_speed.setTopicName("veh_vehicle_model_dynamics");
//public void setMessageType(String messageType) {
// this.messageType = messageType;
//}
rosTextView_speed.setMessageType(vehicle_model_dynamics._TYPE);
// T = Return Type
//public void setMessageToStringCallable(MessageCallable<String, T> callable) {
// this.callable = callable;
//}
rosTextView_speed.setMessageToStringCallable(new MessageCallable<String, vehicle_model_dynamics>() {
//Überschreiben der Methode Call in MessageCallable
// RÜCKGABETYP call (MESSAGETYP)
//public interface MessageCallable<T, S> {
// T call(S message);
//}
@Override
public String call(vehicle_model_dynamics message) {
//velocity = message.getData();
Log.v("DEBUG:", "Speed Message Callable");
return String.valueOf(message.getVelocity());
}
});
in rqt i am publishing topic: veh_vehicle_model_dynamics type: ros_messages/vehicle_model_dynamics the velocity value 111 (float64)
i also imported my custom messages
vehicle_model_dynamics.class in custom_msgs-0.0.0.jar
// IntelliJ API Decompiler stub source generated from a class file
// Implementation of methods is not available
package custom_msgs;
public interface vehicle_model_dynamics extends org.ros.internal.message.Message {
java.lang.String _TYPE = "custom_msgs/vehicle_model_dynamics";
java.lang.String _DEFINITION = "####################################################\n
#\n# Vehicle Model Dynamic Information\n#\n# ...\n#\n
# Description: n#\n####################################################\n\n
# ROS Header\nHeader header
\n\n
# Data
\n
qualified_timed_float64 velocity # [m/s] vehicle velocity
\n\n
qualified_timed_float64 acceleration_x # [m/s^2] vehicle acceleration X
\n\n
qualified_timed_float64 acceleration_y # [m/s^2]
...
std_msgs.Header getHeader();
void setHeader(std_msgs.Header header);
custom_msgs.qualified_timed_float64 getVelocity();
void setVelocity(custom_msgs.qualified_timed_float64 qualified_timed_float64);
custom_msgs.qualified_timed_float64 getAccelerationX();
void setAccelerationX(custom_msgs.qualified_timed_float64 qualified_timed_float64);
...
}
any guesses what is wrong?
Thanks
rosnode info /play_rosbag:
Node [/play_rosbag]
Publications:
* /veh_vehicle_model_dynamics [ros_messages/vehicle_model_dynamics]
* /function_drivinggoal_desired [ros_messages/function_drivinggoal]
contacting node http://192.168.0.95:37820/ ...
Pid: 4151
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
...
Connection to /android_gingerbread/ros_text_view_speed_limited missing
Connection to /android_gingerbread/ros_text_view_speed missing
rosnode info /android_gingerbread/ros_text_view_speed_limited:
Subscriptions:
* /function_drivinggoal_desired [ros_messages/function_drivinggoal]
contacting node http://192.168.0.199:44133/ ...
Pid: 2328
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /function_drivinggoal_desired
* to: /play_1408345524838586534 (http://192.168.0.95:37820/)
* direction: inbound
* transport: TCPROS
rosnode info /android_gingerbread/ros_text_view_speed:
Subscriptions:
* /veh_vehicle_model_dynamics [ros_messages/vehicle_model_dynamics]
contacting node http://192.168.0.199:48483/ ...
Pid: 2744
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /veh_vehicle_model_dynamics
* to: /play_1408345524838586534 (http://192.168.0.95:37820/)
* direction: inbound
* transport: TCPROS
could the error come from the name of my custom_msgs
could rebuilding the jar as "ros_messages" solve the problem?
Originally posted by stefan on ROS Answers with karma: 15 on 2014-08-14
Post score: 0
|
I'm new to ROS and am using ROS indigo on 14.04 ubuntu.
The standard packages for skeleton tracking using kinect (openni_tracker, pi_tracker, nite) have not yet been updated to indigo. I'm hence to unable to download them via apt-get.
Is there any package I can use for skeleton tracking in indigo? Or is there any other way to install those packages?
Originally posted by DeepakP on ROS Answers with karma: 21 on 2014-08-14
Post score: 2
Original comments
Comment by atp on 2014-08-15:
What about downloading them from github directly and trying to compile them from source?
Comment by DeepakP on 2014-08-17:
@atp I'd be grateful if you could walk me through the procedure.
Comment by ROS_Portland_State_University_Robot on 2014-11-01:
Could I get those unfinished packages or source? Our University robot must use Indigo. My task is to implement people-tracking. I will gladly try to compile the packages from sources if you tell me approximately what I need to do, give me high-level hints, etc. Or, could you post unfinished code?
Comment by ROS_Portland_State_University_Robot on 2014-11-01:
@atp said we could downlioad them form github directly and try to compile. Which packages are we to download?
Comment by Pourya on 2015-03-08:
I have a same problem with skeleton tracker package and ros indigo. Is there anyone to help?
Comment by marcobecerrap on 2015-10-29:
Hi, same here, has anyone come to the solution of this? i.e. how to use the skeleton tracker with ROS indigo & the Kinect?
|
Now let's create a launch file called turtlemimic.launch and paste the following:
I pull up gedit and copy/paste 1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
into gedit with sudo and save it at /home/pc/catkin_ws/src/beginner_tutorials/launch
I $ cd ~/catkin_ws/ source devel/setup.bash
then I try to run roslaunch beginner_tutorials turtlemimic.launch
but i get the error
pc@pc:~$ cd ~/catkin_ws/
pc@pc:~/catkin_ws$ source devel/setup.bash
pc@pc:~/catkin_ws$ roslaunch beginner_tutorials turtlemimic.launch
... logging to /home/pc/.ros/log/93f61492-23a7-11e4-bf9f-9439e5ec40e7/roslaunch-pc-3090.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.
Invalid roslaunch XML syntax: syntax error: line 1, column 3I
I don't know what im doing wrong, the file will only save as plain text and not XML, the tutorial does not say how to save files in XML
Originally posted by HelpwithUbuntu on ROS Answers with karma: 15 on 2014-08-14
Post score: 0
Original comments
Comment by BennyRe on 2014-08-14:
Please use the code block formatting tool. It's the button with the 101010 in it. I always have to edit your questions to avoid eye cancer.
Comment by HelpwithUbuntu on 2014-08-14:
Thanks for formatting my question, it looks ok when I put it in the question box but changes when it's posted. I have searched and I can't find out what a CODE BLOCK tool is. What is the button with 101010 and if all of this is important why is it not in the tutorial, it says beginner level. I am not playing dumb I really don't know what this stuff is.
Comment by BennyRe on 2014-08-14:
Do you really want to do robotics? The ROS tutorials are very easy and compared to real robotics a child's play.
Comment by HelpwithUbuntu on 2014-08-14:
YES, I will get the hang of it just like anything else hard in life the more you do it the better you get. How was I suppose to know that I don't include the line numbers, the tutorial said copy and paste, I find it funny you asked about spam.
|
Sometimes, in cluttered environments, our (differential wheeled) robot seems to accelerate too fast and navigates itself into places it cannot escape from. Just to test if a lower acceleration would do any good I tried reconfiguring it but it seems that setting the parameter /move_base/DWAPlannerROS/acc_lim_x lower than 1.0 causes move_base to not do anything any more. Since the parameter is a float value, I expect that the reason is not just an int cast somewhere. Does anyone know why an acceleration lower than 1.0 m/s^2 might not be supported?
Edit: Just to give some more info, these are the other parameters we use:
DWAPlannerROS:
acc_lim_x: 1.0
acc_lim_y: 0.0
acc_lim_th: 2.0
min_vel_y: 0.0
max_vel_y: 0.0
max_rot_vel: 1.0
min_rot_vel: 0.4
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.3
latch_xy_goal_tolerance: true
sim_time: 1.7
path_distance_bias: 5.0 #default:32
goal_distance_bias: 9.0 #default:24
occdist_scale: 0.01 #default:0.01
oscillation_reset_dist: 0.05
prune_plan: true
holonomic_robot: false
Not listed parameters use the default values.
Edit2: To answere David's comment:
These are the parameters we use for the local costmap:
local_costmap:
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
So the resolution is 0.05 which is the default value if I'm not mistaken.
Originally posted by Chrissi on ROS Answers with karma: 1642 on 2014-08-14
Post score: 2
Original comments
Comment by David Lu on 2014-08-14:
What is the resolution of your local costmap?
Comment by David Lu on 2014-08-18:
What ROS Distro are you on? Also, are you using the binaries for navigation, or are you compiling the code yourself?
Comment by David Lu on 2014-08-18:
Also, check two things: 1) What are the cmd_vels that are being published (if any) 2) If you set the parameter publish_traj_pc to true, what does the point cloud look like in rviz?
Comment by Chrissi on 2014-08-20:
We are on Hydro and use the binaries. I will check the other things asap.
Comment by Chrissi on 2014-08-22:
There is only 0 s published in /cmd_vel and I don't have the publish_traj_pc parameter in my set-up and under /move_base/DWAPlannerROS/trajectory_cloud there is nothing published.
Comment by AReimann on 2014-10-01:
Tested it with the stage simulator, turtlebot on ros indigo. Had no problems, maybe updating helps.
|
In tutorial 5: understanding ROS nodes, the lightweight simulator does not install. The message provided is...
bash: hydro: No such file or directory. Any idea how to get it working?
Originally posted by Leevini on ROS Answers with karma: 1 on 2014-08-14
Post score: -1
Original comments
Comment by tfoote on 2014-08-14:
Please provide more information. Incluidng all the commands to reproduce your error. as well as the full error in the console. Just copy and paste the whole sequence from the terminal.
|
Is it possible to widget-like embed rqt plugins in a "bigger" GUI with robot-specfic parts? The "bigger" GUI might also be a rqt plugin..
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-08-14
Post score: 0
|
EDIT: MWE can be found here.
Per [1] and [2], I'm trying to export a python module that is the same name as the package:
packagename
CMakeLists.txt
package.xml # catkin_python_setup()
setup.py # generate_distutils_setup( ..., packages=['packagename'], ... )
|- src/
|- application.py # import packagename
|- packagename/
|- __init__.py
|- stuff.py
|- ...
This works as expected, no problem. However, if I introduce a service message and try to import it:
packagename
CMakeLists.txt
package.xml
setup.py
|- srv/
|- MySrv.srv
|- src/
|- application.py # import packagename
|- packagename/
|- __init__.py
|- stuff.py
|- use_my_service.py # from packagename.srv import MySrv
|- ...
At runtime I get
ImportError: No module named srv
It works if I change the name of the exported module:
packagename
CMakeLists.txt
package.xml
setup.py # generate_distutils_setup( ..., packages=['notpackagename'], ... )
|- srv/
|- MySrv.srv
|- src/
|- application.py # import notpackagename
|- notpackagename/
|- __init__.py
|- stuff.py
|- use_my_service.py # from notpackagename.srv import MySrv
|- ...
The path in both cases is exactly the same, including
$WORKSPACE_ROOT/devel/lib/python2.7/dist-packages
And in both cases I can locate the appropriate pacakgename/srv/_MySrv.py. In the working case, the output directory structure looks like:
devel/lib/python2.7/dist-packages/
|- notpackagename
|- __init__.py # Non-empty, dist-utils generated
|- packagename
|- __init__.py # Empty.
|- srv/
|- __init__.py
|- _MySrv.py
And in the non-working case:
devel/lib/python2.7/dist-packages/
|- packagename
|- __init__.py # Non-empty, dist-utils generated.
|- srv/
|- __init__.py
|- _MySrv.py
It appears that the generated __init__.py for the exported module clobbers the knowledge of the existence of submodules, but I'm not sure, I'm not particularly familiar with how catkin does it's magic for this.
Is my expectation for this to work misguided? If it's not supposed to/going to work, what is the preferred method? To prefix the module with lib, as in [3] ?
[1] http://wiki.ros.org/PyStyleGuide
[2] http://docs.ros.org/groovy/api/catkin/html/user_guide/setup_dot_py.html
[3] https://github.com/ros-drivers/nmea_navsat_driver/tree/indigo-devel
Originally posted by tfurf on ROS Answers with karma: 63 on 2014-08-14
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-08-14:
What exact command are you invoking when you get the ImportError? Do you invoke src/application.py as a script / node?
Comment by tfurf on 2014-08-18:\
What exact command are you invoking when you get the ImportError?
The exception is raised right at import-time, in use_my_service.py (part of the module). The specific line looks like from packagename.srv import MySrv.
Comment by tfurf on 2014-08-18:\
Do you invoke src/application.py as a script / node?
The src/application.py is called as a node, via roslaunch, with a simple .launch file.
Comment by tfurf on 2014-08-18:
See https://github.com/tfurf/rospy-srv-module-test/ for both working and non-working versions.
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My question is about overlaying the whole ROS folder in /opt/. Since the packages source code in /opt/ros is not available, and changing parameters of the config files in /opt/ros is not recommended, is it possible to overlay the whole ros folder in /opt/ to the user's workspace to modify the codes and change the parameters without interfering with the actual ros packages in /opt/ros
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-14
Post score: 0
|
Hello, I'm currently trying to set up a GPS receiver and base station my boss purchased to work in ROS. It is a trimble Ag GPS 542 GNSS receiver ( http://ssmgps.com/pdf/AGPB_AgGPS542_B... ). It looks like the deivce can work in NMEA-0183 sentences, and thus that it should be compatible with the nmea_navsat_driver ROS package, found here: http://wiki.ros.org/nmea_navsat_driver , but I am encountering some installation issues.
I have extracted the package into my catkin_ws/src directory using
git clone https://github.com/ros-drivers/nmea_navsat_driver
Then I run catkin_make, and get the following response:
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package roslint.
Set roslint_DIR to the directory containing a CMake configuration file for
roslint. The file will have one of the following names:
roslintConfig.cmake
roslint-config.cmake
Call Stack (most recent call first):
nmea_navsat_driver/CMakeLists.txt:4 (find_package)
CMake Error at nmea_navsat_driver/CMakeLists.txt:23 (roslint_python):
Unknown CMake command "roslint_python".
I don't know what roslint_DIR is, and can't find anything about it online, but I did try searching my computer for both roslintConfig.cmake and roslint-config.cmake (no results for either). Anyone know what could be going wrong/how to fix it?
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-08-14
Post score: 0
Original comments
Comment by mysteriousmonkey29 on 2014-08-14:
I'm not sure if I modified everything I should have from your example, but I tried
rosdep install --from-paths ~/catkin_ws/src --ignore-src --rosdistro hydro -y
And it told me "ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
toro: Cannot locate rosdep definition for [ncurses++]" Ncurses is something I'm using in another executable in the same project (that I don't care about anymore). I tried commenting out the CMakeLists reference to that executable, but it didn't change the error.
Comment by Gary Servin on 2014-08-14:
another option is to create another worskpace and clone only the gps driver there. Can you try that?
Comment by mysteriousmonkey29 on 2014-08-14:
Alright, made a catkin_ws2 right next to the first one (had to check out the ros tutorials again). Then I added the path to my ROS_PACKAGE_PATH, cloned it into the src directory, and catkin_made. Unfortunately, I get exactly the same error.
Comment by mysteriousmonkey29 on 2014-08-14:
Actually I get what you mean now. I ran the rosdep install line in my catkin_ws2 and it worked. Now catkin_make builds successfully and I can run the executable! So what exactly did that line do? I don't understand the --from-paths src and --ignore-src parts.
Comment by Gary Servin on 2014-08-15:
you can read what they mean in the installation guide from source for indigo (section 2.1.2).
Comment by mysteriousmonkey29 on 2014-08-19:
Ok, thanks!
|
Can I create nested packages in ROS?
Originally posted by Arun on ROS Answers with karma: 11 on 2014-08-14
Post score: 0
|
Hi there, as new to ros and c++, I have a question to ask about unsubscribe and resubscribe. I am working on a multi-quadrotor path planning project and need to define squad leader everytime the team split into new squads. In that case, the squad member will subscribe to its leader for further commanding. But I have trouble on how to unsubscribe old leader's command and resubscribe to a new leader's. Below is the part of code that doing this little function:
ros::Subscriber splitcmd_sub;
// get split command from the leader and determine leader(s) for squad(s)
void getsplitcmd(const geometry_msgs::Point::ConstPtr& msg)
{
//...some code to find out whom to follow
squad_leader_no = ...;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "mycontrol_4");
ros::NodeHandle n;
ros::Rate cycle(8);
while(ros::ok()){
// ...some other code here
if(squad_leader_no == 1){splitcmd_sub = n.subscribe("/uav1/split_cmd", 1000, getsplitcmd);}
if(squad_leader_no == 2){splitcmd_sub = n.subscribe("/uav2/split_cmd", 1000, getsplitcmd);}
if(squad_leader_no == 3){splitcmd_sub = n.subscribe("/uav3/split_cmd", 1000, getsplitcmd);}
if(squad_leader_no == 4){splitcmd_sub = n.subscribe("/uav4/split_cmd", 1000, getsplitcmd);}
// ...some code here
ros::spinOnce();
cycle.sleep();
}
return 0;
}
After a numerous tests, only once I have the subscriber resubscribed. At other times, it just seem not to work at all(no disconnection and reconnection). Also, I have tried splitcmd_sub::shutdown() within the callback, but it just did not work.
I have searched and read a lot of tutorials and questions by other people online, it seems that I will have to use boost::bind if I want to pass parameters from callback to while() in main everytime it receives new messages. Could anybody tell me what to do if I want to unsubscribe a topic and resubscribe to another one at correct times, please?
Thanks a lot!
Originally posted by PJ on ROS Answers with karma: 30 on 2014-08-14
Post score: 0
Original comments
Comment by PJ on 2014-08-14:
to be more clear, the publisher split_cmd has been defined and publishing in the same .cpp file
Comment by bvbdort on 2014-08-14:
try using if-else to ensure in one loop only one call back and splitcmd_sub::shutdown() inside callback.
Comment by PJ on 2014-08-14:
I have tried those, but it did not work
Comment by PJ on 2014-08-15:
It was my own mistake that caused the problem, and sorry about that! Anyway, thanks a lot for your time!
|
Hi,
Is it possible to run ROS navigation without amcl or any kind of localization? I still want to a static map that I built using gmapping, just don't want any localization.
Would that mean I should publish a zero transform from /map to /odom? My tree earlier was map -> odom -> base_link and amcl used to publish the transform from map to odom.
EDIT: I did the above but I am unable to set the initial pose of the robot in the map using rviz.
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-08-14
Post score: 0
|
Hello, I've adapted some C++ control code for a smart motor I have attached to a laser scanner (it rotates the laser scanner back and forth) into a node to do the same thing upon receiving a custom message. The message includes start/end angle, speed, and duration, which are the inputs the original control code uses:
float32 start
float32 end
float32 speed
float32 duration
The node compiles and runs (the code as is can be found here: http://pastebin.com/wypDERQL). Now I am trying to complete a simple back and forth sweep for 3 seconds, by publishing a custom Sweep message to the /sweep topic from the command line. I run the command:
rostopic pub -1 /sweep toro/Sweep -- -3.14159/2 3.14159/2 3.14159/2 3
but get the following response (repeated many times):
[WARN] [WallTime: 1408045951.800915] Inbound TCP/IP connection failed: <class 'struct.error'>: 'required argument is not a float' when writing 'start: -3.14159/2
end: 3.14159/2
speed: 3.14159/2
duration: 3'
Is there any kind of way I can specify the data type of the arguments while publishing the message? I guess they might be doubles by default, but ros custom messages don't support doubles (or at least I couldn't get them to work), so I don't think I can fix the problem on that end.
Originally posted by mysteriousmonkey29 on ROS Answers with karma: 170 on 2014-08-14
Post score: 2
|
Is there any difference between ROS Navigation Stack in Hydro and Indigo?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-14
Post score: 0
|
hi guys. I need help understanding this code. What does it do?
00802 private void publishVelocity(double linearVelocityX, double linearVelocityY,
00803 double angularVelocityZ) {
00804 currentVelocityCommand.getLinear().setX(linearVelocityX);
00805 currentVelocityCommand.getLinear().setY(-linearVelocityY);
00806 currentVelocityCommand.getLinear().setZ(0);
00807 currentVelocityCommand.getAngular().setX(0);
00808 currentVelocityCommand.getAngular().setY(0);
00809 currentVelocityCommand.getAngular().setZ(-angularVelocityZ);
00810 }
Publish the velocity as a ROS Twist message.
Parameters:
linearVelocityX The normalized linear velocity (-1 to 1).
angularVelocityZ The normalized angular velocity (-1 to 1).
currentVelocityCommand declaration:
private geometry_msgs.Twist currentVelocityCommand;
Originally posted by syaz nyp fyp on ROS Answers with karma: 167 on 2014-08-15
Post score: 2
Original comments
Comment by dornhege on 2014-08-15:
It seems to me that the actual publish code is missing here.
Comment by atp on 2014-08-15:
Right, apart from that the code modifies an existing velocity command with respect to linear and angular velocity (http://people.wku.edu/david.neal/117/Unit2/AngVel.pdf). You can see the layout of the command using rosmsg show geometry_msgs/Twist.
|
Hi,
I'm trying to follow the codeblocks instruction in wiki.ros.org/IDEs but when I try
rospack export --lang=cpp --attrib=cflags PackageName
rospack export --lang=cpp --attrib=lflags PackageName
with the beginner_tutorials package, or something fancier like rviz, I just get a blank line as a result.
How can I use codeblocks to build a catkin package?
Using Indigo Igloo, ubuntu 14.04 and CodeBlocks 13.12.
Originally posted by matheusz on ROS Answers with karma: 90 on 2014-08-15
Post score: 2
|
Hi,
I have a library (a server using std::thread and some other c++11 things like auto) which is compiled into mylib.a.
I want to use this library in my indigo catkin ros node. But apparently ROS is c++03 only for now.
Do I have to rewrite the library to c++03? Or can I use it as long as the ros node itself stays c++03 compatible?
Originally posted by matheusz on ROS Answers with karma: 90 on 2014-08-15
Post score: 3
Original comments
Comment by dornhege on 2014-08-15:
As far as I know they are not ABI compatible.
Comment by ahendrix on 2014-08-15:
My experience has been that basic things like the std::vector and std::string are not ABI-compatible between c++03 and c++11, so mixing code compiled by different c++ versions is a bad idea.
|
Hi,
I am working with ros hydro ubuntu 12.4.In my catkin-workspace i have my kinect packge ( open cv & kinect line follower), ls gives me the list of file in catkin_ws , i can build catkin successfully.But , when try to run the node I get this message :[rospack] Error: stack/package kinect not found witch is the same with rospack find kinect.what can i do??
Originally posted by ameni mighri on ROS Answers with karma: 21 on 2014-08-15
Post score: 2
|
I am not well versed with C++ so would using RosJava would be a better option?
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-08-15
Post score: 0
|
In a typical project is set in CMakeLists.txt
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
if i create a lib and have headers in the include folders that depending packages require....
Now I have an rqt package, where I want to use a custom widget I create in this package in several sub packages. Is there any way to do that? Because now I cannot just add the include folder to INCLUDE_DIRS because the headers lying there might need to be moc'ed... I cannot directly compile against them...
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-08-15
Post score: 0
|
Hi everybody,
As stated in this post (see answer of Ahendrix) one should load the urdf model using the param tag in the launch file.
This is exact what happens in this tutorial, where the author wrote in his launch file the following line of code:
<param name="robot_description" command="cat $(find r2d2)/model.xml" />
That’s ok, but taking a look into the tutorial above I cannot figure out how the robot_state_publisher receives informations about joints defined in the URDF file.
My guess: I suppose that the joint_state variable, defined in the tutorial as:
20 sensor_msgs::JointState joint_state;
29 joint_state.name[0] ="swivel";
31 joint_state.name[1] ="tilt";
33 joint_state.name[2] ="periscope";
identifies the joint by name (as defined also in the URDF file). I m right?
One possibility is that names in the model correspond to the joint_state.name[k] in the broadcasted variable.
I can imagine that joint’names are loaded in the memory of the system by the launch command:
<param name="my_robot" command="cat $(find my_pkg_robot)/my_urdf_model.xml" />
and later recognised by the robot_state_publisher:
<node name="state_publisher" pkg=" my_pkg_robot " type="state_publisher" />
By doing that and publishing datas on joint_state I can move my robot.
Is it like that, or I m wrong?
More: i really don t understand why he launched a second node with the command:
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
Why does he need 2 nodes?
Was the first not enough to load the URDF model of the robot and to publish joint_state position every 1/30th seconds?
Which is the relation between both nodes?
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="state_publisher" pkg="r2d2" type="state_publisher" />
I think the tutorial is not clear, it doesn’t explain well enough how the package works, it just publishes an example. This is the most importa keypoint that should be understood in the tutorial.
Thanks!!!!
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-08-15
Post score: 1
|
Hi I'm running Ubuntu 12.04 and ros hydro,
I'm curently playing around with an ar drone with the tum_ardrone package. I wanted to know if theres a way to output data to a text file? I know I can use rostopic echo to get the data published to a terminal, but is there a way to get it somewere else?
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-08-15
Post score: 1
|
We are using our own implementation to publish a tfMessage type through rosjava.
In the simplest test I can see the message with the command rostopic echo /tf as:
transforms:
-
header:
seq: 567527
stamp:
secs: 567
nsecs: 526999929
frame_id: map
child_frame_id: robot
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
While this looks fine, the command rosrun tf tf_monitor shows no frames, rosrun tf tf_echo map robot is unable to return the transform (empty list of current frames), and rviz does not find any frames.
The command rosrun tf view_frames generates this visualization.
The data is coming from a simulator where I publish the /tf message and the /clock. The tf message time stamp equals the current simulation time in /clock. The parameter use_sim_time is set to true.
Interestingly, recording and playing a rosbag with the topics /tf and /clock works, and the /tf transformation shows up correctly in tf_monitor and rviz.
My setup is ROS Indigo on Ubuntu 14.04.
Does anybody has an idea on how to debug this behaviour to figure out what's going wrong? Any suggestions welcome. Thank you!
Originally posted by Péter Fankhauser on ROS Answers with karma: 18 on 2014-08-15
Post score: 0
Original comments
Comment by bvbdort on 2014-08-15:
can you share you frame.pdf from rosrun tf view_frames
Comment by Péter Fankhauser on 2014-08-15:
I have added the view_frames visualization: http://cl.ly/image/08443o3G0G2J
Comment by bvbdort on 2014-08-16:
I see some problem with timestamp, you can see tf is 74.913 seconds old while you are publishing 1000hz.
Comment by jwhendy on 2017-07-05:
related/same: http://answers.ros.org/question/265441/tf_echo-is-correct-yet-no-result-from-lookuptranform/
Comment by jwhendy on 2017-07-05:
related/same: http://answers.ros.org/question/231914/tf_echo-can-find-transform-but-waitfortransform-cant/
|
I'm using Matlab with ROS support, and I'm successfully reading PointCloud2 data from a Kinect. How can I extract the x,y,z,rgb data from the BLOB structure contained in the sensor_msgs/PointCloud2 message?
Originally posted by atp on ROS Answers with karma: 529 on 2014-08-15
Post score: 0
|
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