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Hello,
We just switched over to using Indigo, and noticed the warnings about using rospy.Publisher without specifying a queue_size. I've read this and I can see that it's a fabulous idea to specify this value. What's a good value to use, and how do I know if I've picked a reasonable number?
Thanks,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-08-15
Post score: 10
|
Hi,
i calculate the geometry_msgs::Twist cmd_vel and can subscribe to this topic /myrobot/cmd_vel successfully.
But i don't know how to use it, e.g. send it directly to my robot? I mean I can call back with velCallback, but how to use the velocity, in the main() function or in the velCallback() function if i want to send it to the robot? I hope i express my question clearly.
Below is the simple subscriber node.
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/Twist.h"
using namespace std;
void velCallback(const geometry_msgs::Twist& vel)
{
cout<<"velocity\n"<<vel<<"\n";
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "myrobot_cmd_vel");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/myrobot/cmd_vel", 10, velCallback);
ros::spin();
return 0;
}
Originally posted by Qt_Yeung on ROS Answers with karma: 90 on 2014-08-15
Post score: 0
|
Hi all, thank you for reading this post.
i don't get any images in RViz, not even sensor_msgs/images, just a black screen. I think it's a bug. cause i can see them using image_view pack.
Now I want to visualize sensor_msgs/LaserScan without using RVIz, Is there any other way to do this?
Any answers would be appreciated.
Originally posted by Rm4n2aa on ROS Answers with karma: 1 on 2014-08-16
Post score: 0
Original comments
Comment by bvbdort on 2014-08-16:
did you select topic for displaying images?
Comment by Rm4n2aa on 2014-08-16:
Hello @bvbdort.
yes I did select the topic. and RViz is subscribing to the topic. but it shows just a black screen.
Comment by ahubers on 2014-08-17:
In reference to the black screen, try updating your graphics drivers. This solved it for me (I too had the persistent black screen of death on every open of Rviz).
|
cd ~/catkin_ws/src/
git clone git://github.com/dawonn/ros-pioneer3at.git
cd .. # <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< What does CD.. mean? what is the whole path.
rosdep install pioneer3at
catkin_make
Originally posted by HelpwithUbuntu on ROS Answers with karma: 15 on 2014-08-16
Post score: 0
|
What is the right way to setup Xtion Pro Live with Ubuntu 14.04? (later on I wanrt to use it with ROS)
All How-To's found in internet refer to http://openni.org which is down.
The new site for openNI2 is http://structure.io/openni but the information provieded there does not help me.
I tried many things but seems to be that I'm to stupid to get it to work.
What I'm doing wrong, what should I do?
What do I need? openNI1 or openNI2?
Do I need to install with apt-get or build from source.
Do I need to install this sensor driver: https://github.com/PrimeSense/Sensor (building fails for some reason).
I'm totally desperate and confused due to the both version 1 and 2 from openNI.
// Here is my connected sensor
pat@hostx:~/Sensor$ lsusb | grep ASUS
Bus 002 Device 004: ID 1d27:0601 ASUS
// Here is the sample I used
pat@hostx:~/OpenNI-Linux-x64-2.2/Samples/Bin$ ./SimpleRead
Couldn't open device
DeviceOpen using default: no devices found
Originally posted by Pat on ROS Answers with karma: 62 on 2014-08-16
Post score: 1
|
Hi all. If this question has been asked somewhere else, please direct me instead of repeating =).
Essentially I'm tasked with making a p3-at base navigate a course such that it can't go over "white lines" marked on the ground or run into random barrels placed throughout the course.
The base has a sick lms100 laser scanner which gmapping will be running on to localize and it will also be fed into the navigation stack to add the barrels onto the costmap.
We're working on a camera that will ultimately output the "white lines" as laser scanner data. This, however, won't have much of a range, and I think this can be specified in the laser msg.
The problem I envisage occurring is that the LMS100 is going to clear a lot of what the camera is going to pick up.
I was thinking a way to counteract this would be to run cost_map2d individually for both scanners then essentially superimposed these two maps and this will be the one that gets inflated and used to navigate by move_base.
Have other users ever encountered similar situations and went about it this way or another?
Essentially, it's two scanning sources that aren't detecting the same thing (i.e. barrels @ a certain height for the lms100 and lines on the ground for the camera).
Will superimposing the costmaps take too much time?
Maybe the navigation stack already incorporates this by tying the sensor source to each pixel of an obstacle, but I doubt it.
If I went with my plan, I could then seed each map with its own initial map, and it shouldn't overwrite it because of the individual sensor ranges?
If any guidance can be given I would be greatly appreciative.
Originally posted by Garrick on ROS Answers with karma: 96 on 2014-08-16
Post score: 1
|
Which option is it? when I put the number in it just says
pc@pc:~$ 0
0: command not found
pc@pc:~$ cd ~/catkin_ws/src/
pc@pc:~/catkin_ws/src$ cd ..
pc@pc:~/catkin_ws$ rosdep install pioneer3at
ERROR: Rosdep cannot find all required resources to answer your query
Missing resource pioneer3at
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks
Originally posted by HelpwithUbuntu on ROS Answers with karma: 15 on 2014-08-16
Post score: 0
Original comments
Comment by gvdhoorn on 2014-08-16:
So what do you think cd does?
|
Using fresh install ROS indigo with Ubuntu 14.04
When trying to start openni2_launch I get below error.
What could be wrong?
ros@host1:~$ roslaunch openni2_launch openni2.launch
[openni2.launch] is neither a launch file in package [openni2_launch] nor is [openni2_launch] a launch file name
The traceback for the exception was written to the log file
Traceback (most recent call last):openni2_launch
File "/opt/ros/indigo/bin/roslaunch", line 35, in <module>
roslaunch.main()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/__init__.py", line 292, in main
logger.error(traceback.format_exc())
UnboundLocalError: local variable 'logger' referenced before assignment
Originally posted by Pat on ROS Answers with karma: 62 on 2014-08-16
Post score: 0
|
Hey,
i checked out the robotino packages from http://svn.openrobotino.org/robotino-ros-pkg/trunk/ and want to build them via rosmake. When i type rosmake robotino i get the following error and i have no idea what to do about it:
In file included from /home/daniel/Desktop/robotino/trunk/robotino/robotino_node/src/KinectROS.cpp:10:0:
/usr/include/pcl-1.7/pcl/filters/voxel_grid.h: In instantiation of 'class pcl::VoxelGrid<sensor_msgs::PointCloud2_<std::allocator<void> > >': /home/daniel/Desktop/robotino/trunk/robotino/robotino_node/src/KinectROS.cpp:124:44: required from here /usr/include/pcl-1.7/pcl/filters/voxel_grid.h:474:61: error: no type namen 'type' in struct pcl::traits::fieldList<sensor_msgs::PointCloud2_<std::allocator<void> > >
typedef typename pcl::traits::fieldList<PointT>::type FieldList;
I really have no idea what i have to do here, i thaught it would be no problem to build these packages.There are a few more erros like this but this is the first one. Maybe i can resolve the others by myself when i get this one fixed. Can anyone help me here?
Best regards,
Daniel
Originally posted by Missing on ROS Answers with karma: 41 on 2014-08-17
Post score: 0
Original comments
Comment by ahendrix on 2014-08-17:
Which version of ROS was this developed for? Which version of ROS are you trying to use it with? I think some of the PCL point types and ROS integration changed between ROS Groovy and Hydro.
Comment by Missing on 2014-08-18:
I try to use it with ROS Indigo. I know that PCL is a stand-alone project since quite a time and because of that i use pcl-1.7 instead. I tried to install an older ROS version but it doesn't work. It tells me that ros-groovy-desktop-full has unmet dependencies?! Is it possible to fix this within Indigo?
|
Hi
I was going thorough this tutorial `
navigation/Tutorials/RobotSetup/Odom. Here i want to pass the parameters vx, vy and vth from other topic (/arduVel) publishing a custom message of type /robot_setup_tf/Vel
Format of Custom message is
float32 velX
float32 velY
float32 veltheta
Here is the code i have written
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "robot_setup_tf/Vel.h"
double vx, vy, vth;
void OdomCallback(const robot_setup_tf::Vel::ConstPtr& msg)
{
vx = msg->velX;
vy = msg->velY;
vth = msg->theta;
}
int main(int argc, char** argv){
ros::init(argc, argv, "odometry_publisher");
ros::NodeHandle n;
ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
tf::TransformBroadcaster odom_broadcaster;
double x = 0.0;
double y = 0.0;
double th = 0.0;
//double vx = velX;
//double vy = velY;
//double vth = velth;
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Rate r(1.0);
while(n.ok())
{
ros::Subscriber sub = n.subscribe("arduVel", 50, OdomCallback);
ros::spinOnce(); // check for incoming messages
current_time = ros::Time::now();
//compute odometry in a typical way given the velocities of the robot
double dt = (current_time - last_time).toSec();
double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
double delta_th = vth * dt;
x += delta_x;
y += delta_y;
th += delta_th;
//since all odometry is 6DOF we'll need a quaternion created from yaw
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
//first, we'll publish the transform over tf
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = current_time;
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_link";
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = odom_quat;
//send the transform
odom_broadcaster.sendTransform(odom_trans);
//next, we'll publish the odometry message over ROS
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;
//publish the message
odom_pub.publish(odom);
last_time = current_time;
r.sleep();
}
}
When i see the rqt_graph the nodes are subscribing correctly. Also the desired values from /arduVel topic is getting published. But this value is not reflected in /odom or /tf topic. All the values in these topics remain 0 even if the /arduVel is publishing the values.
Please help me. Thank you! :)
`
Originally posted by Bhargav on ROS Answers with karma: 72 on 2014-08-17
Post score: 1
|
Hokuyo UST-20LX 's data interface is Ethernet 100base-TX. I have installed Hokuyo node, but Ethernet interface is not a serial port device, so the /dev/ttyACM0 didn't show up. Is there any drivers for that device under ROS? How can I get the data of UST-20LX?
Originally posted by Thomaswang on ROS Answers with karma: 23 on 2014-08-18
Post score: 0
Original comments
Comment by dornhege on 2014-08-18:
Can you try urg_node?
|
When I run catkin_make(I'm working with rqt). I get this:
[ 97%] Building CXX object guiakomips3/CMakeFiles/guiakomips3.dir/include/guiakomips3/moc_akomips3.cxx.o
In file included from /opt/ros/hydro/include/industrial_msgs/RobotStatus.h:53:0,
from /home/ismael/catkin_workspace/src/guiakomips3/include/guiakomips3/akomips3.h:13,
from /home/ismael/catkin_workspace/src/guiakomips3/src/guiakomips3/akomips3.cpp:1:
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected identifier before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected ‘}’ before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected unqualified-id before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected identifier before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected ‘}’ before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected unqualified-id before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:59: error: ‘ContainerAllocator’ was not declared in this scope
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:77: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:79: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:84: error: invalid type in declaration before ‘;’ token
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:59: error: ‘ContainerAllocator’ was not declared in this scope
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:77: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:84: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:94: error: invalid type in declaration before ‘;’ token
/opt/ros/hydro/include/industrial_msgs/TriState.h:89:1: error: expected declaration before ‘}’ token
make[2]: *** [guiakomips3/CMakeFiles/guiakomips3.dir/src/guiakomips3/akomips3.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /opt/ros/hydro/include/industrial_msgs/RobotStatus.h:53:0,
from /home/ismael/catkin_workspace/build/guiakomips3/include/guiakomips3/../../../../src/guiakomips3/include/guiakomips3/akomips3.h:13,
from /home/ismael/catkin_workspace/build/guiakomips3/include/guiakomips3/moc_akomips3.cxx:10:
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected identifier before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected ‘}’ before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:73:13: error: expected unqualified-id before ‘true’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected identifier before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected ‘}’ before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:78:13: error: expected unqualified-id before ‘false’
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:59: error: ‘ContainerAllocator’ was not declared in this scope
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:77: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:79: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:85:84: error: invalid type in declaration before ‘;’ token
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:59: error: ‘ContainerAllocator’ was not declared in this scope
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:77: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:84: error: template argument 1 is invalid
/opt/ros/hydro/include/industrial_msgs/TriState.h:86:94: error: invalid type in declaration before ‘;’ token
/opt/ros/hydro/include/industrial_msgs/TriState.h:89:1: error: expected declaration before ‘}’ token
make[2]: *** [guiakomips3/CMakeFiles/guiakomips3.dir/include/guiakomips3/moc_akomips3.cxx.o] Error 1
make[1]: *** [guiakomips3/CMakeFiles/guiakomips3.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
So, what is the problem?, I just included the library "industrial_msgs/RobotStatus.h", and it shows this error.
I tried updating industrial_msgs...
akomips3.cpp
#include "guiakomips3/akomips3.h"
#include <pluginlib/class_list_macros.h>
#include <ros/master.h>
#include <QStringList>
#include <ros/ros.h>
#include <stdlib.h>
#include <sensor_msgs/Joy.h>
#include "ikfast_services/IK.h"
#include "ikfast_services/FK.h"
#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <industrial_msgs/RobotStatus.h>
#include <sensor_msgs/JointState.h>
#include <stdio.h>
#include <iostream>
#include <QString>
akomips3.h
#ifndef guiakomips3__GUIPS3_H
#define guiakomips3__GUIPS3_H
#include <rqt_gui_cpp/plugin.h>
#include <ui_akomips3.h>
#include <ros/master.h>
#include <ros/ros.h>
#include <stdlib.h>
#include <stdio.h>
#include <sensor_msgs/Joy.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <industrial_msgs/RobotStatus.h>
#include <sensor_msgs/JointState.h>
#include "ikfast_services/IK.h"
#include "ikfast_services/FK.h"
#include <QWidget>
#include <QImage>
#include <QList>
#include <QMutex>
#include <QString>
#include <QSize>
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-08-18
Post score: 0
Original comments
Comment by gvdhoorn on 2014-08-18:
I think we're going to need a little more information than that. Those files are auto-generated, and have not changed for a long time (afaik). They're also used internally by other ROS-Industrial pkgs. Is that the only error you get? Is there no other error before it? Dependencies all properly declared in your manifest?
Comment by gvdhoorn on 2014-08-18:
Also: please indent console output with 4 spaces (do not use quote blocks). It makes things a lot easier to read.
Comment by Bastbeat on 2014-08-18:
Now I posted 3 new lines before the old code.
Yes, the dependences are declared in the manifest
Comment by gvdhoorn on 2014-08-18:
Please update your original question with at least 10 lines around from both akomips3.h and akomips3.cpp where you include RobotStatus.h. Or make those files available somewhere.
|
Hi,
I have recorded number of rosbags using --split option, say "file_0.bag", "file_1.bag", "file_2.bag" and so on to build a map. My question is: how to play them back one after the other. Using $ rosbag play file_0.bag file_1.bag file_2.bag plays all files at the same time. Whereas, I want to play one after another.
Thanks.
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-08-18
Post score: 1
|
Hi all,
I'm very new to Python and the TF package. Given a transform, I am trying to calculate its pose. How would I do that?
I've seen this link and saw the code
tf::Transform grasp_tf(gripperRotation, gripperOrigin);
tf::Stamped<tf::Pose> grasp_tf_pose(grasp_tf);
geometry_msgs::PoseStamped msg;
tf::poseStampedTFToMsg (grasp_tf_pose, msg);
However, I don't know how I should convert this into Python code. Is there more documentation than the one given in the wiki?
Originally posted by silentwf on ROS Answers with karma: 55 on 2014-08-18
Post score: 4
|
Im using gtest for writing test suites for my robot. Im trying to test a function that i use to convert my twist message being sent from the Nav Stack or joystick (cmd_vel topic) that is then converted into my individual wheel velocities for my roboteq motor controller. This function that i am testing is used in the cmd_vel subscriber callback in my roboteq driver node. So normally, when the callback is fired, i pass the reference of the twist, into my function like so (i type def'd geometry_msgs::Twist to TTwist, and TWheelMsg is my custom msg, also type def'd)
void RosRoboteqDrv::CmdVelCallback(const TTwist::ConstPtr& twist_velocity)
{
_wheelVelocity = RosRoboteqDrv::ConvertTwistToWheelVelocity(twist_velocity);
Where my my conversion function is defined like so:
TWheelMsg ConvertTwistToWheelVelocity(const TTwist::ConstPtr& twist_velocity);
In my gtest class, im not sure how i can use this ConvertTwtistToWheelVelocity function since it is passing a reference. I tried looking up in the API docs where the reference originated from, and found that in the node handle subscriber template here it passes a boost shared pointer, which in my case i passed type geometry_msgs::Twist. So then i looked inside of the geometry_msgs source file, and found this:
typedef ::geometry_msgs::Twist_< std::allocator< void > >
Can someone please tell me what should i do to be able to pass some value (clearly has to be reference) into the ConvertTwistToWheelVelocity function? I dont know what to do since std::allocator is the template type.
Since in the API docs it says that the node handle subscribe function is a template
EDIT: here is what my subscriber call looks like:
_sub = _nh.subscribe("cmd_vel", 1, &RosRoboteqDrv::CmdVelCallback, this);
Originally posted by l0g1x on ROS Answers with karma: 1526 on 2014-08-18
Post score: 1
|
Hey there,
I installed properly ROS Hydro, and I've been using it for quite a while.
However, after coming to office the next day. I get the following error
zsh: command not found: roscore
This is weird because I am sourcing setup files for both ROS installation and catkin/rosbuild workspaces.
Rosbuild is overlayed with catkin/devel.
Also rosdep is working, and I have all enviromental variables except ROS_ROOT after launching new terminal.
Thought exporting manually ROS_ROOT doesnt help, and when I source manually /opt/ros/hydro/setup.zsh and after rosbuild/setup.zsh or catkin/devel/setup.zsh, I lose all again.
I tried reinstalling ROS, but that didn't fix the problem.
Anyway had a similar problem?, because this sounds really weird to me.
Originally posted by asiron on ROS Answers with karma: 26 on 2014-08-18
Post score: 1
Original comments
Comment by emacsd on 2014-08-18:
Are you sure you did setup ROS Environment?
|
Hi,
I'm new to ROS and having trouble setting up tum_ardrone for use with the Parrot Drone Quadcopter. I've installed ROS Hyrdro on Ubuntu version 12.04 and followed all the beginner tutorials with no problems. I've installed the pre-requites but when I try to install the tum_ardrone package as told to on their wiki by running, I get problems when running the following line:
rosdep install tum_ardrone
It spits out the the following error.
ERROR: Rosdep cannot find all required resources to answer your query
Missing resource tum_ardrone
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/opt/ros/hydro/share
ROS path [2]=/opt/ros/hydro/stacks
The link to the wiki with install instructions is here: link text
The instructions extract is below.
cd catkin_ws/src
git clone https://github.com/tum-vision/tum_ardrone.git -b hydro-devel
cd ..
rosdep install tum_ardrone
catkin_make
Any suggestions would be greatly appreciated.
Thanks,
Jonathan
Originally posted by achery323 on ROS Answers with karma: 46 on 2014-08-18
Post score: 2
Original comments
Comment by ahendrix on 2014-08-19:
I think the setup instructions assume that you've sourced the workspace before you begin.
Comment by achery323 on 2014-08-19:
Thanks for the help, that fixed the ROS path errors, however it still can't find the resource tum_ardrone when running the line below. Do I have to manually tell rosdep where that folder is or something if it can't find it?
rosdep install tum_ardrone
From the tutorials I have seen using catkin_make though, they never use rosdep. They just git clone the link, go to the catkin_ws directory and then catkin_make. I've also tried this however the make fails as well.
Comment by ahendrix on 2014-08-19:
From your catkin_ws directory, you may want to try: rosdep install --from-paths src --ignore-src instead.
Comment by achery323 on 2014-08-21:
Okay, finally got it working so apologies for the late reply, I will post a solution to my question below in case other beginners have the same problem. Is there a way to not have to source the workspace every time I fire up my computer though?
Comment by ahendrix on 2014-08-21:
You can edit your shell's startup script, (usually ~/.bashrc) to include the source command so that you don't have to type it by hand each time.
|
Hello everyone, I have been trying to get the uEye camera to interface with the OpenCV library Aruco, following the instructions here: http://maztories.blogspot.com/2013/07/installing-aruco-augmented-reality.html. I have made it to the last line, $ ./aruco_test_board live board.yml camera.yml 0.025 but evertime I run it I get Could not Open Video. My uEye camera works with its own demos and ImageView, and shows up as ueye under ls /dev. I have tried on two machines, running Ubuntu 12.04 and 14.04, ROS Hydro and Indigo respectively. Same error for both. Does anyone know how to resolve this?
Originally posted by hdejarnette on ROS Answers with karma: 11 on 2014-08-18
Post score: 1
|
Hi!
I'm having some trouble while trying to access the kinect depth image using amcl_demo.
When i run roslaunch openni_launch openni.launch it works well, and i can access/see topic /camera/depth/image.
The problem is when i run roslaunch turtlebot_navigation amcl_demo map_file:=/... It starts all the nodes from the camera (the topic is there as well) but i can't see the depth image from the same topic before. I think i need to enable something but don't know what to do.
Hope you can help.
Thank you!
Originally posted by Thiagopj on ROS Answers with karma: 23 on 2014-08-18
Post score: 0
|
Hello,
On the wiki page for base_local_planner, there's a link link to a paper discussing TR. The link's broken; can anyone point me to a copy of this paper?
Thanks,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-08-18
Post score: 0
|
Hello all,
I am using ROS Fuerte and I want to get the Novint Falcon working as a joystick in ROS. I found this: https://wiki.qut.edu.au/display/cyphy/RosFalcon . I was able to download the files but I am unable to install them. I have a folder with the src folder and various other folders. How do I actually install this?
Originally posted by pavanchirmade on ROS Answers with karma: 11 on 2014-08-18
Post score: 1
|
I am using a parallella embedded system that uses a cortex A9 ARMHF architecture and am trying to get nmea_navsat_driver to work. I can download the source for from github and rosmake it without any problems. When i catkin_make my project, no errors show up. But when i try to run nmea_navsat_driver, nothing show up when tabbing for rosrun/roslaunch. So i tried to install the debian package for nmea_navsat_driver through sudo apt-get install, but i am getting a rosdep error saying: "ros-hydro-nmea-navsat-driver : Depends: python-serial but it is not installable". I tried to find and install python-serial from source, but had no luck in finding where the source is located. If i try to do "rosdep install python-serial" it tells me "ERROR: Rosdep cannot find all required resources to answer your query. Missing resource python-serial" and then lists my ROS path [0] = /opt/ros/hydro .... and so forth.
Does anybody know how i can get the nmea_navsat_driver to install on ARM? And if so, how do i overcome this dependency issue.
Originally posted by l0g1x on ROS Answers with karma: 1526 on 2014-08-18
Post score: 1
Original comments
Comment by ahendrix on 2014-08-18:
Can you post the exact error you get when you run sudo apt-get install python-serial ?
|
Is that possible? If I launch an rqt node with tag that does not appear to work... Is it supposed to?
Update with respect to @Dirk Thomas Comment:
Basically, I wanted an image_viewer with a fixed topic (for later adding some fancy overlays and so on...). I took the rqt_image_view (indeed C++!) as start point removed the topic spinner and related functions and subscribed the image_transport from a fixed topic. Works perfectly if the "hard-coded" topic exists. However, I did not manage to remap the topic in a launch file.
So far i tried 2 things (Both work with "hard-coded" topic but not with remap):
Remapping in launch file using the phyton script for stand alone launching my_plugin:
#!/usr/bin/env python
import sys
from rqt_gui.main import Main
main = Main()
sys.exit(main.main(sys.argv, standalone='my_plugin'))
Launch file:
<launch>
<node name="my_plugin" pkg="my_plugin" type="my_plugin" >
<remap from="/input_topic" to="/camera/image_raw"/>
</node>
</launch>
Remapping for rqt_gui and load my_plugin into rqt_gui
Edit 28.08.2014: Anyone?
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-08-19
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-08-19:
I should be possible but with the limitation that since all plugins share the same node there can only be a single global remapping. May be it does not work correctly for C++ plugins? What exactly are you trying to do?
Comment by Wolf on 2014-08-29:
Okay, thank you! I'll have a look at that...
|
Hi,
It may seem a trivial question, but I couldn't find a good answer in the internet. I would like to write a service (NOT a node) that receives some parameters in input, but I couldn't find a way to pass them that is similar to what you could do with a node (where you retrieve the parameters through the node handler). The only way seems to use the parameter server, but if possible I would prefer to avoid using those kind of "global variables".
Any suggestions?
Originally posted by lucaluca on ROS Answers with karma: 74 on 2014-08-19
Post score: 0
|
Hello,
I am having troubles running the rqt_gui in ROS Fuerte.
My system specs:
Ubuntu 12.04 LTS 3.11.0-26-generic
ROS Fuerte
After launching the rqt_gui by running the rosrun command, I recieve the following error message:
Could not import "pyqt" bindings of qt_gui_cpp library - so C++ plugins will not be available:
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui_cpp/cpp_binding_helper.py", line 43, in <module>
import libqt_gui_cpp_sip
ImportError: /opt/ros/hydro/lib/python2.7/dist-packages/qt_gui_cpp/libqt_gui_cpp_sip.so: undefined symbol: _ZN3ros7package10getPluginsERKSsS2_RSt6vectorISsSaISsEEb
I have two ROS Versions installed. Fuerte and Hydro. The terminal were I started rqt_gui is set up for Fuerte Usage:
ROS_ROOT=/opt/ros/fuerte/share/ros
ROSLISP_PACKAGE_DIRECTORY=/opt/ros/fuerte/share/common-lisp/ros
ROS_PACKAGE_PATH=/home/user/ROS/fuerte_ws/moro_3rad:/home/user/ROS/fuerte_ws/RCPRG_laser_drivers:/home/user/ROS/fuerte_ws/taurob_simulation:/home/user/ROS/fuerte_ws/taurob_sensors:/home/user/ROS/fuerte_ws/sas_utils:/home/user/ROS/fuerte_ws/sas_ui_server:/home/user/ROS/fuerte_ws/sas_test:/home/user/ROS/fuerte_ws/sas_navigation:/home/user/ROS/fuerte_ws/sas_ecu_client:/opt/ros/fuerte/stacks:/opt/ros/fuerte/share:/opt/ros/fuerte/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_WORKSPACE=/home/user/ROS/fuerte_ws
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=fuerte
ROS_ETC_DIR=/opt/ros/fuerte/etc/ros
So why is it trying to access the hydro library. In /opt/ros/fuerte/lib/python2.7/dist-packages I couldn't find any qt_gui_cpp or similar folder. As soon as I try to load a plugin the GUI crashes. For fuerte I can only find this stack
ros-fuerte-rqt - rqt
Is there a way to make rqt_gui workout in Fuerte?
BR and thanks for any help
Originally posted by Eisenhorn on ROS Answers with karma: 82 on 2014-08-19
Post score: 0
|
Hi guys, I have a problem and cannot find a permanent solution to it:
I am trying to chain two workspaces A and B but catkin fails to recognize workspace A.
So what i did was create worspace A in:
/usr/share/ros/workspaceA
This works fine and i can build my packages.
Then i created another workspace B to work in, this should overlay workspace A, in:
~/ros/workspaceB
My packages in workspaceB depend on packages in workspace A.
When trying
source /usr/share/ros/workspaceA/devel/setup.bash
source ~/ros/workspaceB/devel/setup.bash
cd ~/ros/workspaceB/
catkin_make
I get
...
-- This workspace overlays: ~/ros/workspaceB/devel;/opt/ros/indigo
...
and following some error that my package from workspaceA ould not be found.
So obviously, catkin fails to recognize workspaceA. Without dependencies on packages from workspaceA everything works fine.
How do I get this fixed, so that i can build my packages in workspaceB? What am I missing? Has this to do with the path to workspaceA?
Note:
This worked for me once, when workspaceA was located in
~/ros/workspaceA
but after deleting it and recreating in in just the same place i got the same result as above.
Thanks for your support!
Originally posted by Marcel Usai on ROS Answers with karma: 200 on 2014-08-19
Post score: 2
Original comments
Comment by peci1 on 2016-11-16:
This has a way nicer solution with catkin tools. See http://answers.ros.org/question/64702/overlaying-multiple-catkin-devel-spaces-at-the-same-time/?answer=248245#post-id-248245 .
|
Hello,
can anybody tell me how to import a custom message into a java Listener for my Android Project?
I modified the Listeners and Talkers in rosjava_core tutorial_pubsub and did ./gradlew install to build a jar out of my files.
I managed to use custom messages in RosTextViews nad know how to build .java or .jar from my custom messages.
How does the Listerner has to look like? Where do i have to put the .java or .jar and how can i import them to this Listener.java?
Thanks
package org.ros.rosjava_tutorial_pubsub;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
import mypackage.mymessage; ???????
public class Listener_mycustom_message extends AbstractNodeMain {
public int intVar_a=0;
public int intVar_b=0;
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("APP/listener_mycustom_message");
}
@Override
public void onStart(ConnectedNode connectedNode) {
final Log log = connectedNode.getLog();
Subscriber<my_package.my_message> subscriber = connectedNode.newSubscriber("mytopic", my_package.my_message._TYPE);
subscriber.addMessageListener(new MessageListener<my_package.my_message>() {
@Override
public void onNewMessage(my_package.my_message message) {
intVar_a = message.getVar_a();
intVar_b = message.getVar_b();
}
});
}
}
default Listener
package org.ros.rosjava_tutorial_pubsub;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
public class Listener extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("rosjava_tutorial_pubsub/listener");
}
@Override
public void onStart(ConnectedNode connectedNode) {
final Log log = connectedNode.getLog();
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
log.info("I heard: \"" + message.getData() + "\"");
}
});
}
}
Originally posted by stefan on ROS Answers with karma: 15 on 2014-08-19
Post score: 0
|
hi, All,
in the costmap parameter definition below, are both inputs, laser and point cloud, needed?
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}
can I have only one? say laser_scan_sensor?
thanks
ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-19
Post score: 0
|
Hey guys, I am searching for this particular library here:
libgazebo_ros_gpu_laser.so
I have it on my pc and wanted to transfer my program to another one. I guess I could just copy the file itself, but I am pretty sure this is not how I got it in the first place (it is located at /opt/ros/hydro/lib). So I guess I installed some ros package, which included this library. Does anyone of you nice smart people know which one that might have been? Maybe one of the PR2 packages?
Thanks a lot
Marcus
Originally posted by Marcus on ROS Answers with karma: 164 on 2014-08-19
Post score: 1
Original comments
Comment by shoemakerlevy9 on 2016-11-23:
What do we want?
libgazebo_ros_gpu_laser.so!
When do we want it?
libgazebo_ros_gpu_laser.so!
|
Hi;
I used the openni function xnUSBSendControl to move the KInect's motor up and down, and now I'm looking to turn that motor in the left and right.
Thanks
Originally posted by faty on ROS Answers with karma: 1 on 2014-08-19
Post score: 0
Original comments
Comment by Murilo F. M. on 2014-08-19:
You may be interested in the kinect_aux package for tilting the Kinect using a ROS interface.
|
How do I describe a robot arm using DH parameters and xacro? Is it documented somewhere? I imagine it is pretty straightforward, but I cannot find an exampe.
Originally posted by paturdc on ROS Answers with karma: 157 on 2014-08-19
Post score: 0
|
Can anybody tell which command to use to edit a package.xml file in ROS Hydro? Using the command cat package.xml, I can view the package.xml file but I am unable to edit the file. Can anybody help please?
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-08-19
Post score: 0
Original comments
Comment by Bhargav on 2014-08-19:
Which OS are you using? If its ubuntu then use a text editor with sudo command prefixed to it.
sudo gedit .....yourfilename....
Comment by dornhege on 2014-08-19:
Do NOT use sudo to edit package.xml files. It is unnecessary and will mess up permissions.
Comment by dornhege on 2014-08-19:
Please choose a meaningful title that shortly states what the question is about.
Comment by Mehdi. on 2014-08-20:
gedit package.xml
|
I'm creating a node that will be subscribing to another node and then publishing a message. This message will need to be sent to a user defined IP address/ port combination and contain plain-text to be parsed by a non-ROS enabled Raspberry Pi listening on that port.
Outside of having to publish a text string to a port, I believe this should be a fairly standard Pub/Sub node.
I see this page regarding UDPROS but there seems to be little, new information.
Does anyone have any suggestions?
The message needs to be of this format:
(sent to an IP address/ Port combination)
100 0
101 -1
102 100
103 0
104 0
105 0
106 0
That is to say, six lines, with each line having the first three characters be an ID number and the next three be either -1, 0, 100 (aka "do nothing", "move to 0% open", "move to 100% open").
I know that publishing to a port is pretty trivial in Python and only a little more complicated in C++... but how would that translate to ROS messages?
Thank you
Originally posted by joe.s on ROS Answers with karma: 162 on 2014-08-19
Post score: 1
|
I wanted the ROS pc to communicate over the UART with a microcontroller on mobile robot,
I canot use ros serial as on the controller I canot use C++ code, so I have used a wrapper code for serial port in linux following the example code from this link: https://code.google.com/p/team-diana/source/browse/ros_workspace/fuerte/Serial/src/r2Serial.cpp?r=b3ad5adc6b1e885620b615c5f56ccf929cfbcdc2
My code is as follows:
#define DEFAULT_BAUDRATE 115200
#define DEFAULT_SERIALPORT "/dev/ttyUSB0"
//Global data
FILE *fpSerial = NULL; //serial port file pointer
ros::Publisher ucResponseMsg;
ros::Subscriber ucCommandMsg;
int ucIndex; //ucontroller index number
int FileDesc;
unsigned char crc_sum=0;
//Initialize serial port, return file descriptor
FILE *serialInit(char * port, int baud)
{
int BAUD = 0;
int fd = -1;
struct termios newtio, oldtio;
FILE *fp = NULL;
//Open the serial port as a file descriptor for low level configuration
// read/write, not controlling terminal for process,
fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
ROS_INFO("FileDesc : %d",fd);
if ( fd<0 )
{
ROS_ERROR("serialInit: Could not open serial device %s",port);
return fp;
}
// save current serial port settings
tcgetattr(fd,&oldtio);
// clear the struct for new port settings
bzero(&newtio, sizeof(newtio));
//Look up appropriate baud rate constant
switch (baud)
{
case 38400:
default:
BAUD = B38400;
break;
case 19200:
BAUD = B19200;
break;
case 115200:
BAUD = B115200;
break;
case 9600:
BAUD = B9600;
break;
case 4800:
BAUD = B4800;
break;
case 2400:
BAUD = B2400;
break;
case 1800:
BAUD = B1800;
break;
case 1200:
BAUD = B1200;
break;
} //end of switch baud_rate
if (cfsetispeed(&newtio, BAUD) < 0 || cfsetospeed(&newtio, BAUD) < 0)
{
ROS_ERROR("serialInit: Failed to set serial baud rate: %d", baud);
close(fd);
return NULL;
}
// set baud rate, (8bit,noparity, 1 stopbit), local control, enable receiving characters.
newtio.c_cflag = BAUD | CRTSCTS | CS8 | CLOCAL | CREAD;
// ignore bytes with parity errors
newtio.c_iflag = IGNPAR;
// raw output
newtio.c_oflag = 0;
// set input mode to non - canonical
newtio.c_lflag = 0;
// inter-charcter timer
newtio.c_cc[VTIME] = 0;
// blocking read (blocks the read until the no.of charcters are read
newtio.c_cc[VMIN] = 0;
// clean the line and activate the settings for the port
tcflush(fd, TCIFLUSH);
tcsetattr (fd, TCSANOW,&newtio);
//Open file as a standard I/O stream
fp = fdopen(fd, "r+");
if (!fp) {
ROS_ERROR("serialInit: Failed to open serial stream %s", port);
fp = NULL;
}
ROS_INFO("FileStandard I/O stream: %d",fp);
return fp;
} //serialInit
//Process ROS command message, send to uController
void ucCommandCallback(const geometry_msgs::TwistConstPtr& cmd_vel)
{
unsigned char msg[14];
float test1,test2;
unsigned long i;
// build the message packet to be sent
msg = packet to be sent;
msg[13] = crc_sum;
for (i=0;i<14;i++)
{
fprintf(fpSerial, "%c", msg[i]);
}
tcflush(FileDesc, TCOFLUSH);
} //ucCommandCallback
//Receive command responses from robot uController
//and publish as a ROS message
void *rcvThread(void *arg)
{
int rcvBufSize = 200;
char ucResponse[10];//[rcvBufSize]; //response string from uController
char *bufPos;
std_msgs::String msg;
std::stringstream ss;
int BufPos,i;
unsigned char crc_rx_sum =0;
while (ros::ok()) {
BufPos = fread((void*)ucResponse,1,10,fpSerial);
for (i=0;i<10;i++)
{
ROS_INFO("T: %x ",(unsigned char)ucResponse[i]);
ROS_INFO("NT: %x ",ucResponse[i]);
}
msg.data = ucResponse;
ucResponseMsg.publish(msg);
}
return NULL;
} //rcvThread
int main(int argc, char **argv)
{
char port[20]; //port name
int baud; //baud rate
char topicSubscribe[20];
char topicPublish[20];
pthread_t rcvThrID; //receive thread ID
int err;
//Initialize ROS
ros::init(argc, argv, "r2SerialDriver");
ros::NodeHandle rosNode;
ROS_INFO("r2Serial starting");
//Open and initialize the serial port to the uController
if (argc > 1) {
if(sscanf(argv[1],"%d", &ucIndex)==1) {
sprintf(topicSubscribe, "uc%dCommand",ucIndex);
sprintf(topicPublish, "uc%dResponse",ucIndex);
}
else {
ROS_ERROR("ucontroller index parameter invalid");
return 1;
}
}
else {
strcpy(topicSubscribe, "uc0Command");
strcpy(topicPublish, "uc0Response");
}
strcpy(port, DEFAULT_SERIALPORT);
if (argc > 2)
strcpy(port, argv[2]);
baud = DEFAULT_BAUDRATE;
if (argc > 3) {
if(sscanf(argv[3],"%d", &baud)!=1) {
ROS_ERROR("ucontroller baud rate parameter invalid");
return 1;
}
}
ROS_INFO("connection initializing (%s) at %d baud", port, baud);
fpSerial = serialInit(port, baud);
if (!fpSerial )
{
ROS_ERROR("unable to create a new serial port");
return 1;
}
ROS_INFO("serial connection successful");
//Subscribe to ROS messages
ucCommandMsg = rosNode.subscribe("cmd_vel" /*topicSubscribe*/, 100, ucCommandCallback);
//Setup to publish ROS messages
ucResponseMsg = rosNode.advertise<std_msgs::String>(topicPublish, 100);
//Create receive thread
err = pthread_create(&rcvThrID, NULL, rcvThread, NULL);
if (err != 0) {
ROS_ERROR("unable to create receive thread");
return 1;
}
//Process ROS messages and send serial commands to uController
ros::spin();
fclose(fpSerial);
ROS_INFO("r2Serial stopping");
return 0;
}
The problems are:
communication is not reliable, I get many broken packets in between (the communication is asynchronous), what might be the problem..?
and while receiving the data from the micro controller, I will keep on continuously receiving the same last received data even the controller stops sending the data, what might be the problem for this behavior any internal buffer's need to be cleared..?
or Is there any serial port library I can readily use (with example)
many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-19
Post score: 0
|
Hi,
What do pioneers of the ROS Community think about the future of ROS. Could you point me to some good articles or magazine/newspaper interviews on this topic?
What do they make of the end of Willow Garage and the PR2 platform last year? And what does the OSRF and the numerous spinoffs think of the future?
Is there a common goal as for the future of ROS?
Thank you.
PS - Let me know if this question is not appropriate for this forum. I will take it down.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-08-19
Post score: 0
|
Hello all, I am trying to subscribe to a kinect publisher, grab an rgb image and convert it to an ipl image so I can manipulate it with opencv. I am using Fuerte and Ubuntu 12.04 and I am writing the code in Python. I am bit unsure how to make sure my package paths are all set up correctly. I have found some example code that I am posting below and I get an error stating
"ImportError: No module named cv_bridge"
I have added
<run_depend>cv_bridge</run_depend>
and
<build_depend>cv_bridge</build_depend>
to my package.xml
My package will hopefully control a sphero at some point, and so my package is called 'sphero_controller' and it is in a catkin workspace below my home folder. I have added this to the end of my .bashrc
export ROS_PACKAGE_PATH=/home/gideon:/opt/ros/fuerte/stacks:$ROS_PACKAGE_PATH
Does anyone know what I may be doing wrong?
Thanks
Gideon
#!/usr/bin/env python
import roslib
roslib.load_manifest('sphero_controller')
import sys
import rospy
import cv2
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2.cv as cv
from std_msgs.msg import ColorRGBA
class image_converter:
def __init__(self):
self.image_pub = rospy.Publisher("image_topic_2",Image)
cv2.namedWindow("Image window", 1)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/camera/rgb/image_color",Image,self.callback)
def callback(self,data):
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError, e:
print e
(rows,cols,channels) = cv_image.shape
if cols > 60 and rows > 60 :
cv2.circle(cv_image, (50,50), 10, 255)
cv2.imshow("Image window", cv_image)
cv2.waitKey(3)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
except CvBridgeError, e:
print e
def main(args):
ic = image_converter()
rospy.init_node('image_converter', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv2.destroyAllWindows()
if __name__ == '__main__':
main(sys.argv)
Originally posted by Gideon on ROS Answers with karma: 239 on 2014-08-19
Post score: 0
|
Greetings. I already optimized the wireless image streaming.
The frames are being transmitted by 10fps @ 320x240 resolution. Depth is compressed in PNG while Color is compressed in JPG. I measured their bandwidth by using rostopic bw and I get 450+ kB/s.
There was no lag and it was smooth sailing but suddenly, after few more testing, it began lagging and soon stopped sending images.
Though RGB still send, the depth stopped.
What could possibly be the problem? Is it the Wi-Fi router? Is it the image transport encapsulation? Or is it the driver?
Originally posted by Xegara on ROS Answers with karma: 52 on 2014-08-19
Post score: 0
|
Hi,
Getting, what I can only assume is a simple problem to fix but I've yet to find it, with depthimage_to_laser scan using an XTion sensor.
I'm starting up the xtion driver and depthimage_to_laser scan thus:
rosrun openni2_camera openni2_camera_node /openni2_camera/deh/image_raw:=/image /openni2_camera/depth/camera_info:=/camera_info
rosrun depthimage_to_laserscan depthimage_to_laserscan
But get this error:
"Could not convert depth image to laserscan: scan_height ( 1 pixels) is too large for the image height."
The camera_info topic is reporting (rostopic echo /camera_info):
header:
seq: 811175
stamp:
secs: 1408516955
nsecs: 604143184
frame_id: /openni2_depth_frame
height: 480
width: 640
distortion_model: plumb_bob
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [570.3422241210938, 0.0, 314.5, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [570.3422241210938, 0.0, 314.5, 0.0, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
Which to me looks like the frame sizing should be fine. I can view the depth image in rviz with out issue
Does anyone have a suggestion re: what I can check?
UPDATE:
So I've updated the depthimage_to_laserscan code to give me a better idea of what is going on around this error
the if statement:
if(scan_height_/2 > cam_model_.cy() || scan_height_/2 > depth_msg->height - cam_model_.cy())
{
...
}
because after listing the componnet data i get:
[ERROR] [1408936282.644193807]: Could not convert depth image to laserscan: scan_height ( 1 pixels) is too large for the image height.
cam_model_.cy 235.5
depth_msg->height 120
depth_msg->height - cam_model_.cy() -115.5
Obviously 0.5 > -115.5
If I take that check put it'll run for a while producing some data then crash with a seg fault.
Any idea on that logic?
Many Thanks
Mark
Originally posted by MarkyMark2012 on ROS Answers with karma: 1834 on 2014-08-20
Post score: 0
Original comments
Comment by Moda on 2014-08-20:
did you sudo apt-get install ros-yourdistro-dephtimage-to-laserscan?
I've just install my XtionPro and it work fine
Comment by Moda on 2014-08-20:
I'm using hydro, and launch the openni2.launch,
Comment by MarkyMark2012 on 2014-08-20:
No this is built from scratch - running on raspberry-pi
Comment by anamcarvalho on 2014-08-24:
Have you changed anything from the original code of the package? Or any parameter?
Comment by MarkyMark2012 on 2014-08-27:
@anamcarvalho - nope changed nothing. What depth image size vs camera model size do you get? (This is with and XTion)
Thanks
Mark
|
I have a ros node which publishes a custom message as well as sensor_msgs/JointState messages. Both show up correctly in rostopic echo but not in rqt_plot.
When starting up rqt_plot I see an error: could not get message class for topic type "MyCustomMsg" on topic "my_topic". The message does not show up in rqt_plot's dropdown menu, and can't be added if I type it in explicitly. The message is a float64[] array and should be accessible as my_topic/my_message_data[0] but this doesn't work. The problem is similar to this thread: http://answers.ros.org/question/72739/cant-plot-some-messages-types-on-rqt_plot/ except that restarting doesn't solve it.
The second problem is with the JointState message and similar to https://github.com/ros-visualization/rqt_common_plugins/issues/261 so the question is if this is fixed in the next indigo release?
Originally posted by matheusz on ROS Answers with karma: 90 on 2014-08-20
Post score: 1
|
I'm using ubuntu 12.04, ros hydro, and my computer seems to be too slow sometimes, making ros crashes.
So I'm wondering if I should use a cloud services.
Did somebody already use the Amazone EC2? If yes, did it work fine?
Thank you
Originally posted by Moda on ROS Answers with karma: 133 on 2014-08-20
Post score: 1
|
I'm trying to install the RGBDSLAM V2 using the steps that are shown here under the "Installation From Scratch" but failed and I can't figure out what's wrong with it.
Base path: /home/ceastech/rgbdslam
Source space: /home/ceastech/rgbdslam/src
Build space: /home/ceastech/rgbdslam/build
Devel space: /home/ceastech/rgbdslam/devel
Install space: /home/ceastech/rgbdslam/install
####
#### Running command: "make cmake_check_build_system" in "/home/ceastech/rgbdslam/build"
####
####
#### Running command: "make -j4 -l4" in "/home/ceastech/rgbdslam/build"
####
[ 14%] Built target siftgpu_proj
[ 23%] Built target rgbdslam_generate_messages_py
[ 30%] Built target rgbdslam_generate_messages_lisp
[ 37%] Built target rgbdslam_generate_messages_cpp
[ 37%] [ 37%] Built target rgbdslam_generate_messages
Built target rgbdslam_gencpp
[ 39%] [ 41%] [ 42%] [ 44%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/moc_openni_listener.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/moc_graph_manager.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/qtros.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/main.o
[ 46%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/openni_listener.o
/tmp/ccJWleRv.s: Assembler messages:
/tmp/ccJWleRv.s:6501: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
/tmp/ccJWleRv.s:7191: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
make[2]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/moc_graph_manager.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/tmp/ccmwwdFs.s: Assembler messages:
/tmp/ccmwwdFs.s:6316: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
/tmp/ccmwwdFs.s:7006: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
make[2]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/moc_openni_listener.o] Error 1
/tmp/ccemUxBv.s: Assembler messages:
/tmp/ccemUxBv.s:9379: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
/tmp/ccemUxBv.s:10069: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
make[2]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/main.o] Error 1
/tmp/cci4xF2j.s: Assembler messages:
/tmp/cci4xF2j.s:211470: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
/tmp/cci4xF2j.s:212160: Error: no such instruction: `vfmadd312ss (%ecx),%xmm0,%xmm1'
make[2]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/openni_listener.o] Error 1
make[1]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by charkoteow on ROS Answers with karma: 121 on 2014-08-20
Post score: 1
|
We have a system without an option to connect to the internet. Is there any way to install ROS from a CD or pendrive?
Originally posted by robospace on ROS Answers with karma: 23 on 2014-08-20
Post score: 0
|
I am using gmapping to map the aera with my robot,
I am presently using odo data and data from kinect for mapping.
update after dornhege answer
I get the odo ticks from the robot, which I convert to the distance travelled by each wheel and theta, which I get from the difference of the distances travelled by wheels divided by wheel base length. I give this to /odom.
Presently I am using this published /odom data for the mapping and navigation.
I even Have a yaw rate sensor on the robot which gives yaw angle (along with acceleration values), How can I use this with robot_pose_ekf which also accepts Roll and Pitch angles, but I only have yaw angels how can I achieve the fused odo data with yaw using robot_pose_ekf.?
Many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-20
Post score: 0
Original comments
Comment by dornhege on 2014-08-26:
You would just set roll and pitch to 0. Yaw angles are the important ones for slam.
Comment by ROSuser007 on 2020-01-23:
Warning: A yaw rate sensor's output is not an angle [rad] or [°], it is an angular velocity [rad/s] or [°/s].
P.S: I am aware the question is more than 5 (five) years old, but it can still be found and probably continues to confuse people.
|
I am trying to launch rqt_graph and receive (consistently) the following message:
rqt_graph: Fatal IO error: client killed
I am using ROS hydro on Ubuntu 12.04.5 via ssh.
Any idea what could be the problem?
Originally posted by EranK on ROS Answers with karma: 1 on 2014-08-20
Post score: 0
|
hi everyone
im new in ubuntu and currently learning to understand ROS. im working on a project which required ROS to program turtbot for navigation.
the problem is I dont know where and what to start. im just following the ROS tutorial provided. can anyone enlighten me on how and what should i do first.what is the step from creating workspace to programming turtlebot.
im so lost here :(
Originally posted by lfyhmdn on ROS Answers with karma: 36 on 2014-08-20
Post score: 0
|
Hi,
I'm trying to use the robot_localization package in my project to improve my turtlebot pose estimate.
I've read the package page and the tutorials but I'm still confused in some parts:
In the package page it states that the ekf_localization is the only node in the package. However, in the GPS integration tutorial it is used utm_transform_node. Do I need to use both of them? Is utm_transform_node output one of the inputs for ekf_localization? If yes, should I use the same IMU data for both nodes?
I've attached a cellphone to the robot and I'm retrieving the data from its internal sensors. Since my GPS data is already in latitude/longitude format, may I just publish this data in the fix topic in the utm_odometry_node from the gps_common package? This way I wouldn't need to use the nmea_navsat_driver package.
I know I'm supposed to use the data from the cellphone accelerometer as my IMU data. But I'm also receiving the data from the inclinometer sensor which provides me roll/pitch/yaw angle values. Wouldn't this data be more useful than the one from the accelerometer? Could it be easily implemented in the position estimate?
I'm sorry for the several questions, but I'm quite new to ROS and some things are still not very clear to me.
Thanks!
Originally posted by gerhenz on ROS Answers with karma: 53 on 2014-08-20
Post score: 0
|
We are trying to calibrate a USB camera running at 1080p (i.e., 1920x1080). When launching usb_cam and then image_view, the image comes up correctly at the right aspect ration.
rosrun usb_cam usb_cam_node _image_width:=1920 _image_height:=1080 _pixel_format:=yuyv
rosrun image_view image_view image:=/usb_cam/image_raw
However, whenever we try and run the camera calibration node, the aspect ratio of the image seems to be reversed:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.025 image:=/usb_cam/image_raw camera:=/usb_cam
We are running Ubuntu 14.04 64bit with the latest Indigo build.
Originally posted by rtoris288 on ROS Answers with karma: 1173 on 2014-08-20
Post score: 0
Original comments
Comment by rtoris288 on 2014-08-21:
Created a ticket/pull request here for a possible bug:
https://github.com/ros-perception/image_pipeline/pull/94
|
Hello,
today installed my package manager some new packages for ROS.
As you can see there are new tutorials and myabe example files.
Let s take for istance the URDF tutorial in the picture:
Where are saved? How to call those tutorials?
In the description there was no entry.
Regards
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-08-20
Post score: 0
|
hi, all,
I am trying to run the navigational core move_base separately.
there are number of nodes to run before it functions properly.
among them, I cannot find any executable under base_local_planner and dwa_local_planner packages, i.e. I cannot 'rosrun xx_local_planner [executable]'.
how to run them as standalone nodes?
thanks
ray
Originally posted by dreamcase on ROS Answers with karma: 91 on 2014-08-20
Post score: 0
|
Hi,
I tried to install ROS on a raspbian image (supporting collada and rviz) following the Wiki: http://mediabox.grasp.upenn.edu/roswiki/groovy%282f%29Installation%282f%29Raspbian%282f%29Source.html
Collada naking and insatllaing worked. According to the tutorial I created a ros_catkin_ws and got the sources from git. The make command is using catkin_make_isolated, which should be in
$ sudo ./src/catkin/bin/catkin_make_isolated --install --install-space /opt/ros/groovy
as a source, but it isn't.
The Get command I used (according to the wiki) was:
$ rosinstall_generator --rosdistro groovy desktop > /tmp/groovy_desktop.ri
$ sudo wstool init src -j1 /tmp/groovy_desktop.ri
Does anyone have an idea, why the catkin sources aren't in ./src and how can i git the catkin sources additionally?
Thanks in advance
Originally posted by MartinHummel on ROS Answers with karma: 156 on 2014-08-20
Post score: 0
|
I have a actionserver written in C++. I want to run this actionserver using actionserverwrapper in smach. Is this possible? Or we have to write the actionserver in python itself?
Originally posted by Arun on ROS Answers with karma: 11 on 2014-08-20
Post score: 0
|
I'm writing a new node and am following examples on how to do that in python.
This node subscribes to a topic being published from another node (this other node's published topic is being published correctly as verified by "rostopic echo /topicname").
However, the subscriber node doesn't seem to be subscribing correctly to this topic (although the Callback is displaying the information to the command line correctly that it should be taking as input).
I'm in ROS Groovy.
The code is here:
#!/usr/bin/python
#JOE
#August 2014
#publishes topic ilimb_grip_pub
#subscribes topic ilimb_define_pos
import rospy
from std_msgs.msg import String
import socket
#UDP_IP = "129.107.3.95"
UDP_IP = "127.0.0.1" #debug
UDP_PORT = 9000
Program_Name = "./handcontrol"
def callback(data):
rospy.loginfo(rospy.get_caller_id()+"I heard %s",data.data)
def ilimb_grip_pub():
# this listens to a user input for a user-defined hand configuration
rospy.init_node('ilimb_grip_pub', anonymous=True)
rospy.Subscriber("ilimb_define_pos", String, callback)
#this creates the publisher topic
#pub = rospy.Publisher('ilimb_grip_pub', String) #needs to publish to a IP addr/ port
#rospy.init_node('ilimb_move', anonymous=True)
r = rospy.Rate(10) # 10hz
#this loop needs to be modified to publish hand configurations
#based on user input
while not rospy.is_shutdown():
print ilimb_define_pos.msg
#~ define_pos= ilimb_define_pos.split(" ")
#~ print define_pos
#~ Digit_ID = define_pos[0]
#~ Command = define_pos[1]
#~
#~ Message = "%s %d %s\n"%(Program_Name, Digid_ID, Command)
#~
#~ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
#~ sock.sendto(Message, (UDP_IP, UDP_PORT))
#~
#~ rospy.loginfo(Message)
#~ #pub.publish(str)
#~ r.sleep()
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
#~
if __name__ == '__main__':
try:
ilimb_grip_pub()
except rospy.ROSInterruptException:
pass
I'm getting the error:
NameError: global name 'ilimb_define_pos' is not defined.
This is strange as this is the topic to which I am subscribing... any ideas? I'm drawing a blank.
Originally posted by joe.s on ROS Answers with karma: 162 on 2014-08-20
Post score: 0
|
Hi;
I would to create a 3D map with Kinect, using PCL, I have two point cloud aligned and concatenated but their concatenation contains duplicate point cloud of the same part.
How can I delete this duplication without losing data.
I really appreciate any kind of help !
Thanks.
Originally posted by faty on ROS Answers with karma: 1 on 2014-08-20
Post score: 0
|
hi there. i'm working on a robot prototype that has a touch screen as a user interface. i have a few questions. i've done some research in the last few days but i couldn't find any reliable source of information. i would love to get feedback from everyone who's done this before.
hardware: what type of touch screen manufacturer & product would you recommend that works well with ros & ubuntu? we're using an intel nuc i5 for our robot.
software: how do you go about building beautiful touch UI with ros & ubuntu? different from tablets (which already have well defined sdk and api like in android and ios), i'm not sure what are the equivelance in ros & ubuntu.
ros support: are there any ros packages that support touch UI yet?
any feedback, comment, advice is much appreciated.
Originally posted by d on ROS Answers with karma: 121 on 2014-08-20
Post score: 1
|
Hello !
I used navigation package in my robot , but now I want to modify some code in the base_local_planner of navigation . I know that I cannot edit the source file install in /opt/ros/hydro/share , so I downloaded package here .
Before I edit the code , I ran my simulation robot in rviz and give a 2D navigation to it . I ran the $rospack find move_base to ensure that it link to the package I have download , and it shows /home/llm/chaoying/src/navigation-hydro-devel.2/move_base . But the robot went a wrong way and can not arrive the goal which is not same when I used the original move_base in /opt/ros/hydro/share .
I want to know why ? Are the two package's code different ?
Originally posted by Lau on ROS Answers with karma: 47 on 2014-08-20
Post score: 0
|
I have the following frame transformation chain:
laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world
Where
laser_frame is where the scans are
generated
odom is the odometry regarding the
map
map is where the 2D map is created
based on scans
world is the frame in the middle of
the stage, what is meant to be
(0,0,0) and the very first coordinate
axis
I want the map to be created over the world while scans/world/map moving regarding the quadrotor. I mean something intuitive, the quadrotor moves inside the stage so rviz must show how the stage (world, scans and map) move relative to it, keeping it in the center of view, fixed.
What must be the fixed frame? What must be the target frame? Why? Must I do some weird transformation or it's just simply the setup?
Originally posted by Chipiron on ROS Answers with karma: 93 on 2014-08-21
Post score: 0
|
Hi, guys, I have installed the ardrone dirver on my laptop and I am having a few problems when when using it with Ardrone 2.0.
After running the driver, I used this command rostopic echo /ardrone/navdata, what I find is that the altd and vz are always 0 while vz, vy are updating.
It is found that the video_channel parameter either being 1 or 0, the image is always published to the /ardrone/front/image_raw and /ardrone/image_raw. The /ardrone/bottom/image_raw topic always has nothing.
I have a node subscribing to the /ardrone/image_raw (callback1) and /ardrone/imu (callback2) topic. I set up a counter that is incremented by 1 in the callback2 function. In the callback1 function, I first print the counter and then set it to 0. What I notice is that the counter value varies a lot. I mean the IMU data is published at 200Hz and the image at 20 Hz. the counter should be around 10, right ?
I really appreciate it if anyone can help with these issues.
Originally posted by z3391384 on ROS Answers with karma: 11 on 2014-08-21
Post score: 0
|
Hi all,
I am using the pcl_ros package in Groovy in order to transform a point cloud in the /map frame (/map -> /odom is given by a localizer node, while /odom -> /rgb_optical_frame is given by a set of transform publishers):
pcl_ros::transformPointCloud(fixedFrame, *cloud, *tcloud, tf_);
However, an exception is raised that says I do not have the transormation from /rgb_optical_frame to /map. If I open rqt and display the transformation tree, this is all connected as expected.
Could it be some issues about timings? How to check them, how to solve?
EDIT: here I add some additional information from the comments
I have two machines, on the first machine (I call it sensor-laptop) the following topics are computed:
tf (/map -> /odom, /odom -> /X1_rgb_optical_frame)
point clouds from depth and rgb images
on the second machine (visualization-laptop) I compute the following topics:
point clouds (again) from depth and rgb images sent over the network from sensor-laptop
and I am trying to visualize these point clouds using the transformation computed on the other laptop
the two laptops are time-synchronized using chrony, however, the transformPointCloud function says it does not have the transformation:
[ERROR] [1408639544.612446512]: Unable to lookup transform, cache is empty, when looking up transform from frame [/X1_rgb_optical_frame] to frame [/map]
EDIT2: the output of tf_echo and tf_monitor on the visualizer-laptop
these outputs have been obtained on visualizer-laptop by setting ROS_MASTER_URI to the address of sensor-laptop
$ rosrun tf tf_echo /map /X1_rgb_optical_frame
Failure at 1408704324.631461344
Exception thrown:Could not find a connection between '/map' and '/X1_rgb_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.
The current list of frames is:
Frame /X1_depth_optical_frame exists with parent /X1_depth_frame.
Frame /X1_depth_frame exists with parent /X1_link.
Frame /X2_depth_frame exists with parent /X2_link.
Frame /X2_link exists with parent /base_link.
Frame /X2_depth_optical_frame exists with parent /X2_depth_frame.
Frame /X1_link exists with parent /base_link.
Frame /base_link exists with parent /base_projected.
Frame /X1_rgb_frame exists with parent /X1_link.
Frame /X2_rgb_frame exists with parent /X2_link.
Frame /X2_rgb_optical_frame exists with parent /X2_rgb_frame.
Frame /base_projected exists with parent NO_PARENT.
Frame /imu exists with parent /base_link.
Frame /X1_rgb_optical_frame exists with parent /X1_rgb_frame.
Frame /odom exists with parent /map.
Frame /map exists with parent NO_PARENT.
At time 1408704324.660
- Translation: [0.110, 0.045, 0.540]
- Rotation: in Quaternion [0.496, 0.504, 0.503, 0.497]
in RPY [1.571, 0.002, 1.585]
At time 1408704324.660
- Translation: [0.110, 0.045, 0.540]
- Rotation: in Quaternion [0.496, 0.504, 0.503, 0.497]
in RPY [1.571, 0.002, 1.585]
At time 1408704326.660
- Translation: [0.110, 0.045, 0.540]
- Rotation: in Quaternion [0.496, 0.504, 0.503, 0.497]
in RPY [1.571, 0.002, 1.585]
At time 1408704326.660
- Translation: [0.110, 0.045, 0.540]
- Rotation: in Quaternion [0.496, 0.504, 0.503, 0.497]
in RPY [1.571, 0.002, 1.585]
At time 1408704328.663
- Translation: [0.110, 0.045, 0.540]
- Rotation: in Quaternion [0.496, 0.504, 0.503, 0.497]
in RPY [1.571, 0.002, 1.585]
$ rosrun tf tf_monitor
RESULTS: for all Frames
Frames:
Frame: /X1_depth_frame published by /X1/X1_base_link Average Delay: -0.0932871 Max Delay: 0
Frame: /X1_depth_optical_frame published by /X1/X1_base_link2 Average Delay: -0.0932006 Max Delay: 0
Frame: /X1_link published by /link_broadcaster_200_1 Average Delay: -0.0900222 Max Delay: 0
Frame: /X1_rgb_frame published by /X1/X1_base_link1 Average Delay: -0.0928696 Max Delay: 0
Frame: /X1_rgb_optical_frame published by /X1/X1_base_link3 Average Delay: -0.0931895 Max Delay: 0
Frame: /X2_depth_frame published by /X2/X2_base_link Average Delay: -0.0932177 Max Delay: 0
Frame: /X2_depth_optical_frame published by /X2/X2_base_link2 Average Delay: -0.093197 Max Delay: 0
Frame: /X2_link published by /link_broadcaster_200_2 Average Delay: -0.0927084 Max Delay: 0
Frame: /X2_rgb_frame published by /X2/X2_base_link1 Average Delay: -0.0931225 Max Delay: 0
Frame: /X2_rgb_optical_frame published by /X2/X2_base_link3 Average Delay: -0.0936689 Max Delay: 0
Frame: /base_link published by /link_broadcaster_210 Average Delay: -0.0926389 Max Delay: 0
Frame: /base_projected published by /matildaRed Average Delay: 0.00379103 Max Delay: 0.00379103
Frame: /imu published by /link_broadcaster_330 Average Delay: -0.0924762 Max Delay: 0
Frame: /odom published by /mapper Average Delay: 0.0105839 Max Delay: 0.0109235
All Broadcasters:
Node: /X1/X1_base_link 10.4721 Hz, Average Delay: -0.0932871 Max Delay: 0
Node: /X1/X1_base_link1 10.4659 Hz, Average Delay: -0.0928696 Max Delay: 0
Node: /X1/X1_base_link2 10.4712 Hz, Average Delay: -0.0932006 Max Delay: 0
Node: /X1/X1_base_link3 10.4711 Hz, Average Delay: -0.0931895 Max Delay: 0
Node: /X2/X2_base_link 10.471 Hz, Average Delay: -0.0932177 Max Delay: 0
Node: /X2/X2_base_link1 10.466 Hz, Average Delay: -0.0931225 Max Delay: 0
Node: /X2/X2_base_link2 10.4709 Hz, Average Delay: -0.093197 Max Delay: 0
Node: /X2/X2_base_link3 10.4711 Hz, Average Delay: -0.0936689 Max Delay: 0
Node: /link_broadcaster_200_1 10.4553 Hz, Average Delay: -0.0900222 Max Delay: 0
Node: /link_broadcaster_200_2 10.466 Hz, Average Delay: -0.0927084 Max Delay: 0
Node: /link_broadcaster_210 10.4662 Hz, Average Delay: -0.0926389 Max Delay: 0
Node: /link_broadcaster_330 10.4663 Hz, Average Delay: -0.0924762 Max Delay: 0
Node: /mapper 2.00137 Hz, Average Delay: 0.0105839 Max Delay: 0.0109235
Node: /matildaRed 1e+08 Hz, Average Delay: 0.00379103 Max Delay: 0.00379103
EDIT3:
Just to add something to the question now I put these lines of codes:
if (!tf_.waitForTransform(fixedFrame, cloud->header.frame_id, ros::Time(0), ros::Duration(3.0))) {
// whatever...
}
else {
cout << "Cannot transform " << fixedFrame << " to " << cloud->header.frame_id << endl;
cout << "These are all the frames: " << tf_.allFramesAsString() << endl;
}
that output this:
Cannot transform /map to /X2_rgb_optical_frame
These are all the frames: Frame /X2_depth_optical_frame exists with parent /X2_depth_frame.
Frame /X2_depth_frame exists with parent /X2_link.
Frame /X1_depth_optical_frame exists with parent /X1_depth_frame.
Frame /X1_depth_frame exists with parent /X1_link.
Frame /base_link exists with parent /base_projected.
Frame /base_projected exists with parent /odom.
Frame /imu exists with parent /base_link.
Frame /X2_link exists with parent /base_link.
Frame /X1_rgb_optical_frame exists with parent /X1_rgb_frame.
Frame /X1_rgb_frame exists with parent /X1_link.
Frame /X2_rgb_frame exists with parent /X2_link.
Frame /X2_rgb_optical_frame exists with parent /X2_rgb_frame.
Frame /X1_link exists with parent /base_link.
Frame /odom exists with parent /map.
Frame /map exists with parent NO_PARENT.
Originally posted by madmage on ROS Answers with karma: 293 on 2014-08-21
Post score: 0
Original comments
Comment by dornhege on 2014-08-21:
Yes, it most probably is. The actual exception should tell you what the problem is.
Comment by lucaluca on 2014-08-21:
I have another hypothesis: it could be that you have to somehow tell ROS that the transformation from /rgb_optical_frame to /map is the transformation /rgb_optical_frame->/odom->/map
Comment by paulbovbel on 2014-08-21:
@lucaluca, the tf library takes care of that
Comment by lucaluca on 2014-08-21:
Yeah you're right, I got confused, but if the tree is connected there's no need to tell ROS anything. Sorry :)
Comment by madmage on 2014-08-21:
dornhege, the exception says this:
[ERROR] [1408632199.169211408]: Unable to lookup transform, cache is empty, when looking up transform from frame [/X2_rgb_optical_frame] to frame [/map]
so, it does not mention anything about timing issues
Comment by dornhege on 2014-08-21:
I think you're missing the actual content here. Can you verify that the time stamp of the point cloud is in the range of the TF times in the listener. Is everything running on a single machine?
Comment by madmage on 2014-08-21:
dornhege, actually this is run on two machines: one with the sensors and the other with the visualizer
in the current configuration: clouds and localization (tf) are computed on the sensor-laptop, then clouds are again computed on visualizer-laptop and I take the tf computed on the sensor-laptop
Comment by madmage on 2014-08-21:
I cannot send clouds over the network (too large), how can I sync the clouds computed on the visualizer-laptop with the tfs computed on the sensor-laptop?
Comment by dornhege on 2014-08-21:
What I am aiming at is: If the time stamps are from two machine and those are not synched, you'll get in trouble. You said clouds are computed on sensor-laptop and visualizer-lap again? I guess based on data from sensor-lap.
Comment by dornhege on 2014-08-21:
In that case those clouds should get time stamps from the incoming data. Basically if ros::Time::now() is called anywhere on the vis-lap something is wrong.
Comment by paulbovbel on 2014-08-21:
@madmage, can you update the question with the full exception output please
Comment by madmage on 2014-08-21:
just to be sure, I synchronized the two laptops using chrony, now they have the same time
however, if you confirm that the clouds should get the time stamps of the input images, they should have been sync'ed also before
Comment by dornhege on 2014-08-22:
Does "Cache is empty" happen once and then it works or all the time? The former is normal.
Comment by madmage on 2014-08-22:
all the time, however once in a while (i.e., once every five minutes or so) one of the clouds got transformed (???)
Comment by dornhege on 2014-08-22:
Something seems broken. Can you check tf_echo and tf_monitor on that same machine.
Comment by madmage on 2014-08-22:
I put them in the initial question as EDIT2
Comment by dornhege on 2014-08-22:
Are you by any chance creating a new TFListener on the fly each time instead of keeping a single one during the program lifetime?
Comment by dornhege on 2014-08-22:
And matildaRed with 100MHz is only a display bug, right?
Comment by madmage on 2014-08-22:
dornhege, only one tf listener, created at the start of the node and then used multiple times
yes, I think I took the tf_monitor too early (maybe it is a division by 0 or something), now is
Node: /matildaRed 1.3167 Hz, Average Delay: 0.00965679 Max Delay: 0.0116892
Comment by madmage on 2014-08-22:
Ok, after the synchronization of the two laptops, I had a typo (a "not" where it shouldn't be) in the code: now it is working. I am still not sure why I have to synchronize the two laptops if all the timestamps are related to the origin of the data, that is the RGB/Depth image pair.
Comment by paulbovbel on 2014-08-22:
The errors were probably a combination of you using ros::Time(0) instead of the message timestamp, and the lack of synchronization. If you have deeper questions about TF, try asking another question.
|
Hi All,
I am attempting to follow the tutorial on MoveIt! using the PR2 example in ROS Hydro.
However, it talks about using the URDF file generated "above":
Click on the browse button and navigate to the pr2.urdf file you just created above. Choose that file and then click Load Files. The Setup Assistant will load the files (this might take a few seconds) and present you with this screen:
The 'above' link goes to a section on pre-requisites. This page contains no information on creating the URDF. The URDF file contains the xacro macros but I can find no clear instructions on actually creating it.
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-08-21
Post score: 0
|
I have a small hydraulic arm (similar to an excavator arm) that consists of a rotating base, a boom link and a stick link. The boom and stick links move in a vertical plane whose orientation is defined by the rotating base. I would like to control the distal end (end furtherest from the base) of the stick link in two ways: Cylindrical coordinates and Cartesian Coordinates.
What are the main steps required to achieve this? So far I have a primitive model of my robot arm and have run through the MoveIt setup guide, but I am having difficulty with working out how to implement the joint combinations and kinematic chains. So far the behaviour of MoveIt! seems to be focused in joints only. I could set up an end effector in MoveIt! but the arm does not have an end effector as such.
Here is a screenshot of the situation.
What I have done is that I have defined the tip of the 'stick' (where the ball is) as a universal joint consisting of two continuous joints, with a dummy link in the middle.
I can move the arm fine by dragging the red and blue arrows. However, if I try to move the arm by moving the green arrows it will not move. Such movement should be accommodated by having the base rotate, something that is not happening. Indeed, if I drag the green arrows it 'breaks' the position so that I have to reset it before I can choose any other valid position. Note that if I select a 'random valid' joint end state it does pick states with the base rotated.
I am finding the whole thing perplexing. Can anyone shed light on how I could drag the position of the end of the arm using all three arrows without it breaking anything?
Thanks, Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-08-21
Post score: 3
Original comments
Comment by gvdhoorn on 2014-08-21:
Forgive my ignorance (as in: I might not fully understand this), but wouldn't defining a kinematic chain work here? Create one including all links, so the "rotating base, boom link and stick link". As long as proper joints have been defined between those links, the planners should be able to work it. Don't try to add joints to groups, then links to the chain simultaneously. Define only one. The end effector isn't needed yet.
Comment by bjem85 on 2014-08-23:
It does work, in the sense that a solution can be found, but I cannot control the joint angles and coordinates in the way I want to, and I don't see where the MoveIt! setup assistant has any flexibility to let me adjust it to what I want.
Comment by gvdhoorn on 2014-08-23:
You're going to have to be a bit more specific than "what you want". Whay did you try, what didn't work and what do you want to achieve? Please update your question with that information (instead of in the comments). Also, see if the ROS-I tutorial on moveit cfgs can fill in any of the missing pieces.
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Hi Guys,
I have been using the actionlib client to send goals to the navigation stack. Now the case is I have to get the goal position from a subscriber and I put the actionlib client in the callback of the subscriber as follows. The problem is we want the robot to be able to deal with new coming goal even the current goal has not reached, i.e. the robot will always moving towards the new goal. I don't know how to deal with the callback to deal with the latest coming message from the subscriber. Thanks.
void PoseCallback(const geometry_msgs::PoseStamped::ConstPtr& goal, MoveBaseClient* ac)
{
move_base_msgs::MoveBaseGoal mb_goal;
// fill in the mb_goal
...
ac->sendGoal(mb_goal);
ac->waitForResult();
if(ac->getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("The robot has reached the goal");
else
ROS_INFO("The base failed to get to the goal");
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "move_base_client");
ros::NodeHandle nh;
MoveBaseClient ac("move_base", true);
while(!ac.waitForServer(ros::Duration(5.0)))
{
ROS_INFO("Waiting for the move_base action server to come up");
}
ros::Subscriber pose_sub = nh.subscribe<geometry_msgs::PoseStamped>("nav_topics", 1, boost::bind(PoseCallback, _1, &ac));
ros::spin();
return 0;
}
Originally posted by dalishi on ROS Answers with karma: 89 on 2014-08-21
Post score: 1
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While doing the example of Service and Client from this page, I am getting an error "Import Command not Found" when trying to run the Server and the Client Nodes. I have checked the code but evrything is acoording to the tutorial. Can somebody please help? I am doing these examples using rospy.
http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28python%29
The file is as below :
#!/usr/bin/env python
import rospy
from beginner_tutorials.srv import *
def handle_add_two_ints(req):
print "Returning [%s + %s = %s]"%(req.a, req.b, (req.a + req.b))
return AddTwoIntsResponse(req.a + req.b)
def add_two_ints_server():
rospy.init_node('add_two_ints_server')
s = rospy.Service('add_two_ints', AddTwoInts, handle_add_two_ints)
print "Ready to add two ints."
rospy.spin()
if __name__ == "__main__":
add_two_ints_server()
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-08-21
Post score: 2
Original comments
Comment by ish45 on 2014-08-21:
Yes. I have run catkin_make and source devel/setup.bash. Infact, I have been able to sucessfully run the publish, subscribe messages tutorial in python. So, I guess python has been set up properly.
Edit : python filename.py as suggested by one of the users has worked without any errors.
|
Hi everyone,
I am writing a code to do obstacle motion detection... To do so I need the current map of the environment, save it in time t, and compare this map with the one obtained in the next iteration...
Gmapping provides a global map, a map that contains every information scanned by the laser! I want a map that just represents the last scan! I need it to update the map, but to only show the last scan!
How can I solve this? Is possible to change something in the Gmapping parameters? Is there any package that does something similar?
Thank you!
Originally posted by anamcarvalho on ROS Answers with karma: 123 on 2014-08-21
Post score: 0
Original comments
Comment by 130s on 2014-08-24:
From the title I removed "urgent", which can raise an attention to maintainers for the need of immediate work -- this ticket looks like not the case.
Comment by anamcarvalho on 2014-08-24:
Hi! I said it is urgent because it actually is urgent! I have my thesis to be delivered very soon and I need a correct answer ASAP!
Comment by dornhege on 2014-08-25:
Please review the http://wiki.ros.org/Support guidelines. People here usually help as soon as they can on their own time.
|
Dear all,
I am using pcl_ros package, with pcl 1.6 and ROS groovy.
I am subscribing to a PointCloud2 topic, using a callback like this:
void MainWindow::xtionCloudCallback(const pcl::PointCloudpcl::PointXYZRGB::ConstPtr& cloud)
is it possible to get the cloud frame? if I transform the cloud using a TransformListener tf, e.g.:
pcl_ros::transformPointCloud("/map", *cloud, *tcloud, tf);
this function is able to retrieve the cloud frame in some way, how do I get it?
Originally posted by madmage on ROS Answers with karma: 293 on 2014-08-21
Post score: 1
|
hi everyone
I am interseted in pathplanning and i try to build my robot. As i understood, we can use navfn package for global pathplanning which means a path from the current robot state to the goal state. Another package that we should use is base_local_planner or something like it that works in velocity space and publishes messages for base controller. Something that i can not understand is relationship between these two planners. How a planner like DWA or Trajectory Rollout or other local planners considers this path? I mean does this path effect the calculation for our local commands? Is there any reference which discusses this subject in a mathematical manner??
thanks:))
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-08-21
Post score: 1
|
Can someone explain the following sentence or with an image maybe ?
A clearing operation, however, consists of raytracing through a grid from the origin of the sensor outwards for each observation reported.
Thank you !
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-08-21
Post score: 0
|
Hi all,
Right now my situation is that there is a node that publishes information, and I need to be able grab information from the publishing node and then print out (I need it for more than just "printing", but trying to keep it simple here) the information recieved when there is an user input.
Here's a snippet of the code
while(true)
{
std::string inputString;
std::cout << "Give input";
std::getline(std::cin, inputString);
if(inputString.compare("something") == 0)
{
//send a request to the node serving out the messages
//print out recieved messages.
}
ros::spinOnce();
}
So I noticed that the received messages do not update on the first input of "something" (hence printing out the previous, un-updated message), but rather on the second time of input. To the best of my knowledge, it has to do something with how getline() is a blocking function, and hence the subscriber/publisher/service calls within this node are not being called, and is only called after there is a spin function invovled (be it spinOnce or spin). In this case, what is a good solution to get around this?
Originally posted by silentwf on ROS Answers with karma: 55 on 2014-08-21
Post score: 1
|
Let say I have some values set of Box attributes in a launch file as below:
<id="width" value="1"/>
<id="length" value="3"/>
<id="height" value="3"/>
<id="width2" value="3"/>
<id="length2" value="3"/>
<id="height2" value="4"/>
<id="width3" value="2"/>
<id="length3" value="3"/>
<id="height3" value="3"/>
These value I will read in a method and publish those. But the problem here how the publisher should look like as I don't want to limit the number of box only to 3, it could be set up to n, where n is a real number. Those all value will later be subscribed by another node that will construct a class like below:
Box
{
...
...
double width;
double length;
double height;
...
...
}
How do I achieve this? Thanks in advance.
Originally posted by alfa_80 on ROS Answers with karma: 1053 on 2014-08-21
Post score: 0
Original comments
Comment by ahendrix on 2014-08-21:
The ROS parameter server supports arrays and maps. You should probably be using those.
|
I am getting an error from the linker when I attempt to run catkin_make run_tests_my_package`
The error I get is:
/usr/bin/ld: cannot find -lmy_package
collect2: error: ld returned 1 exit status
Under testing in my CMakelist.txt I have the following:
catkin_add_gtest(${PROJECT_NAME}-test test/utest.cpp)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
endif()
include_directories(include ${catkin_INCLUDE_DIRS})
Am I missing something? do I need to use add_executable in my CMakelist.txt?
Another thing to mention is my workspace layout, it's arranged as follows:
my_package/
bin/
build/
src/
my_class.h
my_class.cpp
test/
utest.cpp
world/
CMakelist.txt
and inside utext.cpp I am referencing my_class.h list this #include "my_package/my_class.h
Full CMakelist.txt
Originally posted by Kurt on ROS Answers with karma: 1 on 2014-08-21
Post score: 0
|
I've seen that running two versions of libboost will cause problems, but I can't figure out how to upgrade my libboost so that I can use an external library.
I'm using the vicon_bridge package, which uses a Vicon SDK that seems to need libboost1.53. My BOOST_LIB_VERSION macro prints out as Boost version: 1_46_1, and apt-cache policy libboost-dev returns:
libboost-dev:
Installed: 1.48.0.2
Candidate: 1.48.0.2
Version table:
*** 1.48.0.2 0
500 http://us.archive.ubuntu.com/ubuntu/ precise/main i386 Packages
100 /var/lib/dpkg/status
I'm running a 32-bit VM of Ubuntu 12.04 with ROS Hydro. If I run sudo apt-get install libboost1.54-dev, apt-get will uninstall all my ros binaries (presumably because they need a 1.4* version of boost).
How can I meet both 1.53 and 1.48 boost version dependencies simultaneously?
EDIT:
I'd assumed that it's a boost library issue, but might not be. Here's the backtrace from the segfault:
#0 0xb7aa5108 in ?? () from /lib/i386-linux-gnu/libc.so.6
#1 0xb7aa6674 in ?? () from /lib/i386-linux-gnu/libc.so.6
#2 0xb7aa8e4c in malloc () from /lib/i386-linux-gnu/libc.so.6
#3 0xb7ccf627 in operator new(unsigned int) () from /usr/lib/i386-linux-gnu/libstdc++.so.6
#4 0xb7e1117a in ros::PollManager::addPollThreadListener(boost::function<void ()> const&) () from /opt/ros/hydro/lib/libroscpp.so
#5 0xb7e558f7 in ros::start() () from /opt/ros/hydro/lib/libroscpp.so
#6 0xb7e2c317 in ros::NodeHandle::construct(std::string const&, bool) () from /opt/ros/hydro/lib/libroscpp.so
#7 0xb7e2d7a3 in ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&) ()
from /opt/ros/hydro/lib/libroscpp.so
#8 0xb7e6f434 in ros::AsyncSpinnerImpl::AsyncSpinnerImpl(unsigned int, ros::CallbackQueue*) () from /opt/ros/hydro/lib/libroscpp.so
#9 0xb7e71d94 in ros::AsyncSpinner::AsyncSpinner(unsigned int) () from /opt/ros/hydro/lib/libroscpp.so
#10 0x080a22f9 in main ()
EDIT 2:
More info on the boost linking:
$ ldd vicon_bridge | grep boost
libboost_signals.so.1.46.1 => /usr/lib/libboost_signals.so.1.46.1 (0xb70ba000)
libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0xb7090000)
libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0xb7079000)
libboost_filesystem.so.1.46.1 => /usr/lib/libboost_filesystem.so.1.46.1 (0xb7034000)
libboost_regex.so.1.46.1 => /usr/lib/libboost_regex.so.1.46.1 (0xb6d8e000)
I get the same output even after I run commands like:
$ catkin_make --force-cmake --pkg vicon_bridge -DBoost_DIR=/home/cohrint/catkin_ws/src/vicon_bridge/vicon_sdk/Vicon_SDK_1.3_Linux/32-bit/ -DBoost_NO_SYSTEM_PATHS=ON -DBoost_ADDITIONAL_VERSIONS="1.53;1.53.0"
and I get the same thing whenever I try to edit the CMakeLists.txt file as specified in this post.
EDIT3: I've now reinstalled everything on a 64-bit Ubuntu 12.04 install, and I still get issues with Boost. Here's the output of roslaunch vicon_bridge vicon.launch:
process[vicon-1]: started with pid [2993]
[ INFO] [1409066865.764183805]: Connecting to Vicon DataStream SDK at 192.168.20.10:801 ...
[ INFO] [1409066865.766696029]: .
[ INFO] [1409066866.767665040]: ... connected!
[ INFO] [1409066866.767822995]: Setting Stream Mode to ClientPull: Success
[ INFO] [1409066866.767871496]: Axis Mapping: X-Forward Y-Left Z-Up
[ INFO] [1409066866.767906874]: Version: 1.3.0
[ INFO] [1409066866.767946398]: setting up grab_vicon_pose service server ...
[ INFO] [1409066866.769546522]: setting up segment calibration service server ...
[ WARN] [1409066866.772330340]: grab frame returned false
terminate called after throwing an instance of 'boost::thread_interrupted'
and to show which libraries it's using by running ldd vicon_bridge | grep boost:
libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0x00007f9956a21000)
libboost_thread-mt.so.1.53.0 => /home/cohrint/catkin_ws/src/vicon_bridge/vicon_sdk/Vicon_SDK_1.3_Linux/64-bit/libboost_thread-mt.so.1.53.0 (0x00007f9955a18000)
libboost_system-mt.so.1.53.0 => /home/cohrint/catkin_ws/src/vicon_bridge/vicon_sdk/Vicon_SDK_1.3_Linux/64-bit/libboost_system-mt.so.1.53.0 (0x00007f9955815000)
libboost_signals.so.1.46.1 => /usr/lib/libboost_signals.so.1.46.1 (0x00007f995534f000)
libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0x00007f9954f22000)
libboost_filesystem.so.1.46.1 => /usr/lib/libboost_filesystem.so.1.46.1 (0x00007f99548dd000)
libboost_regex.so.1.46.1 => /usr/lib/libboost_regex.so.1.46.1 (0x00007f9953de7000)
Originally posted by nckswt on ROS Answers with karma: 539 on 2014-08-21
Post score: 0
Original comments
Comment by Murilo F. M. on 2014-08-21:
Are those dependencies on 1.53 header-only?
Comment by nckswt on 2014-08-21:
I actually don't know how to check that. I assumed the dependencies were on libboost1.53 because of these libraries in the package
Comment by Murilo F. M. on 2014-08-21:
It looks like the 1.53 libs are wrapped inside the package, so it shouldn't conflict with your Boost libs system-wide.
Comment by nckswt on 2014-08-21:
So the segfault is unrelated to boost? Why would AsyncSpinner() cause a segfault?
|
i just read an article about savioke (http://www.savioke.com/). it looks like one great robot built on ros!
does anyone know how savioke touch screen is implemented?
i asked a similar question yesterday on this forum about how to build a touch interface for the robot (on the robot like savioke), and the only answer so far was to use a tablet (thanks!).
i can see that it could work, but the tablet solution seems to have 2 issues.
you have to build the touch interface in a different language / framework (i.e. android sdk or ios sdk), and then build the actual logic for the robot in ros. it's possible but it doesn't seem like an optimal solution to spread development efforts in two different places.
the tablet likely has its own hardware (i.e. its own board, ram, etc), while the robot also has its own hardware (i.e. board, ram, etc). it doesn't seem like an optimal way to build out the robot this way, as we'll waste the hardware parts on the tablet, in which we only need the touch screen. in other words, we'll pay for the hardware of the tablet but we don't really use them except for the screen.
what would be the best way to build a touch screen robot?
any feedback, comment, advice is much appreciated.
thanks!
Originally posted by d on ROS Answers with karma: 121 on 2014-08-21
Post score: 0
Original comments
Comment by ahendrix on 2014-08-21:
I think anyone who knows how it works is probably covered under an NDA, and isn't allowed to talk about it.
Comment by d on 2014-08-22:
i understand that it may be under NDA. i was just wondering what everyone thinks about a possible good solution for doing a touch screen interface with ROS. savioke seems to do a great job at that.
|
I have a subscriber that is currently set up with a class method that is called when a message is received from a topic. The code is pretty standard:
ros::Subscriber StageOdo_sub = n.subscribe<nav_msgs::Odometry>("robot_0/odom",1000, &MyClass::StageOdom_callback,this);
I need to shift the callback function to a superclass / base class. However, this generates errors and notes that say that template argument substitution failed. How can I ensure that the superclass function is called?
Originally posted by falseazure on ROS Answers with karma: 65 on 2014-08-21
Post score: 3
|
Hi,
I'm trying to run though the tutorials using ROS Groovy:
http://wiki.ros.org/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller
http://wiki.ros.org/pr2_mechanism/Tutorials/Running%20a%20realtime%20joint%20controller
However, I'm having problems with the step where I check to see if the command lists the controller.
rosrun pr2_controller_manager pr2_controller_manger list-types
Here's the output:
JointGravityController
JointPendulumController
ethercat_trigger_controllers/MultiTriggerController
ethercat_trigger_controllers/ProjectorController
ethercat_trigger_controllers/TriggerController
pr2_calibration_controllers/CasterCalibrationController
pr2_calibration_controllers/FakeCalibrationController
pr2_calibration_controllers/GripperCalibrationController
pr2_calibration_controllers/JointCalibrationController
pr2_calibration_controllers/WristCalibrationController
pr2_controller_manager/TestController
pr2_gripper_sensor_controller/PR2GripperSensorController
pr2_manipulation_controllers/CartesianTrajectoryController
pr2_manipulation_controllers/JTTaskController
pr2_manipulation_controllers/JinvExperimentalController7
pr2_manipulation_controllers/JinvTeleopController7
pr2_mechanism_controllers/CasterController
pr2_mechanism_controllers/CasterControllerNode
pr2_mechanism_controllers/LaserScannerTrajController
pr2_mechanism_controllers/Pr2BaseController
pr2_mechanism_controllers/Pr2BaseController2
pr2_mechanism_controllers/Pr2GripperController
pr2_mechanism_controllers/Pr2Odometry
robot_mechanism_controllers/CartesianPoseController
robot_mechanism_controllers/CartesianTwistController
robot_mechanism_controllers/CartesianWrenchController
robot_mechanism_controllers/JTCartesianController
robot_mechanism_controllers/JointEffortController
robot_mechanism_controllers/JointPositionController
robot_mechanism_controllers/JointSplineTrajectoryController
robot_mechanism_controllers/JointTrajectoryActionController
robot_mechanism_controllers/JointVelocityController
In short, I don't see the controller that I've made. I checked that roscd is able to get to the my_controller_pkg, and I also updated the plugin macro and descriptor file as described here: http://wiki.ros.org/pluginlib, such that the my_controller_file.cpp has:
PLUGINLIB_EXPORT_CLASS(my_controller_ns::MyControllerClass, pr2_controller_interface::Controller)
and the descriptor file has:
<library path="lib/libmy_controller_lib">
<class type="my_controller_ns::MyControllerClass"
base_class_type="pr2_controller_interface::Controller" />
</library>
Everything else was written exactly as instructed by the tutorial and compiles. I'm wondering what exactly could be wrong, or what am I missing? Thanks in advance!
Other Info:
I am able to see the plugin when using the rospack plugins --attrib=plugin pr2_controller_interface command.
Output:
pr2_calibration_controllers /opt/ros/groovy/stacks/pr2_controllers/pr2_calibration_controllers/controller_plugins.xml
pr2_gripper_sensor_controller /opt/ros/groovy/stacks/pr2_object_manipulation/manipulation/pr2_gripper_sensor_controller/controller_plugins.xml
pr2_controller_manager /opt/ros/groovy/stacks/pr2_mechanism/pr2_controller_manager/test/controller_plugin.xml
pr2_mechanism_controllers /opt/ros/groovy/stacks/pr2_controllers/pr2_mechanism_controllers/controller_plugins.xml
pr2_manipulation_controllers /opt/ros/groovy/stacks/pr2_object_manipulation/manipulation/pr2_manipulation_controllers/controller_plugins.xml
ethercat_trigger_controllers /opt/ros/groovy/stacks/pr2_controllers/ethercat_trigger_controllers/controller_plugins.xml
my_controller_pkg /home/mpan/rosbuild_workspace/joint_controller_tutorial/my_controller_pkg/controller_plugins.xml
robot_mechanism_controllers /opt/ros/groovy/stacks/pr2_controllers/robot_mechanism_controllers/controller_plugins.xml
pr2_gazebo_benchmarks /opt/ros/groovy/stacks/pr2_simulator/pr2_gazebo_benchmarks/gazebo_physics_controller_plugins.xml
Originally posted by mpan on ROS Answers with karma: 16 on 2014-08-21
Post score: 0
|
Hello, i am running ubuntu 13.04 on UDOO and ros hydro. I have been trying to install sicktoolbox_wrapper on udoo since yesterday by following the "using sicklms" guide but unfortunately i get stuck at the first step, when i try to do "rosdep update" i get an error which says "AssertionError: unable to handle 'index' format version '2' please update rosdistro. But when i try to update it tells me "python-rosdistro is already the newest version".Any help would be greatly appreciated. Thank you.
Originally posted by asusrog on ROS Answers with karma: 63 on 2014-08-21
Post score: 0
Original comments
Comment by ahendrix on 2014-08-22:
Which apt repository are you using?
|
Hi
Has anyone made a URDF for the Creative Senz3D or know where to find one? I'm looking for measurements that describe the relationship between different frames of the Creative Senz3D. Its also known as the Softkinetic
DS325V2_M.
Here's an example of a URDF file describing the Kinect's frames of reference:
<joint name="camera_joint" type="fixed">
<origin xyz="" rpy="" />
<parent link="" />
<child link="camera_link" />
</joint>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0 0.018 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_depth_frame" />
</joint>
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_depth_frame" />
<child link="camera_depth_optical_frame" />
</joint>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0 -0.005 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_rgb_frame" />
</joint>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_rgb_frame" />
<child link="camera_rgb_optical_frame" />
</joint>
Thanks!
Jamie
Originally posted by James Diprose on ROS Answers with karma: 123 on 2014-08-22
Post score: 1
|
I have the following scheme in simulation enviroment with Gazebo and Rviz:
laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world
laser_frame to base_link is provided by robot_state_publisher looking up in the urdf file
base_link -> base_stabilized -> base_footprint -> odom is provided by a 'message_to_tf' node that takes ground_truth topic with z axis and rotation to publish this transformations
odom -> map is provided by a mapper node setting up the transforms in x-axis and y-axis
map -> world is provided by a node doing a static/fixed transform
In Rviz we have as fixed frame and target frame the /world frame.
World is fixed, map is fixed refering to world, odom is moving in x,y,z and rotation refering to map BUT base_footprint, base_link and therefore laser_frame arent moving. They keep as they started.
How can I fix it? What am I missing?
Thanks
Originally posted by Chipiron on ROS Answers with karma: 93 on 2014-08-22
Post score: 0
Original comments
Comment by dornhege on 2014-08-22:
Are the "->" arrows here displaying parent->child arrows? If yes, are there maybe more frames? Then you'd have multiple parents and TF will do unpredictable stuff.
Comment by Chipiron on 2014-08-22:
Yes, they are parent->child. There are any more frames, its the complete chain
Comment by dornhege on 2014-08-22:
Usually they are all the other way around. If it is exactly one chain it should work though. You can add a TF display and see if everything is connected.
Comment by Chipiron on 2014-08-22:
Thanks for the reply @dornhege The tf chain was perfect. The problem is explained below. Feel free to ask if I havent explained well.
Comment by Chipiron on 2014-08-26:
Can you @dornhege mark my answer as correct? I dont have karma > 25
|
Hi all,
I am new in ROS and I am going to do a subtraction between a current laser measurement map at time t and time t-1 for moving object detection. the procedure is as follow:
Convert laser measurement at time t to 2d grid form that contain free and occupied cells (I call it laser measurement map).
Limit this (2d grid) laser measurement map in a rectangle with edge size of lets say 5 meters. So the robot can see 2.5 meters ahead, back, left and right.
Next, I am going to do a subtraction between a current laser map at time t and laser map provided at time t-1. (each laser map associated with odometry data, so the laser measurement map provided at time t-1 will be projected on laser measurement map at time t, and subtraction is done in the joint area).
Could you please guide me how to do it with already available packages in ROS? I found two related packages: costmap_2d and Gmapping. I don't know if there is better packages available to use?
Based on your experience which one has a potential to use for this purpose?
What steps should I take to do it?
Thanks.
Originally posted by AliAs on ROS Answers with karma: 63 on 2014-08-22
Post score: 3
Original comments
Comment by bvbdort on 2014-08-24:
You need good localisation to get good results from subsraction.
Comment by AliAs on 2014-08-25:
Yes, I am going to use Xsens IMU. Next, I will prune the result (remove small false detected regions) and just keep significant parts that I hope provides moving objects.
Comment by pravi on 2020-11-18:
Can you post on how you had achieved this?
|
I'm trying to convert the Voxel grid filter to the ROS ecosystem. Instead of using 'pcl::PCLPointCloud2' data structure as given in the example code, I'm trying to use 'pcl::PointCloud' data structure (as in Euclidean Cluster Extraction). However, I'm not able to find the API that converts pcl::PointCloud to ROS message type.
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-08-22
Post score: 0
|
Hello,
I have a bagfile with a lot of topics in it.
For some reason I would like to filter out 4 topics of that bagfile into a new bagfile:
rosbag filter old_bag.bag new_bag.bag "topic=='/stereo/left/image_rect' '/stereo/right/image_rect' '/stereo/left/camera_info' '/stereo/right/camera_info'"
Unfortunately this doesn't work. Does anyone have a clue what the correct syntax is?
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-08-22
Post score: 17
|
Hello,
When I'm running rviz in ubuntu 12.04, ros hydro (rosrun rviz rviz), it gives me the following error messages:
[ INFO] [1408725863.506927966]: rviz version 1.10.18
[ INFO] [1408725863.507040161]: compiled against OGRE version 1.7.4 (Cthugha)
[ INFO] [1408725863.837919067]: Stereo is NOT SUPPORTED
[ INFO] [1408725863.838185468]: OpenGl version: 2.1 (GLSL 1.2).
[ERROR] [1408725864.438647192]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/rotate.svg'
[ERROR] [1408725864.438738136]: Could not load pixmap 'package://rviz/icons/rotate.svg' -- using default cursor instead.
[ERROR] [1408725864.468403984]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/rotate_cam.svg'
[ERROR] [1408725864.468482559]: Could not load pixmap 'package://rviz/icons/rotate_cam.svg' -- using default cursor instead.
[ERROR] [1408725864.497286389]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/move2d.svg'
[ERROR] [1408725864.497374581]: Could not load pixmap 'package://rviz/icons/move2d.svg' -- using default cursor instead.
[ERROR] [1408725864.526712974]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/move_z.svg'
[ERROR] [1408725864.526793391]: Could not load pixmap 'package://rviz/icons/move_z.svg' -- using default cursor instead.
[ERROR] [1408725864.555750894]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/zoom.svg'
[ERROR] [1408725864.555824373]: Could not load pixmap 'package://rviz/icons/zoom.svg' -- using default cursor instead.
[ERROR] [1408725864.584910817]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/crosshair.svg'
[ERROR] [1408725864.585031265]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1408725864.713473142]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/cursor.svg'
[ERROR] [1408725865.543570251]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/FocusCamera.svg'
[ERROR] [1408725865.600616094]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1408725865.632580370]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/Measure.svg'
[ERROR] [1408725865.667070566]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1408725865.706913933]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/PublishPoint.svg'
[ERROR] [1408725865.736650458]: Could not load pixmap 'package://rviz/icons/rotate.svg' -- using default cursor instead.
[ERROR] [1408725865.736724031]: Could not load pixmap 'package://rviz/icons/rotate_cam.svg' -- using default cursor instead.
[ERROR] [1408725865.736757739]: Could not load pixmap 'package://rviz/icons/move2d.svg' -- using default cursor instead.
[ERROR] [1408725865.736789402]: Could not load pixmap 'package://rviz/icons/move_z.svg' -- using default cursor instead.
[ERROR] [1408725865.736818407]: Could not load pixmap 'package://rviz/icons/zoom.svg' -- using default cursor instead.
[ERROR] [1408725865.736847634]: Could not load pixmap 'package://rviz/icons/crosshair.svg' -- using default cursor instead.
[ERROR] [1408725865.786202542]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/Displays.svg'
[ERROR] [1408725865.985923967]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/Views.svg'
[ERROR] [1408725866.116225959]: Could not load pixmap '/opt/ros/hydro/share/rviz/icons/classes/Time.svg'
I read here that the bug has been fixed in rviz 1.10.17:
"fix hidden cursor bug On some systems loading a pixmap from an svg file can fail. On these machines an empty cursor results, meaning the cursor is invisible inside Rviz. This works around the problem by using an arrow cursor when the desired cursor pixmap canot be loaded."
but although I'm using rviz 1.10.18 still getting the error messages.
My system is a Dell Desktop (OPTIPLEX 960).
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-22
Post score: 0
Original comments
Comment by Murilo F. M. on 2014-08-22:
Interesting... I'm running 12.04 + Hydro, rviz 1.10.18 and it works fine. The difference I spot is with OpenGL version (mine is 4.4 (GLSL 4.4)). Could that be the issue?
|
Hi everybody,
since my code is really long I will try to keep it minimal
in my program I wrote a class which defines 2 storing variables:
geometry_msgs::PoseWithCovarianceStamped initial_pose_;
geometry_msgs::PoseWithCovarianceStamped pose;
and subscribes to the /initialpose topic:
ros::topic::waitForMessage<geometry_msgs::PoseWithCovarianceStamped>( "initialpose", ros::Duration( 60.0 ) );
this->pose_sub_ = nh_.subscribe( "initialpose", 10, updateInitialPose );
the callback function has been defined as:
void updateInitialPose( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& pose )
{
initial_pose_ = pose;
}
but compiling I get all the time the following error:
/home/wilhem/workspace_ros/src/turtlebot_guide/src/main.cpp: In member function ‘void
robotMovement::updateInitialPose(const
ConstPtr&)’:
/home/wilhem/workspace_ros/src/turtlebot_guide/src/main.cpp:45:17:
error: no match for ‘operator=’
(operand types are
‘geometry_msgs::PoseWithCovarianceStamped’
and ‘const ConstPtr {aka const
boost::shared_ptr<const
geometry_msgs::PoseWithCovarianceStamped_std::allocator<void
}’) initial_pose_ = pose;
^ /home/wilhem/workspace_ros/src/turtlebot_guide/src/main.cpp:45:17:
note: candidate is: In file included
from
/home/wilhem/workspace_ros/src/turtlebot_guide/src/main.cpp:10:0:
/opt/ros/indigo/include/geometry_msgs/PoseWithCovarianceStamped.h:57:8:
note:
geometry_msgs::PoseWithCovarianceStamped_std::allocator<void
& geometry_msgs::PoseWithCovarianceStamped_std::allocator<void
::operator=(const geometry_msgs::PoseWithCovarianceStamped_std::allocator<void
&) struct PoseWithCovarianceStamped_
^
Even the candidated definitions are to me not really clear.
I have already searched through the API and class definitions but I couldnt find a solution.
Any help?
Thanks in advance
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-08-22
Post score: 1
|
We need to map a room with kinect and ROS. Which of the kinect model will be a better option? Is every model of kinect compatible with ROS?
Originally posted by robospace on ROS Answers with karma: 23 on 2014-08-22
Post score: 0
Original comments
Comment by ahendrix on 2014-08-22:
this is only half a question
|
i m at the step when we install using apt-install, but before it cld install anything it asks me to insert installation disk that i do not have, rather i do have a pendrive that is boot ready ubuntu setup. how can i use it instead or rather if cld just skip the step and system download packages online.
Originally posted by Nouman Tahir on ROS Answers with karma: 35 on 2014-08-22
Post score: 0
|
According to ROS wiki:
"amcl takes in a laser-based map, laser scans, and transform messages, and outputs pose estimates."
"The Robot Pose EKF package is used to estimate the 3D pose of a robot, based on (partial) pose measurements coming from different sources. It uses an extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor and visual odometry."
What I understand from the descriptions of these two localization algorithms is that amcl only works with laser data and ekf works only with odometry sources (wheel encoder, IMU, visual odometry). Is this a correct interpretation?
and how can I switch between amcl and ekf in the navigation stack?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-22
Post score: 1
|
Hello,
I'm trying to set up the navigation stack on a robot possessing only odometry devices (wheel encoder, IMU, and GPS, published to /odom /imu /gps). No camera/laser. The robot is also using robot_state_publisher to publish the transformations between robot parts. The tree looks like this:
/base_footprint --> /base_link --> /imu /gps /front_left_wheel_link /front_right_wheel_link ...
If I want to use only odometry sources (wheel encoder, IMU, and GPS) to navigate the robot, it seems the only frame transformation that needs to be done is /map --> /odom --> /base_footprint. I was wondering if this should be done manually or navigation stack (amcl localization?) is taking care of these two transformations?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-08-22
Post score: 0
Original comments
Comment by Andromeda on 2014-08-24:
Can I ask you how do you get information from /imu /gps and /odom the move your base_link?
In the tutorial about setting up the navigation stack I didn t find any example.
Regards
|
Is there any option to get rid of the hddtemp prompt or automate the response?
I followed the standard ROS hydro installation instructions and ran sudo apt-get install ros-hydro-desktop-full, and the hddtemp prompt comes up. Is there a standard way to automatically answer no to this question so that I don't have to 'babysit' every computer that I install ROS on?
Thanks,
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-08-22
Post score: 0
Original comments
Comment by ahendrix on 2014-08-23:
This isn't really ros-related; that prompt is coming from the hdtemp package. You may want to consult the dpkg and apt manuals or ask on a Debian or Ubuntu forum.
Comment by ahendrix on 2014-08-23:
That said, I remember being able to do this when I built the PR2 installer, but I don't remember the esoteric invocation that I needed to make it work properly, and I don't remember if it was something that I set in the preseed file or some other way.
|
I have two robot models. The first robot is the vehicle (AR.Drone) and the second is the Phantom Omni Device. I use rviz for visualization. I have problem with the tree of the TFs. Now for the AR.Drone, the parent frame is the 'world' frame while the parent frame for the Phantom Omni is the base frame. Now there are two problems. The first one is that when the TFs are shown in Rviz, the world frame appear for 3 seconds and starts to disappear. The second problem, the base TF is not shown. I want both robots to be shown with their URDF files but RViz only allow us to choose one Fixed frame.. What should I do ?
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-08-23
Post score: 0
|
I have previously used ROS only on PC but found the use of rosbags for offline debugging to be convenient. I would now like to use ROS to record sensor data on an embedded ARM board running Linux. I wonder if it is possible to do this without doing a full ROS install on the board?
All I would need are nodes running on the board which can publish their sensor readings to topics and then a laptop on the same network can do the rosbag recordings.
I have a cross-toolchain set up for compiling executables for the board. The following document explains how to use a toolchain to compile libraries and ROS for ARM but it is not clear how to install it on the board once it's all compiled.
ftp://ftp.heanet.ie/disk1/sourceforge/c/project/ca/carm/ROS%20cross-compile%20on%20ARM.pdf
If I manage to cross compile boost, apr, apr-utils, log4cxx and ROS (as mentioned in the above document) what do I get and how do I move it (and where?) to the ARM board?
Can I then later cross compile my ROS nodes, copy them to the board and simply run them, provided roscore runs on a laptop?
I hope this makes sense.
Update:
I am using a Wandboard with custom compiled Linux version 3.10.17.
Originally posted by I.T on ROS Answers with karma: 67 on 2014-08-23
Post score: 1
Original comments
Comment by ahendrix on 2014-08-23:
If your board runs Ubuntu, you can try the binary installs of ROS Hydro or Indigo for ARM. Note that you don't have to do a full install; you can choose to install only the things you need.
Comment by I.T on 2014-08-24:
The board does not run Ubuntu unfortunately...
Comment by GummyBear on 2014-08-25:
Could you provide more information on what board you're using, and what OS it runs?
Comment by I.T on 2014-08-28:
I added some info about board and OS at the end of the question.
|
Hi all
I am suing message filters cache in my little python code but I couldn't figure out to access the cache data. It seems the python version has not function cache.getInterval(start, end).
in tutorial there is only c++ example seems to have the function but the python version doesn't.
Could anyone please tell me how can I possibly access the cache data.
Here is the is my code
class EegListener(object):
def __init__(self):
rospy.init_node('eeg_listener')
self.eeg_subscriber = message_filters.Subscriber("/eeg_signal_packet", EegPacket)
# the topick contains Header type and float64[] type
self.eeg_cache = message_filters.Cache(self.eeg_subscriber, 1280)
def callback(self,eeg_msg):
print eeg_msg.header
def listener(self):
self.eeg_cache.registerCallback(self.callback)
# self.eeg_cache.getInterval(rospy.get_rostime(),rospy.get_rostime()) does not exists !?
rospy.spin()
Originally posted by raminzohouri on ROS Answers with karma: 26 on 2014-08-23
Post score: 1
|
When a package is generated using catkin_create_package -m "John Doe" -a "John Doe", the package.xml that is generated contains <author> and <maintainer> tags with @todo.todo email addresses. Is there some config file somewhere that needs to be modified or an environment variable set or some usermod/groupadd step that needs to be run?
Originally posted by jackcviers on ROS Answers with karma: 207 on 2014-08-23
Post score: 0
|
I repeat this question posted 2 years ago, except that we need a plugin for a different purpose. We plan to create a graphical editor to add semantic information to 2D/3D maps, and a RViz plugin could be the ideal solution. Rqt plugins look great for simple interfaces, but we need the fully-fledged 3D interface that RViz provides. So it's still not recommended to make a RViz plugins?
I already started a plugin, reusing rqt_nav_view to load a 2D map, but I'm afraid that make it fully 3D will be a lot of development effort, and I don't have enough time.
Thanks for any input!
Originally posted by jorge on ROS Answers with karma: 2284 on 2014-08-23
Post score: 1
|
Hello,
I'm ubuntu 12.04,hydro.I want to calibrate my turtlebot1 ,with the roslaunch turtlebot_calibration calibrate.launch ,it launch the 3dsensor.launch.
it turn out "Please point me at a wall, Still waiting for scan",
turtlebot@ubuntu:~$ roslaunch turtlebot_calibration calibrate.launch
... logging to /home/turtlebot/.ros/log/b4bfc49a-2a99-11e4-a98b-8c705a305c04/roslaunch-ubuntu-11106.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.102:50748/
SUMMARY
========
PARAMETERS
* /camera/depth_registered/rectify_depth/interpolation
* /camera/depthimage_to_laserscan_loader/output_frame_id
* /camera/depthimage_to_laserscan_loader/range_min
* /camera/depthimage_to_laserscan_loader/scan_height
* /camera/openni_camera_loader/depth_frame_id
* /camera/openni_camera_loader/depth_mode
* /camera/openni_camera_loader/depth_registration
* /camera/openni_camera_loader/depth_time_offset
* /camera/openni_camera_loader/image_mode
* /camera/openni_camera_loader/image_time_offset
* /camera/openni_camera_loader/rgb_frame_id
* /rosdistro
* /rosversion
* /scan_to_angle/max_angle
* /scan_to_angle/min_angle
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depthimage_to_laserscan_loader (nodelet/nodelet)
openni_camera_loader (nodelet/nodelet)
points_xyzrgb (nodelet/nodelet)
/camera/depth_registered/
rectify_depth (nodelet/nodelet)
/
scan_to_angle (turtlebot_calibration/scan_to_angle.py)
turtlebot_calibration (turtlebot_calibration/calibrate.py)
/camera/rgb/
debayer (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [11124]
process[camera/openni_camera_loader-2]: started with pid [11125]
process[camera/rgb/debayer-3]: started with pid [11140]
process[camera/rgb/rectify_mono-4]: started with pid [11183]
process[camera/rgb/rectify_color-5]: started with pid [11198]
process[camera/depth_registered/rectify_depth-6]: started with pid [11213]
process[camera/points_xyzrgb-7]: started with pid [11236]
process[camera/depthimage_to_laserscan_loader-8]: started with pid [11267]
process[scan_to_angle-9]: started with pid [11297]
process[turtlebot_calibration-10]: started with pid [11301]
[INFO] [WallTime: 1408781227.540423] has_gyro True
[INFO] [WallTime: 1408781227.571398] Estimating imu drift
[INFO] [WallTime: 1408781227.872253] Still waiting for imu
[INFO] [WallTime: 1408781228.173761] Still waiting for scan
[INFO] [WallTime: 1408781228.475074] Still waiting for scan
[INFO] [WallTime: 1408781228.776642] Still waiting for scan
[INFO] [WallTime: 1408781229.077956] Still waiting for scan
[INFO] [WallTime: 1408781229.378650] Still waiting for scan
[INFO] [WallTime: 1408781229.679387] Still waiting for scan
[INFO] [WallTime: 1408781229.980169] Still waiting for scan
[INFO] [WallTime: 1408781230.280739] Still waiting for scan
[INFO] [WallTime: 1408781230.581467] Still waiting for scan
[INFO] [WallTime: 1408781230.882284] Still waiting for scan
[INFO] [WallTime: 1408781231.183741] Still waiting for scan
[ERROR] [WallTime: 1408781231.248262] Please point me at a wall.
[ERROR] [WallTime: 1408781231.278185] Please point me at a wall.
[ERROR] [WallTime: 1408781231.309676] Please point me at a wall.
[ERROR] [WallTime: 1408781231.341472] Please point me at a wall.
[ERROR] [WallTime: 1408781231.377709] Please point me at a wall.
[ERROR] [WallTime: 1408781231.406614] Please point me at a wall.
[ERROR] [WallTime: 1408781231.439964] Please point me at a wall.
[ERROR] [WallTime: 1408781231.477248] Please point me at a wall.
[INFO] [WallTime: 1408781231.484719] Still waiting for scan
[ERROR] [WallTime: 1408781231.516963] Please point me at a wall.
[ERROR] [WallTime: 1408781231.557522] Please point me at a wall.
just like link text,
when irun rviz rviz,i can see the rgb picture and ir data ,but can't see the depth data ,the laserscan data is all "nan",
header:
seq: 20754
stamp:
secs: 1408785070
nsecs: 317309946
frame_id: /camera_depth_frame
angle_min: -0.546698212624
angle_max: 0.546698212624
angle_increment: 0.00170843186788
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.449999988079
range_max: 10.0
ranges: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan
i have tried many methods to solve the problems ,but all doesn't worked.i have no right to upload my rviz pictures ,sorry,any suggestions will be appreciated,,thanks a lot
Originally posted by jxl on ROS Answers with karma: 252 on 2014-08-23
Post score: 0
Original comments
Comment by jxl on 2014-10-05:
in rviz i can see the rgb pictures and the ir pictures,but when set the image topic is /depth*,,there is nothing , does anyone successfuly calibrate your turtlebot1 on hydro ?
|
Hello,
I'm working through this Gazebo tutorial, and I get to the point where we're told to do
sudo apt-get install ros-hydro-pr2-common
However, apt-get comes back with "E: Unable to locate package ros-hydro-pr2-common". I'm running Indigo on Trusty, so I took a shot at
sudo apt-get install ros-indigo-pr2-common
with the same result. My ros-latest.list points at
deb http://packages.ros.org/ros/ubuntu trusty main
It would seem that pr2_common just isn't there. I was able to build pr2_common from source (after chasing down ivcon and convex_decomposition), but I'm still wondering why apt-get couldn't find this package. Makes me think I've got something goofed-up in my setup.
Thanks,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-08-24
Post score: 0
|
Hello !
Now I meet a new question . I had a LIDAR on my real car , and the pointclouds of obstacle were showed around the simulate car on the blank map . When I give a goal 2D navigation on the blank map , the simulate car and the real car will go to the goal . Now I hope the car can avoid the obstacles when going to the goal . The move_base will give a navigation to the goal , but it does not plan a new navigation in real time when the car meet new obstacles .
I hope the move_base can plan a navigation in real time . I am confused about it !
Originally posted by Lau on ROS Answers with karma: 47 on 2014-08-24
Post score: 1
Original comments
Comment by Lau on 2014-08-24:
Another question , I input the PointCloud2 msg which is the obstacles pointcloud to the move_base . Am I right , or should I input the original pointcloud to the move_base ?
|
Hi,
I am using ros Hydro with Kinect, but when I try to open the kinect camera with any of the commands below I get a blank (empty) pop up window.
rosrun image_view image_view image:=/camera/rgb/image_color
rosrun image_view image_view image:=/camera/rgb/image_mono
rosrun image_view disparity_view image:=/camera/depth/disparity
rosrun image_view disparity_view image:=/camera/depth_registered/disparity
Well...I check rostopic hz image_view and get:
WARNING: topic [/image_view] does not appear to be published yet (and the same message for /disparity_view)
Soo I check the roslaunch openni_launch openni.launch log and found many warnings, process died and FATAL as can be seem below:
started roslaunch server http://ubuntu:38154/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads
* /camera/depth_rectify_depth/interpolation
* /camera/depth_registered_rectify_depth/interpolation
* /camera/disparity_depth/max_range
* /camera/disparity_depth/min_range
* /camera/disparity_registered_hw/max_range
* /camera/disparity_registered_hw/min_range
* /camera/disparity_registered_sw/max_range
* /camera/disparity_registered_sw/min_range
* /camera/driver/depth_camera_info_url
* /camera/driver/depth_frame_id
* /camera/driver/depth_registration
* /camera/driver/device_id
* /camera/driver/rgb_camera_info_url
* /camera/driver/rgb_frame_id
* /rosdistro
* /rosversion
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [3232]
process[camera/driver-2]: started with pid [3233]
process[camera/debayer-3]: started with pid [3234]
process[camera/rectify_mono-4]: started with pid [3241]
process[camera/rectify_color-5]: started with pid [3281]
process[camera/rectify_ir-6]: started with pid [3310]
[ INFO] [1408885127.360993852]: Initializing nodelet with 4 worker threads.
process[camera/depth_rectify_depth-7]: started with pid [3365]
process[camera/depth_metric_rect-8]: started with pid [3390]
process[camera/depth_metric-9]: started with pid [3404]
process[camera/depth_points-10]: started with pid [3418]
process[camera/register_depth_rgb-11]: started with pid [3432]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [3446]
process[camera/depth_registered_rectify_depth-13]: started with pid [3460]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [3474]
process[camera/disparity_depth-15]: started with pid [3488]
process[camera/disparity_registered_sw-16]: started with pid [3502]
process[camera/disparity_registered_hw-17]: started with pid [3516]
process[camera_base_link-18]: started with pid [3539]
process[camera_base_link1-19]: started with pid [3540]
process[camera_base_link2-20]: started with pid [3561]
process[camera_base_link3-21]: started with pid [3572]
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
what(): unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/buildd/ros-hydro-openni-camera-1.9.2-0precise-20140720-0503/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:
Image: PrimeSense/SensorV2/5.1.0.41: Device is in safe mode. Cannot start any stream!
[camera/camera_nodelet_manager-1] process has died [pid 3232, exit code -6, cmd /opt/ros/hydro/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-camera_nodelet_manager-1.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-camera_nodelet_manager-1*.log
[FATAL] [1408885141.085922349]: Service call failed!
[FATAL] [1408885141.086503987]: Service call failed!
[FATAL] [1408885141.087275454]: Service call failed!
[FATAL] [1408885141.087514940]: Service call failed!
[FATAL] [1408885141.088301075]: Service call failed!
[FATAL] [1408885141.089200491]: Service call failed!
[FATAL] [1408885141.089199723]: Service call failed!
[FATAL] [1408885141.089904073]: Service call failed!
[FATAL] [1408885141.089974054]: Service call failed!
[FATAL] [1408885141.090742030]: Service call failed!
[FATAL] [1408885141.091620075]: Service call failed!
[FATAL] [1408885141.092166023]: Service call failed!
[FATAL] [1408885141.092412563]: Service call failed!
[FATAL] [1408885141.092465572]: Service call failed!
[camera/depth_points-10] process has died [pid 3418, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_points-10.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_points-10*.log
[camera/register_depth_rgb-11] process has died [pid 3432, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-register_depth_rgb-11.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-register_depth_rgb-11*.log
[camera/points_xyzrgb_sw_registered-12] process has died [pid 3446, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-points_xyzrgb_sw_registered-12.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-points_xyzrgb_sw_registered-12*.log
[camera/disparity_registered_sw-16] process has died [pid 3502, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_registered_sw-16.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_registered_sw-16*.log
[camera/driver-2] process has died [pid 3233, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load openni_camera/driver camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-driver-2.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-driver-2*.log
[camera/debayer-3] process has died [pid 3234, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/debayer camera_nodelet_manager --no-bond image_raw:=rgb/image_raw image_mono:=rgb/image_mono image_color:=rgb/image_color __name:=debayer __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-debayer-3.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-debayer-3*.log
[camera/rectify_color-5] process has died [pid 3281, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rectify_color __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-rectify_color-5.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-rectify_color-5*.log
[camera/depth_rectify_depth-7] process has died [pid 3365, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_rectify_depth-7.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_rectify_depth-7*.log
[camera/depth_metric_rect-8] process has died [pid 3390, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_metric_rect-8.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_metric_rect-8*.log
[camera/depth_metric-9] process has died [pid 3404, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_metric-9.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_metric-9*.log
[camera/depth_registered_rectify_depth-13] process has died [pid 3460, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_registered_rectify_depth-13.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-depth_registered_rectify_depth-13*.log
[camera/points_xyzrgb_hw_registered-14] process has died [pid 3474, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-points_xyzrgb_hw_registered-14.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-points_xyzrgb_hw_registered-14*.log
[camera/disparity_registered_hw-17] process has died [pid 3516, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/hw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_hw __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_registered_hw-17.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_registered_hw-17*.log
[camera/disparity_depth-15] process has died [pid 3488, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_depth-15.log].
log file: /home/felipe/.ros/log/1cb03004-2b8e-11e4-8313-701a04a7b383/camera-disparity_depth-15*.log
I found some questions with problems that seems to be similar, but I didn't found a solution so far. Following the links of related problems:
http://answers.ros.org/question/67198/image_view-displays-empty-gray-window/
http://answers.ros.org/question/172643/device-is-in-safe-mode-cannot-start-any-stream/
http://answers.ros.org/question/148901/primesensesensorv251041-device-is-in-safe-mode/
http://answers.ros.org/question/11423/openni_kinect-dosent-publish-anything-in-the-topics-or-rviz/
I will appreciate any help!
Thanks in advance
(Btw...sorry any mistake this is my first question here)
Originally posted by fmartino on ROS Answers with karma: 1 on 2014-08-24
Post score: 0
Original comments
Comment by gvdhoorn on 2014-08-24:
I changed the formatting a bit. Please indent console output with 4 spaces on each line, that makes it easier to read.
Comment by SonOfDamage on 2014-12-05:
Hey even I have a similar issue. image_view opens a blank image. My system runs indigo as opposed to your hydro, and uses a normal webcam connected. Anybody has a clue??
Comment by ahendrix on 2014-12-05:
@SonOfDamage: since this is a hardware-specific issue and you're working with different hardware and drivers, your issue is probably different. I recommend asking a new question.
|
I want to program ros programs in python using Eclipse. But, when I write " import rospy" in eclipse it gives an error. How to import rospy library in eclipse?
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-08-24
Post score: 0
|
Hello Everyone!!
Tutorial:
http://wiki.ros.org/nao/Installation/remote
When use:
cd ~/catkin_ws/
wstool set humanoid_msgs --git https://github.com/ahornung/humanoid_msgs
Get this error:
ERROR in config: Command requires a target workspace.
I created the catkin_ws according to http://wiki.ros.org/catkin/Tutorials/create_a_workspace
A lot of thanks!!
Originally posted by vncntmh on ROS Answers with karma: 52 on 2014-08-24
Post score: 2
Original comments
Comment by Martin Peris on 2014-08-24:
Did you make sure that the command source ~/catkin_ws/devel/setup.bash is executed every time you open a new terminal?
You should add source ~/catkin_ws/devel/setup.bash to the file ~/.bashrc
Comment by vncntmh on 2014-08-26:
A lot of Thanks!!!
Do you know what the folder I have to keep "humanoid_msgs"
Is in ~/catkin_ws/src?
Comment by vncntmh on 2014-08-26:
Continue the same problem:
~/catkin_ws/src$ wstool set humanoid_msgs --git https://github.com/ahornung/humanoid_msgs
ERROR in config: Command requires a target workspace.
|
How much would it cost in terms of the build farm for not end-of-life-ing a particular distribution?
Originally posted by David Lu on ROS Answers with karma: 10932 on 2014-08-24
Post score: 2
Original comments
Comment by ahendrix on 2014-08-25:
The EOL announcement for Groovy was sent out today: http://lists.ros.org/pipermail/ros-release/2014-August/004511.html
|
I have a map of the area, in which I want my differential drive mobile robot to move around to the goals given, for this I already mapped the area with kinect using the gmapping, now I want to use the navigation stack.
I have followed the setup as mentioned in the navigation_stack page http://wiki.ros.org/navigation/Tutorials/RobotSetup
But after running the move_base.launch file I get the following errors.
[ WARN] [1408947873.713176792]: Request for map failed; trying again...
[ WARN] [1408947874.215030143]: Request for map failed; trying again...
[ WARN] [1408947874.716821881]: Request for map failed; trying again...
[ WARN] [1408947875.219003710]: Request for map failed; trying again...
[ WARN] [1408947875.721026682]: Request for map failed; trying again...
[ WARN] [1408947876.223351709]: Request for map failed; trying again...
[ WARN] [1408947876.725076883]: Request for map failed; trying again...
[ WARN] [1408947876.920729621]: Waiting on transform from base_link to map to become available before running costmap, tf error:
[ WARN] [1408947877.227117599]: Request for map failed; trying again...
[ WARN] [1408947877.729052070]: Request for map failed; trying again...
[ WARN] [1408947878.230988466]: Request for map failed; trying again...
[ WARN] [1408947878.733617816]: Request for map failed; trying again...
[ WARN] [1408947879.235487601]: Request for map failed; trying again...
[ WARN] [1408947879.738477007]: Request for map failed; trying again...
[ WARN] [1408947880.240812581]: Request for map failed; trying again...
[ WARN] [1408947880.743107807]: Request for map failed; trying again...
[ WARN] [1408947881.245370459]: Request for map failed; trying again...
[ WARN] [1408947881.747222844]: Request for map failed; trying again...
[ WARN] [1408947881.971717380]: Waiting on transform from base_link to map to become available before running costmap, tf error:
[ WARN] [1408947882.249109598]: Request for map failed; trying again...
[ WARN] [1408947882.750964052]: Request for map failed; trying again...
[ WARN] [1408947883.254429857]: Request for map failed; trying again...
[ WARN] [1408947883.756259117]: Request for map failed; trying again...
Here is my graph attached:
So What I am missing here, which is stopping the navigation stack to run.
many thanks in advance.
Originally posted by sumanth on ROS Answers with karma: 86 on 2014-08-25
Post score: 0
|
I am trying to control a bot with a lidar. When i run the launch files to switch on the lidar and obtain the cmd_vel values from rosserial based on odometry data, the cmd_vel is being published by the move_base.launch file. But, when i run the navigation stack which uses this data, I get an error that says-" THe bot cannot move forward". A little debugging tells me that the navigation stack subscribes to cmd_vel from move_base. But, the cmd_vel is not being output by the launch files itself. How to solve this problem?q
Originally posted by arvind on ROS Answers with karma: 11 on 2014-08-25
Post score: 0
|
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