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I m trying right now to implement a quadcopter. I wrote the URDF file for defining the flying robot and it moves using odometry's informations pretty well in Rviz.
But here the first problem.
I m using the move_base as a controller to move the quadcopter around but trying to put some goals in the free space (with a predefined height) it is going to move on a planar surface even if in the move_base one could set the robot as holonomic (free to move on all 6 DOF).
My idea was to define one more frame (/frame_footprint) or "the shadow" of the robot the moves always in the plane and let it controlling by move_base pkg which works pretty good (see the following image):
With another transformation I would move the last frame (/frame_link) in respect of /base_footprint. Since it can rotate and move on the z axis it will take as input the height of the copter.
But now I have the first question:
How can I control the height? Are there some controller in ROS for a 6DOF flying robot?
Any suggestion for a controller?
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-02
Post score: 1
|
Hi all,
i am getting compilation error while using TimeSynchronizer.
i saw similar question , but it didnt solve.
thank you.
error: ‘TimeSynchronizer’ does not name a type
In constructor ‘Detectchange::Detectchange()’:
error: ‘timesync’ was not declared in this scope
error: expected type-specifier before ‘TimeSynchronizer’
error: expected ‘;’ before ‘TimeSynchronizer’
here is my code snippet.
class myclass
{
public:
//some stuff
private:
message_filters::Subscriber<sensor_msgs::LaserScan>* laser_scan_sub;
message_filters::Subscriber<geometry_msgs::PoseStamped>* pose_sub;
TimeSynchronizer<sensor_msgs::LaserScanConstPtr, geometry_msgs::PoseStampedConstPtr> *timesync;
}
myclass::myclass()
{
laser_scan_sub = new message_filters::Subscriber<sensor_msgs::LaserScan>(nh_, "/ms_front_laser", 1);
pose_sub = new message_filters::Subscriber<geometry_msgs::PoseStamped>(nh_, "/pose", 1);
timesync = new TimeSynchronizer<sensor_msgs::LaserScanConstPtr, geometry_msgs::PoseStampedConstPtr> (laser_scan_sub, pose_sub, 50);
timesync->registerCallback(boost::bind(&myclass::laserReceived, this, _1, _2));
}
void myclass::laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan, const geometry_msgs::PoseStampedConstPtr& estimate_pose)
{
// some stuff
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "myclass");
ros::NodeHandle nh;
myclass mc;
ros::spin();
return(0);
}
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-09-02
Post score: 0
|
hi everyone
let say that i want turtlebot to navigate certain area but i dont wanna run gmapping.it just call the map for that area and navigate.how can i create the map if i dont want to use gazebo etc.?is it possible?
Originally posted by lfyhmdn on ROS Answers with karma: 36 on 2014-09-03
Post score: 0
|
Dear all,
I was following the navigation tutorial for ROS Hydro installed on my UDOO board robot.
I follow the tutorial on the Navigation ROS Wiki but, launching the move_base.launch file, I have a
cannot marshal None unless allow_none is enabled
error.
Those are my yaml files:
base_local_planner_params.yaml
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: false
local_costmap_params.yaml
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.30
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_laser, data_type: LaserScan, topic; laser_scan, marking: true, clearing: true}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false
amcl_diff.launch:
<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.8"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.1"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>
and finally the move_base.launch
<launch>
<include file="$(find geduino_navigation)/launch/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find geduino_navigation)/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find geduino_navigation)/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find geduino_navigation)/local_costmap_params.yaml" command="load" />
<rosparam file="$(find geduino_navigation)/global_costmap_params.yaml" command="load" />
<rosparam file="$(find geduino_navigation)/base_local_planner_params.yaml" command="load" />
</node>
</launch>
When I try to launch move_base.launch I get this error message:
[roslaunch][INFO] 2014-09-03 07:00:27,886: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2014-09-03 07:00:27,898: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2014-09-03 07:00:27,900: roslaunch starting with args ['/opt/ros/hydro/bin/roslaunch', 'geduino_navigation', 'move_base.launch']
[roslaunch][INFO] 2014-09-03 07:00:27,900: roslaunch env is {'ROS_DISTRO': 'hydro', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'HUSHLOGIN': 'FALSE', 'CPATH': '/home/udoo/ros/devel/include:/opt/ros/hydro/include', 'LOGNAME': 'udoo', 'USER': 'udoo', 'HOME': '/home/udoo', 'PATH': '/home/udoo/ros/devel/bin:/opt/ros/hydro/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'ROS_PACKAGE_PATH': '/home/udoo/ros/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks', 'CMAKE_PREFIX_PATH': '/home/udoo/ros/devel:/opt/ros/hydro', 'LD_LIBRARY_PATH': '/home/udoo/ros/devel/lib:/opt/ros/hydro/lib', 'LANG': 'C', 'TERM': 'linux', 'SHELL': '/bin/bash', 'LANGUAGE': 'C', 'SHLVL': '1', 'ROS_LOG_FILENAME': '/home/udoo/.ros/log/fc4df7ea-3337-11e4-b578-7cdd9047677b/roslaunch-geduino-3197.log', 'ROS_ETC_DIR': '/opt/ros/hydro/etc/ros', 'PYTHONPATH': '/home/udoo/ros/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/hydro/share/ros', 'PKG_CONFIG_PATH': '/home/udoo/ros/devel/lib/pkgconfig:/opt/ros/hydro/lib/pkgconfig', 'LC_ALL': 'C', 'ROS_TEST_RESULTS_DIR': '/home/udoo/ros/build/test_results', '_': '/opt/ros/hydro/bin/roslaunch', 'CATKIN_TEST_RESULTS_DIR': '/home/udoo/ros/build/test_results', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LC_MESSAGES': 'POSIX', 'OLDPWD': '/home/udoo', 'PWD': '/home/udoo/ros', 'ROS_MASTER_URI': 'http://localhost:11311', 'MAIL': '/var/mail/udoo', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:'}
[roslaunch][INFO] 2014-09-03 07:00:27,901: starting in server mode
[roslaunch.parent][INFO] 2014-09-03 07:00:27,902: starting roslaunch parent run
[roslaunch][INFO] 2014-09-03 07:00:27,903: loading roscore config file /opt/ros/hydro/etc/ros/roscore.xml
[roslaunch][INFO] 2014-09-03 07:00:28,360: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2014-09-03 07:00:28,361: loading config file /home/udoo/ros/src/geduino_navigation/launch/move_base.launch
[roslaunch][INFO] 2014-09-03 07:00:28,507: Added node of type [amcl/amcl] in namespace [/]
[roslaunch][INFO] 2014-09-03 07:00:28,678: Added node of type [move_base/move_base] in namespace [/]
[roslaunch][INFO] 2014-09-03 07:00:28,679: ... selected machine [] for node of type [amcl/amcl]
[roslaunch][INFO] 2014-09-03 07:00:28,679: ... selected machine [] for node of type [move_base/move_base]
[roslaunch.pmon][INFO] 2014-09-03 07:00:28,682: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2014-09-03 07:00:28,683: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2014-09-03 07:00:28,684: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2014-09-03 07:00:28,685: starting parent XML-RPC server
[roslaunch.server][INFO] 2014-09-03 07:00:28,686: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2014-09-03 07:00:28,686: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2014-09-03 07:00:28,687: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2014-09-03 07:00:28,688: Started XML-RPC server [http://geduino:55112/]
[xmlrpc][INFO] 2014-09-03 07:00:28,688: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2014-09-03 07:00:28,702: started roslaunch server http://geduino:55112/
[roslaunch.parent][INFO] 2014-09-03 07:00:28,702: ... parent XML-RPC server started
[roslaunch][INFO] 2014-09-03 07:00:28,766: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:28,768: auto-starting new master
[roslaunch][INFO] 2014-09-03 07:00:28,770: create_master_process: rosmaster, /opt/ros/hydro/share/ros, 11311
[roslaunch][INFO] 2014-09-03 07:00:28,770: process[master]: launching with args [['rosmaster', '--core', '-p', '11311']]
[roslaunch.pmon][INFO] 2014-09-03 07:00:28,771: ProcessMonitor.register[master]
[roslaunch.pmon][INFO] 2014-09-03 07:00:28,772: ProcessMonitor.register[master] complete
[roslaunch][INFO] 2014-09-03 07:00:28,772: process[master]: starting os process
[roslaunch][INFO] 2014-09-03 07:00:28,773: process[master]: start w/ args [['rosmaster', '--core', '-p', '11311', '__log:=/home/udoo/.ros/log/fc4df7ea-3337-11e4-b578-7cdd9047677b/master.log']]
[roslaunch][INFO] 2014-09-03 07:00:28,774: process[master]: cwd will be [/home/udoo/.ros]
[roslaunch][INFO] 2014-09-03 07:00:28,795: process[master]: started with pid [3210]
[roslaunch][INFO] 2014-09-03 07:00:28,797: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:28,899: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,001: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,103: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,205: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,307: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,409: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,511: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,518: master.is_running[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,523: ROS_MASTER_URI=http://localhost:11311
[roslaunch][INFO] 2014-09-03 07:00:29,530: setting /run_id to fc4df7ea-3337-11e4-b578-7cdd9047677b
[roslaunch][INFO] 2014-09-03 07:00:29,538: setting /roslaunch/uris/host_geduino__55112' to http://geduino:55112/
[roslaunch][INFO] 2014-09-03 07:00:29,548: ... preparing to launch node of type [rosout/rosout]
[roslaunch][INFO] 2014-09-03 07:00:29,548: create_node_process: package[rosout] type[rosout] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2014-09-03 07:00:29,549: process[rosout-1]: env[{'ROS_DISTRO': 'hydro', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'HUSHLOGIN': 'FALSE', 'CPATH': '/home/udoo/ros/devel/include:/opt/ros/hydro/include', 'LOGNAME': 'udoo', 'USER': 'udoo', 'HOME': '/home/udoo', 'PATH': '/home/udoo/ros/devel/bin:/opt/ros/hydro/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games', 'ROS_PACKAGE_PATH': '/home/udoo/ros/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks', 'CMAKE_PREFIX_PATH': '/home/udoo/ros/devel:/opt/ros/hydro', 'ROS_LOG_FILENAME': '/home/udoo/.ros/log/fc4df7ea-3337-11e4-b578-7cdd9047677b/roslaunch-geduino-3197.log', 'LANG': 'C', 'TERM': 'linux', 'SHELL': '/bin/bash', 'LANGUAGE': 'C', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/home/udoo/ros/devel/lib:/opt/ros/hydro/lib', 'ROS_MASTER_URI': 'http://localhost:11311', 'PYTHONPATH': '/home/udoo/ros/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/hydro/share/ros', 'PKG_CONFIG_PATH': '/home/udoo/ros/devel/lib/pkgconfig:/opt/ros/hydro/lib/pkgconfig', 'LC_ALL': 'C', 'ROS_TEST_RESULTS_DIR': '/home/udoo/ros/build/test_results', '_': '/opt/ros/hydro/bin/roslaunch', 'CATKIN_TEST_RESULTS_DIR': '/home/udoo/ros/build/test_results', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'LC_MESSAGES': 'POSIX', 'OLDPWD': '/home/udoo', 'PWD': '/home/udoo/ros', 'ROS_ETC_DIR': '/opt/ros/hydro/etc/ros', 'MAIL': '/var/mail/udoo', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:'}]
[roslaunch][INFO] 2014-09-03 07:00:29,683: process[rosout-1]: args[[u'/opt/ros/hydro/lib/rosout/rosout', u'__name:=rosout']]
[roslaunch][INFO] 2014-09-03 07:00:29,684: ... created process [rosout-1]
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,684: ProcessMonitor.register[rosout-1]
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,685: ProcessMonitor.register[rosout-1] complete
[roslaunch][INFO] 2014-09-03 07:00:29,685: ... registered process [rosout-1]
[roslaunch][INFO] 2014-09-03 07:00:29,686: process[rosout-1]: starting os process
[roslaunch][INFO] 2014-09-03 07:00:29,687: process[rosout-1]: start w/ args [[u'/opt/ros/hydro/lib/rosout/rosout', u'__name:=rosout', u'__log:=/home/udoo/.ros/log/fc4df7ea-3337-11e4-b578-7cdd9047677b/rosout-1.log']]
[roslaunch][INFO] 2014-09-03 07:00:29,687: process[rosout-1]: cwd will be [/home/udoo/.ros]
[roslaunch][INFO] 2014-09-03 07:00:29,700: process[rosout-1]: started with pid [3223]
[roslaunch][INFO] 2014-09-03 07:00:29,703: ... successfully launched [rosout-1]
[roslaunch][INFO] 2014-09-03 07:00:29,706: load_parameters starting ...
[roslaunch][ERROR] 2014-09-03 07:00:29,714: load_parameters: unable to set parameters (last param was [/move_base/TrajectoryPlannerROS/min_in_place_rotational_vel=0.4]): cannot marshal None unless allow_none is enabled
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,859: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, started daemon 731092080)>
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,888: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 731092080)>
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,889: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 731092080)>: remaining procs are [<roslaunch.nodeprocess.LocalProcess object at 0x809070>, <roslaunch.nodeprocess.LocalProcess object at 0x7f2e50>]
[roslaunch.pmon][INFO] 2014-09-03 07:00:29,894: ProcessMonitor exit: killing rosout-1
[roslaunch][INFO] 2014-09-03 07:00:29,895: [rosout-1] killing on exit
[roslaunch][INFO] 2014-09-03 07:00:29,898: process[rosout-1]: killing os process with pid[3223] pgid[3223]
[roslaunch][INFO] 2014-09-03 07:00:29,899: [rosout-1] sending SIGINT to pgid [3223]
[roslaunch][INFO] 2014-09-03 07:00:29,899: [rosout-1] sent SIGINT to pgid [3223]
[roslaunch][INFO] 2014-09-03 07:00:30,201: process[rosout-1]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2014-09-03 07:00:30,201: ProcessMonitor exit: killing master
[roslaunch][INFO] 2014-09-03 07:00:30,202: [master] killing on exit
[roslaunch][INFO] 2014-09-03 07:00:30,205: process[master]: killing os process with pid[3210] pgid[3210]
[roslaunch][INFO] 2014-09-03 07:00:30,206: [master] sending SIGINT to pgid [3210]
[roslaunch][INFO] 2014-09-03 07:00:30,209: [master] sent SIGINT to pgid [3210]
[roslaunch][INFO] 2014-09-03 07:00:30,415: process[master]: SIGINT killed with return value 0
[roslaunch.pmon][INFO] 2014-09-03 07:00:30,416: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2014-09-03 07:00:30,416: ProcessMonitor exit: pmon has shutdown
[rospy.core][INFO] 2014-09-03 07:00:30,425: signal_shutdown [atexit]
I checked my code several times for tabs, ,missing spaces on yaml file, namespace usage but I was not able to find a fix.
Can someone help me to fix it?
Thanks a lot
Alessandro
Originally posted by afranceson on ROS Answers with karma: 497 on 2014-09-03
Post score: 3
Original comments
Comment by afranceson on 2014-09-03:
Wrong reason. The right reason to close this question is RESOLVED.
Comment by ahendrix on 2014-09-03:
You can also click the check box next to my answer to mark it as the correct answer.
|
I'm trying to get a fork of the pr2-grant released for our ros_ethercat package as we find it very useful. In the pr2 repo, there were some post-install rules to set the sticky bit of pr2-grant.
Is there a way to do this with catkin / bloom?
Below is the debian/postinst rule
#!/bin/sh
set -e
PKG=pr2-grant
case "$1" in
configure)
chown root.root /usr/bin/pr2_grant
chmod +s /usr/bin/pr2_grant
chown root.root /usr/bin/pr2-grant
chmod +s /usr/bin/pr2-grant
;;
*)
echo "postinst called with unknown argument \`$1'" >&2
exit 0
;;
esac
#DEBHELPER#
Thanks in advance!
Originally posted by Ugo on ROS Answers with karma: 1620 on 2014-09-03
Post score: 2
|
Hi All,
I am implementing the Robot Driver specification (link), however the "reference" JointTrajectoryDownloader implementation assumes you are communicating with a robot that uses the simple_message protocol. My robot does not communicate using simple_messages, it communicates using ordinary ROS topics and messages.
The usage of simple_message protocol is very deeply embedded into the JointTrajectoryDownloader and JointTrajectoryInterface classes. What is the best way to use the JointTrajectoryDownloader library on a robot that does not use simple_message for communication?
Thanks,
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-09-03
Post score: 1
Original comments
Comment by sedwards on 2014-09-04:
The link you provided is to the industrial_robot_client wiki...not a specification (is this what you meant)?
Comment by Adolfo Rodriguez T on 2014-09-04:
If you don't want to use the simple_message protocol, do you really need to use the industrial_robot_client, then?. What's the actual problem you'd like to solve, send joint trajectories to your robot and read state feedback?
Comment by bjem85 on 2014-09-04:
Hi Adolfo, I don't strictly need to use it, but apart from the use of simple_message as a communication method it actually quite closely fits my requirements. From my point of view it makes little sense to do effectively a 'copy-and-paste' programming job.
Comment by bjem85 on 2014-09-04:
sedwards: link has been updated
Comment by bjem85 on 2014-09-04:
Conversely, I did investigate writing a receiver for simple_message, but I could not find any documentation or tutorials on how to do so. Is this a gap in the documentation?
|
Hey
I wrote a node i could easily end with my personalized SIGINT handler.
The handler set all my velocities to zero before shutting down and called out a short message after doing so. Now I've slightly changed my node so I can receive keyboard commands and now the Handler doesn't react anymore when I call him Ctrl-C
I don't know where the fault is..
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "signal.h" //necessary for the Custom SIGINT handler
#include "stdio.h" //necessary for the Custom SIGINT handler
#include "sstream"
#include "brics_actuator/JointVelocities.h"
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
int count = 0;
brics_actuator::JointVelocities msg;
ros::Publisher chatter_pub;
void mySigintHandler(int sig){ //hier: funktion wird aufgerufen beim beenden der node
msg.velocities.resize(6);
msg.velocities[0].value = 0; // A1 ... (rad/s)
msg.velocities[1].value = 0;
msg.velocities[2].value = 0;
msg.velocities[3].value = 0;
msg.velocities[4].value = 0;
msg.velocities[5].value = 0; // A6
std::cout << "all velocities set to zero";
chatter_pub.publish(msg);
ros::shutdown();
}
class talker
{
private:
ros::NodeHandle n;
ros::Publisher chatter_pub;
public:
//!Ros node initialization
talker(ros::NodeHandle n){
// //n_ =n;
// chatter_pub = n.advertise<brics_actuator::JointVelocities>("/arm_controller/command_vel", 10);
}
//! Loop forever while sending drive commands based on keyboard input
bool driveKeyboard()
{
std::cout << "Type a command and then press enter. "
"Use '+' to move forward, 'l' to turn left, "
"'r' to turn right, '.' to exit.\n";
char cmd[50];
ros::NodeHandle n;
signal(SIGINT, mySigintHandler);
chatter_pub = n.advertise<brics_actuator::JointVelocities>("/arm_controller/command_vel", 10);
while(n.ok()){
std::cin.getline(cmd, 50);
if(cmd[0]!='+' && cmd[0]!='l' && cmd[0]!='r' && cmd[0]!='.')
{
std::cout << "unknown command:" << cmd << "\n";
continue;
}
//base_cmd.linear.x = base_cmd.linear.y = base_cmd.angular.z = 0;
msg.velocities.resize(6);
msg.velocities[0].value = 0; // A1 ... (rad/s)
msg.velocities[1].value = 0;
msg.velocities[2].value = 0;
msg.velocities[3].value = 0;
msg.velocities[4].value = 0;
msg.velocities[5].value = 0; // A6
//move forward
if(cmd[0]=='+'){
msg.velocities[0].value= 0.1; //postitive X-Richtung
}
/**
* so einstellen, dass man mit buchstaben die achse auswählt
* und dann immer die pfeiltasten hat um entweder positiv
* (up) oder negativ (down) zu fahren
*/
//TATI move backwards
if(cmd[0]=='-'){
msg.velocities[3].value= -0.1; //negative X-Richtung
}
//turn left
else if(cmd[0]=='l'){
msg.velocities[4].value= 0.1; //negative Y-Richtung usw usf.!
}
//turn right
else if(cmd[0]=='r'){
msg.velocities[1].value= 0.1; //positive Y-Richutng
}
//quit
else if(cmd[0]=='.'){
break;
}
//publish the assembled command
chatter_pub.publish(msg);
}
return true;
}
};//talker
int main(int argc, char **argv)
{
ros::init(argc, argv, "talker");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
std::stringstream ss;
// TATI aus der tastatur main()
talker driver(n);
driver.driveKeyboard();
ros::Rate loop_rate(10);
while (ros::ok())
{
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
Originally posted by irgendeinGastname on ROS Answers with karma: 1 on 2014-09-03
Post score: 0
|
I mounted my new Robopeak rplidar on the center of the turtlebot's top plate, and modified the various launch/urdf to use this scanner for gmapping. However I have not modified any of the gmapping parameters, I'm using the same files as the turtlebot gmapping tutorials.
I can teleop around and get a map, but the walls are rather thick and fuzzy. I suspect this is a result of the rplidar publishing at only 5 hz, not 50 hz as the original kinect. Or possibly because the rplidar is 360 degrees and kinect was only 57 degrees?
Does anyone know why my map doesn't show a sharp defined wall?
Is the slower publishing rate responsible?
What params for gmapping should I modify to optimize for the slower rate?
I tried to add a small jpg of the map image, but not enough points.
This is on Hydro/Ubuntu 12.04, using a turtlebot2 (kobuki).
thanks
buddy
Originally posted by mrsoft99 on ROS Answers with karma: 78 on 2014-09-03
Post score: 1
Original comments
Comment by bvbdort on 2014-09-03:
At what speed you are driving robot ?
Comment by tanghz on 2014-12-18:
Excuse me, dear mrsoft99, I'm sorry to interrupt you. But I am facing a problem about gmapping with rplidar on turtlebot2, I am just starting to ROS, and I am struggling with this problem for a week. Could you teach me how to modify the launch/urdf?
|
This is the piece of code that I have used.
I am trying to transform a geometry_msgs::PointStamped from "base_link" to "map".
geometry_msgs::PointStamped _s , our_s;
_s.point.x = 0.929;
_s.point.y = 0.103672;
_s.point.z = 1.05381;
_s.header.frame_id = "base_link";
_s.header.stamp = ros::Time::now();
tf_l.waitForTransform("map", "base_link", _s.header.stamp, ros::Duration(1.0));
try
{
tf_l.transformPoint("map", _s, our_s);
}
catch(tf::TransformException& ex)
{
ROS_INFO("%s is the exception.", ex.what());
}
This is the same piece of code I always use.
I normally get the output right, but now I get:
the error
[ INFO] [1409742709.610312612]: Lookup would require extrapolation into the past. Requested time 1409742709.104081534 but the earliest data is at time 1409742709.353810000, when looking up transform from frame [base_link] to frame [map] is the exception.
In this case: rosrun tf_echo view_frames shows the frames and they are great.
And rosrun tf tf_echo map base_link gives:
At time 1409742686.330
- Translation: [4.626, -0.504, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
in RPY [0.000, 0.000, -0.413]
At time 1409742687.237
- Translation: [4.626, -0.504, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
in RPY [0.000, 0.000, -0.413]
At time 1409742688.337
- Translation: [4.626, -0.504, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
in RPY [0.000, 0.000, -0.413]
At time 1409742689.247
- Translation: [4.626, -0.504, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
in RPY [0.000, 0.000, -0.413]
^CAt time 1409742689.664
- Translation: [4.626, -0.504, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
in RPY [0.000, 0.000, -0.413]
I have gone through a lot of questions. I still understand this problem correctly.
Any help is greatly appreciated.
Thank you so much.
Originally posted by McMurdo on ROS Answers with karma: 1247 on 2014-09-03
Post score: 0
Original comments
Comment by bvbdort on 2014-09-03:
What is the frequency of tf between [base_link] to [map] , may be its less than your waiting time 1 second.
Comment by McMurdo on 2014-09-03:
I get the same result if the duration is increased to 3 seconds
|
Hey,
I think this is not the common way of questions asked here but I just give it a try.
I am working at a project in which a car should autonomous drive in a predefined map and with predefined endposition. This should be solved with the use of ROS and Gazebo (for now i guess it is not that important that it is really a car - it could also be an example robot or whatever).
My problem here is that i can't find a suitable example project to get started with this. So I am pretty unsure how to launch such a project.
For now I am using ROS Indigo and Gazebo 2.2 on Ubuntu 14.04
Can you give me an outline or some examples how you could start with such a project?
BR
Originally posted by schultza on ROS Answers with karma: 232 on 2014-09-03
Post score: 0
|
Hey guys,
I am trying to set up a test scenario for calibrating cameras with markes. Therefore, I have 2 cameras and 2 markers. Each camera can see both markers. But when I try to simulate this scenario with static-transform-publisher, I get the strange effect, that I either have 2 trees like this:
marker_1 <=> camera 1
marker_2 <=> camera 2
or 1 tree like this:
marker_2 <=> camera 1
marker_2 <=> camera 2
(Which marker is paired with which camera changes constantly, the numbers are only examples)
Here is my launch-file:
0 <launch>
1
2 # Create static transforms for our fake cameras and markers
3 <node pkg="tf" type="static_transform_publisher" name="marker_1_camera_front_tf_publisher" args="1.0 0 0 0 0 0 /ar_marker_1 /camera_front 10" />
4 <node pkg="tf" type="static_transform_publisher" name="marker_2_camera_front_tf_publisher" args="1.0 1.0 0 0 0 0 /ar_marker_2 /camera_front 10" />
5 <node pkg="tf" type="static_transform_publisher" name="marker_1_camera_top_tf_publisher" args="0 0 1.0 0 0 0 /ar_marker_1 /camera_top 10" />
6 <node pkg="tf" type="static_transform_publisher" name="marker_2_camera_top_tf_publisher" args="0 1.0 1.0 0 0 0 /ar_marker_2 /camera_top 10" />
7
8 # Launch the calibrator
9 <include file="$(find camera_calibrator)/launch/calibrate_2_kinects.launch" />
10
11 </launch>
Am I doing anythign wrong, or is my basic understanding of transforms wrong?
I monitor the transforms either via rqt or in python with tf_listener.lookupTransform(marker, camera, rospy.time(0))
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-09-03
Post score: 0
|
Hello everyone
For learning purposes I have created a simple launch file and simple python scripts.
This is my launch file
<launch>
<node name="rf_sim_node_1" pkg="rf_trilateration" type="rf_sim_node.py" args="5,5"/>
<node name="rf_sim_node_2" pkg="rf_trilateration" type="rf_sim_node.py" args="-5,-5"/>
<node name="rf_sim_node_3" pkg="rf_trilateration" type="rf_sim_node.py" args="-5,5"/>
<node name="rf_sim_node_4" pkg="rf_trilateration" type="rf_sim_node.py" args="5,-5"/>
<node name="rf_trilateration_service" pkg="rf_trilateration" type="rf_trilateration_server.py"/>
</launch>
and this is the rf_sim_node.py
#!/usr/bin/env python
import rospy
def start_server():
rospy.init_node("rf_node", anonymous=True)
rospy.spin()
if __name__ == "__main__":
start_server()
When I launch my file with roslaunch
$rosnode list gives out this
/rf_sim_node_1
/rf_sim_node_2
/rf_sim_node_3
/rf_sim_node_4
/rf_trilateration_service
/rosout
Now I am wondering what does rospy.init_node does actually do?. I was expecting to see "rf_node-14 " kinda nodes but end up wtih the node names from the launching file.
What if I make multiple calls to rospy.init_node() will I get new nodes or am I doing something wrong. I read at rospy documentation that I should only call this once but why is the nodes name defined or created at creation of process ?
Originally posted by Ali.Akdurak on ROS Answers with karma: 75 on 2014-09-03
Post score: 7
|
Hi guys,
I' ve got an USB -Simulator RC-Transmitter that works very nice under Linux. Since I want to use it for my ROS-Robots I wanted to create a node as a driver.
The tutorial is really easy but running the command:
$ jstest /dev/input/js0
I get the following output from my TX:
How should I interpret numbers like:
Axes: 0: 0 1: 0 2: 20606
Means 20606 microseconds? Millivolts? Or something else?
Thanks
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-03
Post score: 0
|
I have a ros-controls controller publishing a topic, and I'd like to remap that topic with a roslaunch <remap> tag. I tried applying the remap to both the controller spawner and the hardware interface node, and neither seemed to take.
Is there some other method required?
Originally posted by mikepurvis on ROS Answers with karma: 1153 on 2014-09-03
Post score: 0
Original comments
Comment by timster on 2014-09-03:
Please post your launch file
|
I maintain release of mavlink package ros.
Upstream developers stopped making releases, it is recommended to use the latest snapshot.
So that the original version is stuck at 1.0.9.
When I release the update, the release number of the package rises, but it hard to track between ros releases (also it confuse users).
I think it is more convenient to use instead of the original version of the snapshot date in the form of YEAR.MONTH.DAY.
But i don't find any related information about releasing snapshots.
Originally posted by vooon on ROS Answers with karma: 404 on 2014-09-03
Post score: 1
|
Hello,
I want to connect a heart rate monitor device to the ROS by using the Bluetooth and stream the data.
Is there an available code for this?
Originally posted by Behzad on ROS Answers with karma: 1 on 2014-09-03
Post score: 0
|
So I'm using ROS Indigo along with Gazebo 2.2.3 on Ubuntu Trusty. I was wondering if there are any example codes of controlling said camera and visualize its data (i.e. project what it's seeing in a new window or something like that). For the sake of completeness, the model in question has a SDF model but no URDF model. I'm also using a stereo camera.
UPDATE (Sep 4): Ok, so I discovered that Gazebo has an existing camera model in its model database. I was able to visualize camera data (i.e. show what it's seeing) using existing menu commands in Gazebo. Last, but not least, I was also able to attach the camera to my Gazebo model. The big question that I need help with is how to write code so I can call the camera to visualize using terminal commands instead of going into the Gazebo menu?
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-09-03
Post score: 1
|
I am new to ROS and as part of the tutorial, I am trying to install the hokuyo laser driver and have tried all the solutions posted so far but I keep getting the same error message
sudo apt-get install ros-fuerte-laser-drivers
E: unable to locate package ros-fuerte-laser-drivers
and
sudo apt-get install ros-hydro-urg-node
E: unable to locate package ros-hydro-urg-node
I am using Ubuntu 14.04 running on VirtualBox. I have ROS indigo igloo. Please help
Originally posted by hry on ROS Answers with karma: 1 on 2014-09-03
Post score: 0
|
How create a Virtual NAO?
I'm interested in simulate to NAO, but get erros.
Install
http://wiki.ros.org/nao/Installation/remote
sudo apt-get install ros-hydro-nao-robot
When use
roslaunch nao_bringup nao_sim.launch
Get this in the end:
ResourceNotFound: xacro
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/vincent/NAO/nao_robot-devel
ROS path [2]=/home/vincent/NAO/nao_robot
ROS path [3]=/home/vincent/NAO/nao_gazebo_lastes
ROS path [4]=/home/vincent/NAO/nao_gazebo_plugin
ROS path [5]=/home/vincent/NAO/nao_extras
ROS path [6]=/home/vincent/NAO/nao_description
ROS path [7]=/home/vincent/NAO/nao_common
ROS path [8]=/home/vincent/NAO/humanoid_msgs
ROS path [9]=/opt/ros/hydro/share
ROS path [10]=/opt/ros/hydro/stacks
When continue with another tutorial:
http://wiki.ros.org/nao/Installation/compileFromVirtualNao
Using
sudo bash -c 'echo app-portage/gentoolkit >> /etc/portage/package.keywords'
sudo bash -c 'echo dev-python/setuptools >> /etc/portage/package.keywords'
Get a similar error:
bash: /etc/portage/package.keywords: No existe el archivo o el directorio
A lot of thanks!!
Originally posted by vncntmh on ROS Answers with karma: 52 on 2014-09-03
Post score: 0
|
Hi, all! I am establishing a multi-robot system with several turtlebots. Every robot is an individual intelligent agent and same with each other. Then I want every robot in this multi-robot system to share their position. That is every robot has to broadcast its own position to other robots. I think it is easy to achieve this by using the pacakge rocon_multimaster
Since every robot in our multi-robot system is same to each other, we has implemented a message topic /position_share which contains the information of robot_id and related information about the robot which publishes the topic /position_share. Every robot in this multi-robot system listens to topic /position_share and judges which robots the current message is from and do subsequent actions.
However, checking the communication mechanism of advertisment in rocon_multimaster, I am confused on how to broadcast this topic message. Because for the same channel(also topic) /position_share. Every robot (move_base node) has a publisher and subscriber on it. So there is two ways to do this.
default_advertisements:
- name: /position_share
node: move_base
type: publisher
default_advertisements:
-name: /position_share
node: move_base
type: subscriber
Which way should a robot choose to broadcast its own topic /position_share? As a subscriber or a publisher?
Obviously, for a receiver, it also has two ways:
default_pulls:
- gateway: robot_id
rule：
name:/position_share
node: move_base
type: publisher
default_pulls:
- gateway: robot_id
rule：
name:/position_share
node: move_base
type: subscriber
Of course, here I think I should add many gateways in which each of them represent a robot.
Here I am also confused about the type. What should a robot to choose between "subscriber“ and "publisher" to receive the message /position_share from other robots ?
Looking forward to helpful advice, thank you!
Originally posted by scopus on ROS Answers with karma: 279 on 2014-09-03
Post score: 1
Original comments
Comment by joq on 2014-09-04:
I think one gateway should suffice: http://wiki.ros.org/rocon_multimaster/Use%20Cases .
|
Hi All,
I have followed the instructions for generating an IKFast plugin located here, and have successfully generated an IKFast package using the instructions. Unfortunately the link to the method of running the plugin in Rviz (link) does not have any content so I am once again left guessing.
When I run RViz using:
roslaunch hyd_sys_complete_sldasm_moveit_config demo.launch
I get the following errors repeatedly:
[ERROR] [1409802774.965529932]: IK for this IkParameterizationType not implemented yet.
This does not make sense to me, as when I examine the source code the control type (Translation3d) was specifically given as an argument for generating the IKFast package, yet it claims there is no implementation for it.
Here's the offending generated code. I am using Translation3D as my solver yet it is not covered in the solve function given below.
int IKFastKinematicsPlugin::solve(KDL::Frame &pose_frame, const std::vector<double> &vfree, IkSolutionList<IkReal> &solutions) const
{
// IKFast56/61
solutions.Clear();
double trans[3];
trans[0] = pose_frame.p[0];//-.18;
trans[1] = pose_frame.p[1];
trans[2] = pose_frame.p[2];
KDL::Rotation mult;
KDL::Vector direction;
switch (GetIkType())
{
case IKP_Transform6D:
// For **Transform6D**, eerot is 9 values for the 3x3 rotation matrix.
mult = pose_frame.M;
double vals[9];
vals[0] = mult(0,0);
vals[1] = mult(0,1);
vals[2] = mult(0,2);
vals[3] = mult(1,0);
vals[4] = mult(1,1);
vals[5] = mult(1,2);
vals[6] = mult(2,0);
vals[7] = mult(2,1);
vals[8] = mult(2,2);
// IKFast56/61
ComputeIk(trans, vals, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
return solutions.GetNumSolutions();
case IKP_Direction3D:
case IKP_Ray4D:
case IKP_TranslationDirection5D:
// For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction.
direction = pose_frame.M * KDL::Vector(0, 0, 1);
ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
return solutions.GetNumSolutions();
case IKP_TranslationXAxisAngle4D:
case IKP_TranslationYAxisAngle4D:
case IKP_TranslationZAxisAngle4D:
// For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D**, the first value represents the angle.
ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
return 0;
case IKP_TranslationLocalGlobal6D:
// For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system.
ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
return 0;
case IKP_Rotation3D:
case IKP_Translation3D:
case IKP_Lookat3D:
case IKP_TranslationXY2D:
case IKP_TranslationXYOrientation3D:
case IKP_TranslationXAxisAngleZNorm4D:
case IKP_TranslationYAxisAngleXNorm4D:
case IKP_TranslationZAxisAngleYNorm4D:
ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
return 0;
default:
ROS_ERROR_NAMED("ikfast", "Unknown IkParameterizationType! Was the solver generated with an incompatible version of Openrave?");
return 0;
}
}
Is there something in the kinematics.yaml file for the RViz plugin I need to change?
I know that the standard kinematic solvers do not work properly for my arm as it only has three degrees of freedom, but unfortunately IKFast has proven much more trouble than it is worth.
Is there a solution to this?
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-09-03
Post score: 2
|
Hi,
When using the new package.xml format 2 (http://docs.ros.org/indigo/api/catkin/html/howto/format2/), I am not able to export any nodelet plugins from my package. The relevant parts of the package.xml are:
<depend>roscpp</depend>
<depend>nodelet</depend>
Trying to launch my nodelet gives me a
Failed to load nodelet [...] According to the loaded plugin descriptions the class [...] with base class type nodelet::Nodelet does not exist.
error. On running
rospack plugins --attrib=plugin nodelet
it does not list my package. But now if I add a
<run_depend>nodelet</run_depend>
in the package.xml which is invalid according to the new format, rospack lists it in the plugins list but of course I'm not able to run the nodelet since the package.xml is invalid.
If I go back to package.xml format 1, everything works fine. So, is this due to some incomplete implementation of package.xml format 2?
Originally posted by kartikmohta on ROS Answers with karma: 308 on 2014-09-04
Post score: 1
Original comments
Comment by ahendrix on 2014-09-04:
Please include your full package.xml in your question.
Comment by William on 2014-09-04:
@Dirk Thomas FYI.
Comment by William on 2014-09-04:
@kartikmohta as you describe the problem, it sounds like a bug. I believe rospack prunes the list of packages to only include ones that run_depend on the target package, in this case nodelet. It could be that this code path is not aware of the aggregate nature of the tag.
|
Hi,
I downloaded the tools from github and followed the instructions to install them. However the installation fails with the message
Linking CXX executable bin/global_cloud_align
lib/librgbdtools.so: undefined reference to `boost::filesystem::detail::status(boost::filesystem::path const&, boost::system::error_code*)'
lib/librgbdtools.so: undefined reference to `boost::filesystem::detail::create_directories(boost::filesystem::path const&, boost::system::error_code*)'
lib/librgbdtools.so: undefined reference to `boost::filesystem::detail::create_directory(boost::filesystem::path const&, boost::system::error_code*)'
Other packages can link to boost normally, so in CMakeLists.txt I added the compile flags for filesystem and system but no luck. I have not messed with the package files in any other way. The rest of the stack's packages also seem to isntall fine.
EDIT:
Forgot to mention, I am using ROS Hydro, Boost 1.52 on Ubuntu 12.04
Any suggestions ?
Originally posted by AndreasLydakis on ROS Answers with karma: 140 on 2014-09-04
Post score: 0
|
I am using ROS Indigo with gazebo 4.0.1 as installed by the ros-indigo-gazebo4-prerelease-* packages. I am trying to use the set_model_state topic to move a Pioneer 2DX model around. The model contains the following frames:
chassis
right_wheel
left_wheel
right_wheel_hinge
left_wheel_hinge
First, I issue the following command:
rostopic pub /gazebo/set_model_state gazebo_msgs/ModelState "model_name: 'pioneer2dx'
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.1
reference_frame: 'chassis'"
The robot correctly begins to turn counter-clockwise. After it turns some nontrivial amount, I then issue a second command to stop it. I then issue this command:
rostopic pub /gazebo/set_model_state gazebo_msgs/ModelState "model_name: 'pioneer2dx'
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
twist:
linear:
x: 0.4
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
reference_frame: 'chassis'"
My expectation is that the robot will move forward in the direction that it is currently facing. This is why I issued the command in the chassis frame. However, the robot instead starts moving forward along the X-axis in the world coordinate frame.
I have verified this with a second robot model (my own), and assumed I did something wrong with my model until the same issue appeared with the P2DX. Is this working as intended, or is it a bug? I can easily convert the desired drive command to the "correct" reference frame, but it seems as though the robot ought to be able to accept commands to drive in its body coordinate frame.
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-09-04
Post score: 0
|
I build a navigation stack for my robot. When I roslaunch the launch file, the screen shows "error: couldn't transform from laser to base_footprint, even though the message notifier is in use". After a while, it said "error: couldn't determine robot's pose associated with laser scan". The screen images are shown below. Is there anyone know what's wrong with tf or laser_scan? Thanks very much.
Originally posted by tony on ROS Answers with karma: 76 on 2014-09-04
Post score: 0
Original comments
Comment by bvbdort on 2014-09-04:
Can you write more info.
Comment by tony on 2014-09-04:
@bvbdort, I have write the problem in detail. Do you have some suggestion about the errors?Thanks.
Comment by tony on 2014-09-04:
ros version is hydro
Comment by bvbdort on 2014-09-05:
take a loot at rosrun tf view_frames and post frame.pdf , it give more info on tf of your setup.
|
I was wondering if it is possible to run a pre-release test on a package that's never been released before.
I've been following the tutorial on ROS wiki up to the point where bloom asks if it should open a pull request to rosdistro, at which moment the tutorial tells you to abort everything.
So the question is, how would the prerelease website know about your package to put it in the list of repositories available for testing, if you don't even have a pull request open. Where does it get the list of repos in general, from the actual .yaml file of rosdistro? I'm really confused.
Thanks.
Originally posted by gaya on ROS Answers with karma: 311 on 2014-09-04
Post score: 1
|
I was going through the code base of ROS navigation. I have some difficulty understanding the name field and type field for running a node in a launch file.
For example, I run the move_base node using the following line in my launch file.
node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"
However, when I look at the source code for move_base, it has a file named move_base_node and during initialization as well is called "move_base_node"
ros::init(argc, argv, "move_base_node");
But the executable that is present in my devel folder is called "move_base". I wonder how the naming is supposed to work and how did it get changed.
The CMakelists file also contains "move_base_node" and not "move_base".
Thank you for your time.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-09-04
Post score: 1
|
Hi All,
I need to interface with Orion Robotics' RoboClaw motor controllers and so require some kind of driver.
More info on the device here.
I will have several of them connected via USB and need to talk to them individually.
I would like to write the generic driver and create a new instance for each physical device.
I was thinking that I will need a node to run to maintain the connection to the device...?
But should requests be received using services or messages?
Thanks for any help,
Chris.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-09-04
Post score: 0
|
Hello,
I would like to ask the difference between a state estimator like robot_localization, or robot_pose_ekf and a localization package like amcl.
Can we say, a state estimator estimating (x, y, z, roll, pitch, yaw, and their respective velocities) is more general
than a localization module which only estimates (x, y, z, roll, pitch, yaw)
Other than the fact that, robot_localization, or robot_pose_ekf are fusing odometry data from different sensors and amcl is using this data plus laser/camera data to localize the robot, and (x, y, z) in state estimators are relative to the initial position and global (relative to the map) in amcl
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-04
Post score: 3
Original comments
Comment by Martin Peris on 2014-09-04:
I guess that the main difference would be a state estimator provides localization of the robot on a frame local to the robot (the origin of the odometry frame will depend on where the robot woke up) and a localization package such as amcl provides localization on a global frame.
|
Hello,
My question is a repeat of this question.
I'm trying to set up the navigation stack on a robot possessing only odometry sensors (wheel encoder, IMU published to /odom /imu). No camera/laser. The robot is also using robot_state_publisher to publish the transformations between robot coordinates.
I want to use only odometry sources (wheel encoder, IMU) to navigate the robot, so my plan is to use robot_localization to fuse the odometry data and use fake_localization to localize the robot on the known map.
The navigation tutorial says that we should create a package:
roscreate-pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep
So the question is what should I put instead of my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-04
Post score: 0
Original comments
Comment by David Lu on 2014-09-08:
Which tutorial?
Comment by ROSCMBOT on 2014-09-08:
http://wiki.ros.org/navigation/Tutorials/RobotSetup/
|
Hi,
I would like to build a 3D map from velodyne_points (sensor_msgs/PointCloud2) in offline mode. In order to save some storage space, I am logging only velodyne_packets (velodyne_msgs/VelodyneScan) to a rosbag file using velodyne_driver. Later, I need to convert this VelodyneScan into PointCloud2 to build the map.
So my question is: How to convert VelodyneScan into PointCloud2 when the device is no connected? I was trying velodyne_pointcloud that works fine only when the sensor (Velodyne) is connected. Otherwise, it does not publish /velodyne_points.
Thank you.
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-09-04
Post score: 1
Original comments
Comment by bvbdort on 2014-09-05:
how you are running velodyne_pointploud
Comment by AsifA on 2014-09-05:
I am playing back the rosbag file as rosbag play --clock file_name.bag and then launching the cloud_nodelet.launch file located in the velodyne_pointcloud package. cont ...
Comment by AsifA on 2014-09-05:
In the launch file, I am assigning the value "$(find velodyne_pointcloud)/params/32db.yaml" to the parameter "calibration".
|
I have a ROS package and I want to remove it to create a new one with the same name and same nodes. I'm using ROS FUERTE
Originally posted by Richard on ROS Answers with karma: 21 on 2014-09-04
Post score: 2
|
Hello,
I am trying to share a topic between two different networks.
There are three computers and let's call them as PC1,PC2, and PC3. (all are ubuntu and running ROS)
Each PC has the following network settings.
PC1:
wlan0 (obtaining IP from ISP's DHCP)
IP: 121.131.88.99
eth0
IP: 192.168.1.1
PC2:
eth0 (Static IP address)
IP: 192.168.1.30
Gateway: 192.169.1.1
PC3:
wlan0 (obtaining IP from ISP's DHCP)
IP: 121.131.88.100
For more explanations, I have two network adaptors named: wlan0 and eth0 on PC1.
wlan0 connects to ISP's network (the Internet is connected) and obtain a IP address through ISP's DHCP. (let's say 121.131.88.99)
eth0 is a gateway that has a static IP address (192.168.1.1) and PC2 is connected to PC1 through wired for the Internet sharing. (It works). iptable is properly set up for forwarding from wlan0 to eth0.
ROS master is running on PC2 which has a IP address (192.168.1.30). This machine publish a simple topic such as "/test/topic" with std_msgs/String type.
What I want is that subscribing the topic "/test/topic" from PC3. I can subscribe the topic on PC2 by setting ROS_MASTER_URI to 192.168.1.30 but PC3 can't connect to PC2 since they are belongs to different networks. (192.169.x.x) and (121.131.x.x).
I already attempted ros multimaster_fkie but still couldn't subscribe anything on PC3.
I think I do need some iptable settings from eth0 to wlan0 on PC1 as it done for the Internet sharing (from wlan0 to to eth0).
Any comments on this issue would be appreciate.
Cheers.
PS: I am bit afraid whether the explanation is understandable or deliver my point or not as my network setting environments is messy.
Originally posted by enddl22 on ROS Answers with karma: 177 on 2014-09-04
Post score: 0
Original comments
Comment by bvbdort on 2014-09-05:
did you set ROS_IP ?
Comment by enddl22 on 2014-09-05:
Yes, but no success.
|
I am trying to follow ros tutorial (make a map and navigate it). However each time I tried to use gazebo and RViz, it crushes. Please guide me how to solve the problem?
Is the problem related to graphics card? My machine is using nvidia driver (NVIDIA Corporation G92 [GeForce 9800 GT] (rev a2) (prog-if 00 [VGA controller])
Thank you
Originally posted by Ahyan on ROS Answers with karma: 1 on 2014-09-05
Post score: 0
Original comments
Comment by Ahyan on 2014-09-05:
However I successfully finished the tutorial 'Explore the Gazebo world'.
Comment by BennyRe on 2014-09-05:
Any error messages or something like that would be very helpful. What crashes? Gazebo or RViz?
Comment by Ahyan on 2014-09-07:
thanks a lot for your response.
When I tried the following RViz seems trying to start but fails.
$ roslaunch turtlebot_rviz_launchers view_navigation.launch
I need to restart my computer then.
Why this is happening?
Comment by BennyRe on 2014-09-07:
Can you run RViz alone? try $ rosrun rviz rviz
Comment by Ahyan on 2014-09-11:
yes. I can run RViz alone. Also gazebo.
Comment by BennyRe on 2014-09-11:
Please post the link to your tutorial.
Comment by Ahyan on 2014-09-11:
Here it is:
http://wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it
Comment by BennyRe on 2014-09-11:
Ok try the following: Follow the tutorial till you come to the RViz point. Then start RViz with $ rosrun rviz rviz Then you can try adding the plugins by yourself and maybe you find the plugin that makes problems. Add the plugins you see in the picture in the tutorial.
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i'm programming a GUI with QT which should run in RQT and have a ROS MAP as a background. I tried using map_server to launch the map but then i get the warning in QT : it is not safe to use pixmaps outside the GUI. I'm totally confused how to combine ros, qt and rqt together so if there is any example or explanation on this subject i would really appreciate it. thanks in advance.
Originally posted by beginner_alex on ROS Answers with karma: 1 on 2014-09-05
Post score: 0
|
Hi,
I want to get the angle between 2 quaternions (as euler angle), but the angle always needs to be from q1 to q2 (not the shortest angle).
But since there are two ways to get an angle, I need to find the one I need. The following code works, but I'm looking for a nicer solution.
// calculate difference
ori_diff = q1.inverse() * q1;
//just use the pitch part
ori_diff.setValue(0., ori_diff.y(), 0., ori_diff.w());
ori_diff.normalize();
//get euler angle
tf::Matrix3x3 m;
m.setRotation(ori_diff);
tfScalar r1, r2, p1, p2, y1, y2;
m.getRPY(r1, p1, y1, 1);
m.getRPY(r2, p2, y2, 2);
if ( r1 == 0 && y1 == 0 ) {
euler_angle = p1;
} else if ( r2 == 0 && y2 == 0) {
euler_angle = p2;
} else {
ROS_ERROR( ... );
}
Originally posted by Tobias Neumann on ROS Answers with karma: 179 on 2014-09-05
Post score: 1
|
Hello! in my tf tree I have that between /map and /odom there's amcl that publish at 20Hz. How to increase this speed rate?
Originally posted by alex920a on ROS Answers with karma: 35 on 2014-09-05
Post score: 0
|
Hi, is it possible to load all yaml-files in an folder?
Like:
<rosparam folder="$(find parameter)/my_params/" />
Originally posted by Tobias Neumann on ROS Answers with karma: 179 on 2014-09-05
Post score: 0
|
Is it possible to update the frequency of the current running loops of a ros::Rate or ros::Timer object?
Originally posted by Johannes Jaegers on ROS Answers with karma: 70 on 2014-09-05
Post score: 0
|
Hello everybody! I have a problem: I'm running amcl and navigation stack on husky in a empty room. If I add some obstacles in the room the global costmap will update but unfortunately the odom frame will have a wrong position. Can somebody help me please? I'm using hydro on ubuntu 12.04lts
Originally posted by alex920a on ROS Answers with karma: 35 on 2014-09-05
Post score: 0
|
I created a subscriber node "Listener.cpp" in the src folder of the package ardrone_autonomy.
I also modified the CMakeLists.txt file by adding dependency, executable link
However, when I go to my catkin workspace and type in "catkin_make",
It builds fine except for something wrong with my new file. What am I missing/ doing wrong?
ERROR shown below:
...
...
[100%] Building CXX object ardrone_autonomy/CMakeFiles/ardrone_driver.dir/src/listener.cpp.o
Linking CXX executable /home/voladoddi/catkin_ws/devel/lib/ardrone_autonomy/ardrone_driver
CMakeFiles/ardrone_driver.dir/src/listener.cpp.o: In function `main':
listener.cpp:(.text+0x152): multiple definition of `main'
CMakeFiles/ardrone_driver.dir/src/ardrone_driver.cpp.o:ardrone_driver.cpp:(.text+0x16a61): first defined here
/usr/bin/ld: cannot find -llistener
collect2: ld returned 1 exit status
make[2]: *** [/home/voladoddi/catkin_ws/devel/lib/ardrone_autonomy/ardrone_driver] Error 1
make[1]: *** [ardrone_autonomy/CMakeFiles/ardrone_driver.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
I checked the .cpp file I wrote. I cannot see any multiple definitions of main in the file. There's no other subscriber node named the same way either.
EDIT - As William pointed out, I was trying add the node to the executable of the existing package. However, I added two lines to the end of my Subscriber.cpp file like below:
#adding subscriber's node executable to the end of CMakeLists.txt file - POOJA
add_executable(subscriber src/subscriber.cpp)
target_link_libraries(subscriber ${catkin_LIBRARIES})
And now I'm getting the following errors:
Build done.
Checking required Ubuntu packages ...
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp: In function ‘void ReceiveData(const ConstPtr&)’:
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:8:2: error: ‘const struct ardrone_autonomy::Navdata_<std::allocator<void> >’ has no member named ‘data’
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp: In function ‘int main(int, char**)’:
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:17:54: error: ‘Navdata’ was not declared in this scope
/home/voladoddi/catkin_ws/src/ardrone_autonomy/src/subscriber.cpp:17:54: note: suggested alternative:
/home/voladoddi/catkin_ws/devel/include/ardrone_autonomy/Navdata.h:246:61: note: ‘ardrone_autonomy::Navdata’
ok.
Building ARDroneTool/Lib
make[2]: *** [ardrone_autonomy/CMakeFiles/subscriber.dir/src/subscriber.cpp.o] Error 1
make[1]: *** [ardrone_autonomy/CMakeFiles/subscriber.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Building ARDroneTool/Lib
[ 4%] Performing install step for 'ardronelib'
make[3]: warning: jobserver unavailable: using -j1. Add `+' to parent make rule.
[ 5%] Completed 'ardronelib'
[ 7%] Built target ardronelib
make: *** [all] Error 2
Here is my subscriber code:
#include "ros/ros.h"
#include "ardrone_autonomy/Navdata.h"
//The topics subscribed to : Time (from the header), Pitch angle(rotY)
// where the MESSAGE= ardrone_autonomy
void ReceiveData(const ardrone_autonomy::Navdata::ConstPtr& rot)
{
ROS_INFO("Time: %d, Pitch angle: %d",rot->data.header.stamp.to_sec(),rot->rotY);
}
//instantiating subscriber
int main(int argc, char **argv)
{
ros::init(argc,argv,"subscriber");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("ardrone/navdata",Navdata,ReceiveData);
ros::spin();
return 0;
}
Originally posted by voladoddi on ROS Answers with karma: 87 on 2014-09-05
Post score: 1
Original comments
Comment by William on 2014-09-05:
It looks like you are trying to link the new listener against the ardrone_autonomy executable, which doesn't really make sense. Please post your full CMakeLists.txt.
Comment by voladoddi on 2014-09-05:
Hi... That was indeed the problem. However, after looking around, I've added it to the end of CMakeLists.txt .I'm getting some other errors.
Please do take a look and tell me what I'm doing wrong. I know it's got to do with variable names and scopes but if I get to know where to check,it'd help!
|
When I go to release a package that I did not create (this is my first time releasing it) it says:
Your track's 'actions' configuration is not the same as the default.
Unless you have manually modified your 'actions' (the commands which get run for a release), you should update to the new default.
Should it be updated to the default setting?
I'm pretty sure the answer is Yes, update to default. But how can I tell if the previous maintainer added a custom action?
I checked
http://bloom.readthedocs.org/en/0.5.7/search.html?q=action&check_keywords=yes&area=default
and
http://wiki.ros.org/bloom
and I could not find more documentation on this actions feature. I think more should be written about it.
Thanks!
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-09-05
Post score: 0
|
I'm using Gazebo 2.2.3 along with ROS Indigo. I also have a robot with a mounted camera in Gazebo. I was wondering if there is a way to just grab a single frame from the robot's camera (not live feed) using ROS. It doesn't even have to display the image like with the image_view command.
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-09-05
Post score: 1
|
Hi,
I am launching a main.launch file. This file is calling several other configuration files of several nodes depending on the task. I know that I can record the data using rosbag record when I'm on mission.
Is there a possibility to save all the configurations along with rosbag? I am looking for some thing similar as profile in Matlab.
Any help is much appreciated. :)
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-09-05
Post score: 1
|
Hi, all! I am learning a multi-robot collision avoidance algorithm by using simulator Stage.
please see following image:
I think the yellow warning( exclamation mark) is saying that two robots crash with each other.
I want to know where the code in Stage that this warning comes from, or in other words: what kind of topic is published when a collision is detected and which callback function in Stage is for response when a message( like topic?) about detecting collision is published?
Thank you!
Originally posted by scopus on ROS Answers with karma: 279 on 2014-09-05
Post score: 1
|
Hi guys,
I ve defined in my
usb_simulator
folder 3 files with the following structure:
where:
joy_main.cpp
#include <ros/ros.h>
#include "joystick.h"
int main( int argc, char **argv ) {
ros::init( argc, argv, "usb_simulator" );
/* create a class: "Joystick" */
//Joystick usb_sim; // commented for debug
ros::spin();
}
is the main file,
joystick.h
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/Twist.h>
#ifndef JOYSTICK_H
#define JOYSTICK_H
class Joystick
{
private:
void joystickCallback( const sensor_msgs::Joy &joy ) ;
ros::NodeHandle nh_;
int linear_, angular_;
double l_scale_, a_scale_;
ros::Publisher cmd_pub_;
ros::Subscriber joy_sub_;
public:
Joystick();
};
#endif
and joystick.cpp:
#include "joystick.h"
Joystick::Joystick() :
linear_( 1 ), angular_( 2 )
{
nh_.param( "axis_linear", linear_, linear_ );
nh_.param( "axis_angular", angular_, angular_ );
nh_.param( "scale_angular", a_scale_, a_scale_ );
nh_.param( "scale_linear", l_scale_, l_scale_ );
cmd_pub_ = nh_.advertise<geometry_msgs::Twist>( "usb_data", 1 );
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>( "joy", 10, &Joystick::joystickCallback, this );
}
void Joystick::joystickCallback( const sensor_msgs::Joy &joy ) {
geometry_msgs::Twist vel;
vel.angular = a_scale_ * joy->axes[angular_];
vel.linear = l_scale_ * joy->axes[linear_];
vel_pub_.publish( vel );
}
define a class for the joystick interface.
In my CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(usb_simulator)
find_package(catkin REQUIRED COMPONENTS
joy
roscpp
geometry_msgs
)
## Declare a cpp executable
# add_executable(usb_simulator_node src/usb_simulator_node.cpp)
add_executable( usb_simulator src/joy_main.cpp src/joystick.cpp )
## Specify libraries to link a library or executable target against
target_link_libraries( usb_simulator
${catkin_LIBRARIES}
)
I defined both cpp files to be added to the executable.
Running catkin_make I get the following error:
/home/wilhem/workspace_ros/src/usb_simulator/src/joystick.cpp: In constructor ‘Joystick::Joystick()’:
/home/wilhem/workspace_ros/src/usb_simulator/src/joystick.cpp:13:94: error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [4], int, void (Joystick::*)(const Joy&), Joystick* const)’
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>( "joy", 10, &Joystick::joystickCallback, this );
^
/home/wilhem/workspace_ros/src/usb_simulator/src/joystick.cpp:13:94: note: candidates are:
In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
from /home/wilhem/workspace_ros/src/usb_simulator/src/joystick.h:1,
from /home/wilhem/workspace_ros/src/usb_simulator/src/joystick.cpp:1:
/opt/ros/indigo/include/ros/node_handle.h:379:14: note: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&)
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M), T* obj,
How can I solve this problem?
Regards
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-06
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-09-06:
Besides your question you should move your header file into a separate "include" folder - actually in a subfolder "include/usb_simulator". You must then also add "include_directories(include)" to your CMake and reference the header in in your code like "#include "usb_simulator/joystick.h"".
Comment by Andromeda on 2014-09-06:
thanks, Should I copy even the joystick.cpp into the include/usb_simulator folder or just the .h file?
In that file how should I modify the CMkaeLists.txt ?? Thanks again
|
Hi everybody,
I got from Yaskawa the MotoPlus runtime package and I installed the motoman_driver packages.
I also used the move_to_joint.py to move the robot and wrote my own c++-Application sending the robot (publishing it in the joint_path_command topic) a JointTrajectory defined by a simple JointTrajectoryPoint.
This works quite good. I have also some experience IkFast to make the Ik ond FK- Transformations.
But now I want to be able to send an whole path to the robot and to plan the path.
I have basically no idea how I could do this. I think I should use MoveIt!, but there are no specefications on the MoveIt! Homepage for my robot.
Could you explain me which packages I may need to install for this and which kind of message I have to publish whereever? Or is there an example or Tutorial for this?
Thank you!
Originally posted by Sarah D.R. on ROS Answers with karma: 1 on 2014-09-06
Post score: 0
|
Is it possible in ROS to record current weather conditions from a website or weather-indicator in Ubuntu?
I would like to record current atmosphere temperature, humidity, etc for some experiments.
Thanks.
Originally posted by AsifA on ROS Answers with karma: 231 on 2014-09-06
Post score: 0
Original comments
Comment by bvbdort on 2014-09-06:
google "waether api with c++ wrapper" , your question is not ROS specific.
|
I'm trying to publish a string under the topic, name. But I'm getting compile error and I can't figure out where exactly the problem lies also. Could someone help me out.
This is my pubname.cpp file.
#include <ros/ros.h>
#include <std_msgs/String.h>
int main(int argc, char **argv)
{
ros::init(argc,argv,"pubname"); //node name is pubname
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<std_msgs::String>("name",1000); //topic is name
ros::Rate rate(2);
while(ros::ok())
{
std_msgs::String msg("Patrick");
pub.publish(msg);
ROS_INFO_STREAM("Sending Name ");
rate.sleep();
}
}
This is my CMakeLists.txt,
cmake_minimum_required(VERSION 2.8.3)
project(assignment2)
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
catkin_package()
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(pubname pubname.cpp)
target_link_libraries(pubname ${catkin_LIBRARIES})
Error:
Scanning dependencies of target pubname
[100%] Building CXX object assignment2/CMakeFiles/pubname.dir/pubname.cpp.o
/home/Patrick/ROSthings/Auro2/src/assignment2/pubname.cpp: In function ‘int main(int, char**)’:
/home/Patrick/ROSthings/Auro2/src/assignment2/pubname.cpp:16:39: error: no matching function for call to ‘std_msgs::String_<std::allocator<void> >::String_(const char [16])’
std_msgs::String msg("Patrick");
^
/home/Patrick/ROSthings/Auro2/src/assignment2/pubname.cpp:16:39: note: candidates are:
In file included from /home/Patrick/ROSthings/Auro2/src/assignment2/pubname.cpp:2:0:
/opt/ros/indigo/include/std_msgs/String.h:62:3: note: std_msgs::String_<ContainerAllocator>::String_(const ContainerAllocator&) [with ContainerAllocator = std::allocator<void>]
String_(const ContainerAllocator& _alloc)
^
/opt/ros/indigo/include/std_msgs/String.h:62:3: note: no known conversion for argument 1 from ‘const char [16]’ to ‘const std::allocator<void>&’
/opt/ros/indigo/include/std_msgs/String.h:59:3: note: std_msgs::String_<ContainerAllocator>::String_() [with ContainerAllocator = std::allocator<void>]
String_()
^
/opt/ros/indigo/include/std_msgs/String.h:59:3: note: candidate expects 0 arguments, 1 provided
/opt/ros/indigo/include/std_msgs/String.h:55:8: note: std_msgs::String_<std::allocator<void> >::String_(const std_msgs::String_<std::allocator<void> >&)
struct String_
^
/opt/ros/indigo/include/std_msgs/String.h:55:8: note: no known conversion for argument 1 from ‘const char [16]’ to ‘const std_msgs::String_<std::allocator<void> >&’
make[2]: *** [assignment2/CMakeFiles/pubname.dir/pubname.cpp.o] Error 1
make[1]: *** [assignment2/CMakeFiles/pubname.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by lffox on ROS Answers with karma: 7 on 2014-09-06
Post score: 0
Original comments
Comment by bvbdort on 2014-09-06:
please post error message
Comment by lffox on 2014-09-06:
hello, edited.
|
Hello,
I am using UDOO board and a sick lms 200. I get an error when i run the sicktoolbox_wrapper which says "failed to detect baud rate". If not that the program waits indefintely at startup.
*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0
the program waits here forever or it says "failed to detect the baud rate". I've tried the same serial to usb converter cable on my x86 machine and it works perfectly. I sometimes get the following error
" *** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0
Device opened!
Attempting to start buffer monitor...
Buffer monitor started!
Attempting to set requested baud rate...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Failed to set requested baud rate...
Attempting to detect LMS baud rate...
Checking 19200bps...
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: Unable to set device attributes!
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: Unable to set device attributes!
ERROR: I/O exception - SickLMS2xx::_setTerminalBaud: Unable to set device attributes!
/opt/ros/hydro/lib/sicktoolbox_wrapper/sicklms: symbol lookup error: /opt/ros/hydro/lib/sicktoolbox_wrapper/sicklms: undefined symbol: _ZN3ros7console5printEPNS0_10FilterBaseEPvNS0_6levels5LevelEPKciS7_S7_z
Originally posted by asusrog on ROS Answers with karma: 63 on 2014-09-06
Post score: 0
Original comments
Comment by ahendrix on 2014-09-06:
You have two open questions and an open bug about your problems already. Please update those before asking a new question.
Comment by asusrog on 2014-09-06:
sorryy.. forgot to update them.
|
Hello,
In the sources for the navigation stack, there's a sample costmap_2d config file at navigation/costmap_2d/launch/example_params.yaml. In the part pertaining to the base_scan source, there's an undocumented parameter called 'expected_update_rate':
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
Is this what it sounds like (laser update rate in Hz)? 0.4 is kind of a weird value for a scanning laser so thought I'd check.
Thanks,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-09-06
Post score: 0
|
I've been following this tutorial, http://wiki.ros.org/hector_slam/Tutorials/MappingUsingLoggedData, but I never got past step 4.
My OS version - Ubuntu 14.04 and I'm running ROS Indigo.
I get the following error:
Patrick@grimreaper:~$ rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag --clock
[ INFO] [1410114868.718453773]: Opening Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
[FATAL] [1410114868.719106803]: Error opening file: Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
[EDIT]
Patrick@grimreaper:~$ rosbag info Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
ERROR reading Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag: [Errno 2] No such file or directory: 'Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag'
But the file was successfully downloaded,
Patrick@grimreaper:~/ROSthings$ wget http://tu-darmstadt-ros-pkg.googlecode.com/files/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
--2014-09-07 23:23:24-- http://tu-darmstadt-ros-pkg.googlecode.com/files/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
Resolving tu-darmstadt-ros-pkg.googlecode.com (tu-darmstadt-ros-pkg.googlecode.com)... 74.125.130.82, 2404:6800:4003:c01::52
Connecting to tu-darmstadt-ros-pkg.googlecode.com (tu-darmstadt-ros-pkg.googlecode.com)|74.125.130.82|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 81363927 (78M) [application/octet-stream]
Saving to: ‘Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag’
100%[=========================================================================================================>] 8,13,63,927 72.2KB/s in 12m 24s
2014-09-07 23:35:49 (107 KB/s) - ‘Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag’ saved [81363927/81363927]
Any thoughts as to why this is happening?
Originally posted by lffox on ROS Answers with karma: 7 on 2014-09-07
Post score: 0
Original comments
Comment by bvbdort on 2014-09-07:
what about result of rosbag info Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
Comment by lffox on 2014-09-07:
@bvbdort edited.
|
Hello,
When we run move_base with dwa_local_planner, doing a rostopic list shows a topic named /move_base/DWAPlannerROS/trajectory_cloud, and another named /move_base/DWAPlannerROS/cost_cloud. However, nothing ever seems to get posted to these topics, even when there's an active nav goal in play. Should we be seeing output on these topics? We're debugging some strange behavior and would sure like to see what the planner is thinking.
Thanks,
Rick
Originally posted by Rick Armstrong on ROS Answers with karma: 567 on 2014-09-07
Post score: 0
Original comments
Comment by ahendrix on 2014-09-07:
I think there are parameters that you have to set to enable these topics.
|
Using the stdr_simulator tutorial
Using turtlebot for teleoperation
the command:
viki@c3po:~/catkin_ws/src/stdr_tele/launch$ roslaunch stdr_tele stdr_keyboard.launch
receives the message:
[stdr_keyboard.launch] is neither a launch file in package [stdr_tele] nor is [stdr_tele] a launch file name
The launch file:
<launch>
<!-- turtlebot_teleop_key already has its own built in velocity smoother -->
<node pkg="turtlebot_teleop" type="turtlebot_teleop_key" name="turtlebot_teleop_keyboard" output="screen">
<param name="scale_linear" value="0.5" type="double"/>
<param name="scale_angular" value="1.5" type="double"/>
<remap from="turtlebot_teleop_keyboard/cmd_vel" to="robot0/dmd_vel"/>
</node>
</launch>
What am I doing wrong?
Originally posted by Joseph Landau on ROS Answers with karma: 51 on 2014-09-07
Post score: 0
Original comments
Comment by bvbdort on 2014-09-08:
do roslaunch in folder where you have launch file.
Comment by Joseph Landau on 2014-09-08:
That doesn't seem to work.
viki@c3po:~/catkin_ws/src/stdr_tele/launch$ roslaunch stdr_tele stdr_keyboard.launch
[stdr_keyboard.launch] is neither a launch file in package [stdr_tele] nor is [stdr_tele] a launch file name
Also fails when I attempt the roslaunch from the parent folder.
|
so i was following the SLAM Map Building with TurtleBot. The problem is there is no map received error in rviz.
anyone know how to overcome this problem?
Originally posted by lfyhmdn on ROS Answers with karma: 36 on 2014-09-08
Post score: 0
Original comments
Comment by bvbdort on 2014-09-08:
Please add more info about what error you are getting
|
Hi,
I followed the tutorial Installing on Raspberry PI/Raspbian from source and have a problem at point 5.6. When I try the command "sudo rosdep check --from-paths src --ignore-src --rosdistro groovy" I get the error "ERROR: your rosdep installation has not been initialized yet. Please run: rosdep update". The command "rosdep update" has no effect and error message comes again. I run "sudo rosdep init" before.
Thanks for help.
UPDATE 1:
rosdep update
Hit https://github.com/ros/rosdistro/raw/master/rosdep/osx-homebrew.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/base.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/python.yaml
Hit https://github.com/ros/rosdistro/raw/master/rosdep/ruby.yaml
Hit https://github.com/ros/rosdistro/raw/master/releases/fuerte.yaml
Query rosdistro index https://raw.github.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
updated cache in /root/.ros/rosdep/sources.cache
With the sudo command (sudo rosdep update) it works and I could run after some fixes in the file "gbpdistro_support.py" the following command:
sudo rosdep check --from-paths src --ignore-src --rosdistro groovy --os=debian:wheezy
but got another problem:
System dependencies have not been satisified:
apt ros-groovy-urdf
sudo apt-get install ros-groovy-urdf
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-groovy-urdf : Depends: ros-groovy-collada-parser but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
sudo apt-get install ros-groovy-collada-parser
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-groovy-collada-parser : Depends: collada-dom2.4-dp-base (>= 2.4.0.16+rpi1) but it is not installable
E: Unable to correct problems, you have held broken packages.
I have built and installed the collada package successfully how it was described in point 5.5.
UPDATE 2:
The result is not much different.
sudo rosdep install --from-paths src --ignore-src --rosdistro groovy -yr --os=debian:wheezy
executing command [sudo apt-get install -y ros-groovy-urdf]
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-groovy-urdf : Depends: ros-groovy-collada-parser but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
apt: command [sudo apt-get install -y ros-groovy-urdf] failed
apt: Failed to detect successful installation of [ros-groovy-urdf]
UPDATE 3:
I need the package "collada-dom2.4-dp-base (>= 2.4.0.16+rpi1)" but there is no source or package via apt-get available.
sudo rosdep install --from-paths src --ignore-src --rosdistro groovy -yr --os=debian:wheezy --skip-keys=collada-dom
The following packages have unmet dependencies:
ros-groovy-urdf : Depends: ros-groovy-collada-parser but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
apt: command [sudo apt-get install -y ros-groovy-urdf] failed
apt: Failed to detect successful installation of [ros-groovy-urdf]
Originally posted by gus484 on ROS Answers with karma: 1 on 2014-09-08
Post score: 0
Original comments
Comment by tfoote on 2014-09-08:
Please show your commands and the console output from running them.
Comment by BennyRe on 2014-09-09:
To install system dependencies use rosdep install instead of check.
|
Hi Im currently using rviz to detect an object's relative position to robot. Any help?
Originally posted by Chirstina on ROS Answers with karma: 1 on 2014-09-08
Post score: 0
|
Using Gazebo, I place a husky robot in a completely unknown environment (currently the willowgarage map). My basic objective is to make the husky autonomously navigate itself through the entire world with the sole aim of mapping the entire area.
Basically, if anyone could tell me how to combine an exploration algorithm such as frontier_exploration with gmapping, I would greatly appreciate it. Most tutorials out there use teleoperation, which really defeats the purpose I'm trying to achieve.
Thank You!
Originally posted by Ashwin27 on ROS Answers with karma: 34 on 2014-09-08
Post score: 1
Original comments
Comment by Nikhil16 on 2016-03-22:
Hi!
Did you manage to do it?
Comment by Ashwin27 on 2016-03-22:
Hello Nikhil,
I moved forward with the Nav2d package by Sebastien mentioned in the answer below. I highly recommend it, it's a great place to start.
|
Hi,
I'm trying to write a little client to access osm maps. What I did so far is:
ros::init(argc, argv, "Geo");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<geographic_msgs::GetGeographicMap>("geographic_msgs");
geographic_msgs::GetGeographicMap srv;
srv.request.url = "http://openstreetmap.org/node/123456";
if(client.call(srv))
{
ROS_INFO("connected");
}
else
{
ROS_ERROR("failed");
}
If I run the programm I always get "failed" as an output.
Could anyone tell me how to connect to the maps correctly?
Thanks in advance,
Chris
Originally posted by chris on ROS Answers with karma: 13 on 2014-09-08
Post score: 1
Original comments
Comment by BennyRe on 2014-09-08:
Is the service running?
Comment by chris on 2014-09-09:
Unfortunately the service seems not to be running. I tried to run it with rosrun, but there was no executable found. I compiled the Package with catkin_make before and I had no error as a result. In addition the Package seems to be a Metapackage.
So how could I start the service?
|
Hi.
I want to know whether Eclipse or any other IDE offers autocomplete features for rospy library. For example if we write "rospy." the the IDE should automatically suggest the different functions that we can use.
Does any IDE offer this feature?
Kindly, help me.
Thanks
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-09-08
Post score: 2
Original comments
Comment by jarvisschultz on 2014-09-08:
Lately, I've been having great success using jedi for all Python completions, including rospy, in emacs.
|
Hello! Is there any way to use only some functions of move_base? I want to use in my node only the global costmap created with move_base and nothing else (no planners)
Originally posted by alex920a on ROS Answers with karma: 35 on 2014-09-08
Post score: 0
|
Hi,
I'm trying to connect a simple driver for a proximity sensor that only returns a Boolean answer for a preset range.
It seems that all the messages under sensor_msgs require a more complex answer like: "what is the range".
Well, I don't have that answer, I only have "yes/no".
Am I missing something?
Thanks,
Moshe
Originally posted by MosheS on ROS Answers with karma: 5 on 2014-09-08
Post score: 0
|
Hi,
I am using APC220 Radio Communication Module on my arduino atmega2560, in order to communicate with my computer wirelessly.
i have written a simple publisher/subscriber node for my arduino using arduino ide and ros_lib, it's works fine using usb to serial cable, but when i'm using APC220(which is actually acts as an serial interface, conntected toRX/TX pins), i am getting following errors:
[ERROR] [WallTime: 1410187017.536715] Tried to publish before configured, topic id 125
[ERROR] [WallTime: 1410187017.538328] Tried to publish before configured, topic id 125
[WARN] [WallTime: 1410187017.549967] Serial Port read returned short (expected 16 bytes, received 13 instead).
[WARN] [WallTime: 1410187017.550437] Serial Port read failure:
[INFO] [WallTime: 1410187017.550810] Packet Failed : Failed to read msg data
[INFO] [WallTime: 1410187017.551095] msg len is 16
I am almost sure about my hardware settings and baud rates, because it's works with a single publisher, my problem is a node with subscriber and publisher working simultaneously.
Is there any tips about using rosserial_arduino with wireless modules?
Is there any body who has experienced APC220 modules with ROS and Arduino?
Originally posted by Alireza on ROS Answers with karma: 717 on 2014-09-08
Post score: 0
|
Looking into many codes and programs I see not rarely some nodes which are called toghether with a private name. For istance:
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
finding out this tutorial I read that:
// Use a private node handle so that multiple instances of the node can
// be run simultaneously while using different parameters.
// Parameters defined in the .cfg file do not need to be initialized here
// as the dynamic_reconfigure::Server does this for you.
ya ok, but I would ask now: Why?!?
In which case should I need to run simultaneously many istances of the same node?
Is the risiko, that some nodes publishing on the some topics create a lot of confusion running the main prog, too big?
Since im trying to write more complicated drivers for my robot and I look into the coe of other users, I see that private nodes are normal.
Regards
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-08
Post score: 1
|
Hi,
I am using the base_local_planner package with the holonomic flag set to false.
However, I want to know if there will be any difference in performance between a car like robot and a skid steer robot? If yes, then what care do we need to take to switch between the two.
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-09-08
Post score: 0
|
I have installed ros-indigo-rqt-common-plugins, but when I run rqt --list-plugins, it does not show anything. What is the problem?
Note:
I know the answer and am in the process of posting it. I didn't see a good place to add this to the ROS wiki, so I'm posting it here.
Originally posted by scpeters on ROS Answers with karma: 111 on 2014-09-08
Post score: 0
|
I found the LMS1xx package, but, according to the wiki page, it is only tested/good for groovy, despite the fact that there is a ros-hydro-lms1xx package available for installation. I tried installing ros-hydro-lms1xx and running the LMS1xx.launch script, but it fails to find the LMS1xx_node in the LMS1xx package, because LMS1xx is spelled lms1xx in the .deb file.
It's relatively trivial to fix that, or even to download and recompile the source code from github, but I wonder if I'm heading down an unmaintained path.
So I figured it wouldn't hurt to ask what folks are using nowadays in the Hydro era (which is where I live), or perhaps in the Indigo era, which is arguably, where I should live.
--wpd
Originally posted by wpd on ROS Answers with karma: 249 on 2014-09-08
Post score: 0
|
Hey guys,
I'm detecting cylindrical objects in a point cloud and want to use a service to save all the data of the cylinders and make them accessible to other nodes.
What i'm having trouble with is that i want to visualize the cylinders in rviz and therefor i need the center point and the quaternion, but the segmentation function of pcl gives me two vectors, bottom point and a direction vector. I already managed to compensate the offset from the bottom point to center point by simple vector calculations and to get the quaternion from the two vectors but i need the bottom point and don't want to save all of this information.
Is there a way to save just the bottom point and the quaternion and "slide" the bottom point along the quaternion up for half the cylinder hight, whenever i want to visualize it in rviz?
Or do you think that the data size wouldn't be problematic if i have to save up to 1000 cylinder datasets containing two 3Dvectors and quaternion?
cheers
Alex
Edit: To sum it up: Is it possible to calculate the center point with just the bottom point and the quaternion?
Originally posted by AlexKolb on ROS Answers with karma: 30 on 2014-09-08
Post score: 0
|
Hi,
In my deferentially steered drive system based robot my values for acceleration and deceleration are different (that was the best option, based on experimentation).
How does this affect:
acc_lim_x:
acc_lim_y:
in terms of performance?
How can I include the separation between acceleration and deceleration?
Is it recommended to always have the same value for both acceleration and deceleration? If so, why?
Thanks
Originally posted by Pototo on ROS Answers with karma: 803 on 2014-09-08
Post score: 0
|
I'm running through the msg and srv tutorial and get a template file not found error during catkin_make. As far as I can tell, I have done everything according to the tutorial so am not sure what might be wrong. I am running Arch Linux instead of Ubuntu, but so far everything else I have done has worked well.
Here is the full catkin_make
[ryantr@lappyICSL catkin_ws]$ catkin_make
Base path: /home/ryantr/Software/ros/catkin_ws
Source space: /home/ryantr/Software/ros/catkin_ws/src
Build space: /home/ryantr/Software/ros/catkin_ws/build
Devel space: /home/ryantr/Software/ros/catkin_ws/devel
Install space: /home/ryantr/Software/ros/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/ryantr/Software/ros/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/ryantr/Software/ros/catkin_ws/build"
####
[ 0%] [ 0%] [ 0%] Built target std_msgs_generate_messages_cpp
Built target std_msgs_generate_messages_lisp
Built target std_msgs_generate_messages_py
[ 37%] [ 37%] [ 37%] [ 50%] Generating Lisp code from beginner_tutorials/AddTwoInts.srv
Generating C++ code from beginner_tutorials/AddTwoInts.srv
Generating Lisp code from beginner_tutorials/Num.msg
Generating C++ code from beginner_tutorials/Num.msg
Traceback (most recent call last):
File "/opt/ros/hydro/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/template_tools.py", line 74
raise RuntimeError, "Template file %s not found in template dir %s" % (template_file_name, template_dir)
^
SyntaxError: invalid syntax
Traceback (most recent call last):
File "/opt/ros/hydro/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/template_tools.py", line 74
raise RuntimeError, "Template file %s not found in template dir %s" % (template_file_name, template_dir)
^
SyntaxError: invalid syntax
beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_cpp.dir/build.make:62: recipe for target '/home/ryantr/Software/ros/catkin_ws/devel/include/beginner_tutorials/AddTwoInts.h' failed
make[2]: *** [/home/ryantr/Software/ros/catkin_ws/devel/include/beginner_tutorials/AddTwoInts.h] Error 1
make[2]: *** Waiting for unfinished jobs....
beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_cpp.dir/build.make:54: recipe for target '/home/ryantr/Software/ros/catkin_ws/devel/include/beginner_tutorials/Num.h' failed
make[2]: *** [/home/ryantr/Software/ros/catkin_ws/devel/include/beginner_tutorials/Num.h] Error 1
CMakeFiles/Makefile2:282: recipe for target 'beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_cpp.dir/all' failed
make[1]: *** [beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_cpp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/genlisp_main.py", line 73, in genmain
retcode = generate_srv(options.package, args[1:], options.outdir, search_path)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 732, in generate_srv
generate_srv_from_spec(msg_context, spec, search_path, out_dir, pkg, f)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 843, in generate_srv_from_spec
write_srv_component(s, spec.request, msg_context, spec)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 690, in write_srv_component
write_md5sum(s, context, spec, parent=parent)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 591, in write_md5sum
md5sum = genmsg.compute_md5(msg_context, parent or spec)
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/gentools.py", line 119, in compute_md5
return _compute_hash(msg_context, spec, hashlib.md5())
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/genlisp_main.py", line 71, in genmain
retcode = generate_msg(options.package, args[1:], options.outdir, search_path)
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/gentools.py", line 105, in _compute_hash
hash.update(compute_md5_text(msg_context, spec.request))
TypeError: Unicode-objects must be encoded before hashing
ERROR: Unicode-objects must be encoded before hashing
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 720, in generate_msg
generate_msg_from_spec(msg_context, spec, search_path, out_dir, pkg)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 770, in generate_msg_from_spec
write_md5sum(s, msg_context, spec)
File "/opt/ros/hydro/lib/python2.7/site-packages/genlisp/generate.py", line 591, in write_md5sum
md5sum = genmsg.compute_md5(msg_context, parent or spec)
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/gentools.py", line 119, in compute_md5
return _compute_hash(msg_context, spec, hashlib.md5())
File "/opt/ros/hydro/lib/python2.7/site-packages/genmsg/gentools.py", line 103, in _compute_hash
hash.update(compute_md5_text(msg_context, spec))
TypeError: Unicode-objects must be encoded before hashing
ERROR: Unicode-objects must be encoded before hashing
beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_lisp.dir/build.make:59: recipe for target '/home/ryantr/Software/ros/catkin_ws/devel/share/common-lisp/ros/beginner_tutorials/srv/AddTwoInts.lisp' failed
make[2]: *** [/home/ryantr/Software/ros/catkin_ws/devel/share/common-lisp/ros/beginner_tutorials/srv/AddTwoInts.lisp] Error 3
make[2]: *** Waiting for unfinished jobs....
beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_lisp.dir/build.make:53: recipe for target '/home/ryantr/Software/ros/catkin_ws/devel/share/common-lisp/ros/beginner_tutorials/msg/Num.lisp' failed
make[2]: *** [/home/ryantr/Software/ros/catkin_ws/devel/share/common-lisp/ros/beginner_tutorials/msg/Num.lisp] Error 3
CMakeFiles/Makefile2:313: recipe for target 'beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_lisp.dir/all' failed
make[1]: *** [beginner_tutorials/CMakeFiles/beginner_tutorials_generate_messages_lisp.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make" failed
Originally posted by ryan0270 on ROS Answers with karma: 26 on 2014-09-08
Post score: 0
|
I'm in the early stages of building the brains of my robot and have a question about best practices. The nodes that I'm working on have certain values that will change frequently during tuning, so they're stored in the parameter server.
In the case of my joystick teleop node, every Joy message uses some scale to determine outputs but if you called getparam for every message, I'm assuming you'd overload the server, given they'll be received multiple times per second. It's the same story for other nodes so I came up with multiple solutions that I'm hoping others have already figured out, and can provide feedback (using the teleop node as an example)
Call getParam to look up the scale values with each message (not recommended, could overload server)
Call getCached in each message (tutorial seems to suggest this isn't a good idea either, as it has more overhead)
Load parameters when the node starts (good, but requires resetting the node to update values)
Load parameters at start, but also include an empty service that updates the values while the node is running (useful for complex nodes, like PID controllers)
At the moment my more advanced nodes are using #4. Is there another solution I've missed, or perhaps a generally accepted retrieval rate for given hardware?
Originally posted by Wes G on ROS Answers with karma: 33 on 2014-09-08
Post score: 1
Original comments
Comment by BennyRe on 2014-09-08:
How are those parameters changed? If you change them by hand have a look at dynamic reconfigure. This will call a callback function in your node each time a parameter is changed in the dynamic reconfigure rqt plugin.
Comment by tfoote on 2014-09-09:
Which tutorial suggest that getCachedParam has more overhead? In what way more overhead?
Comment by Wes G on 2014-09-09:
On the page about the parameter server, it says "Cached parameters are a significant speed increase (after the first call), but should be used sparingly to avoid overloading the master." I'm not sure why it overloads, though
Comment by tfoote on 2014-09-09:
This is a warning about overusing parameters. You don't want to use parameters for all local variables and store them all on the parameter server. Any individual cached parameter is not going to overload the parameter server, but if everything goes through the paremeter server it will not scale.
Comment by Combinacijus on 2020-01-31:
Did some testing. I called rospy.get_param() at 100Hz. It added around 9% of CPU usage which is A LOT. Knowing this I can confirm that using parameter server for in-loop updates is very inefficient and should never be used. Parameter server is only for initialization. For frequent updates I would use latched topics instead.
|
Hello,
I am trying to run rosmake robotino for the robotino-ros-pkg in ros-indigo installed from the .torrent file for 64 bit.
I have set up my workspace with rosbuild according to this tutorial. My environment variable ROS_PACKAGE_PATH looks like this:
ROS_PACKAGE_PATH = /home/viki/indigo_ws/sandbox/robotino-ros-pkg:/home/viki/indigo_ws/sandbox:/opt/ros/indigo/share:/opt/ros/indigo/stacks
When I run rosmake I get the following error:
[rospack] Error: package 'robotino_local_planner' depends on non-existent package 'nav_core' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update
I ran rosdep update but nothing happened. The same goes for the package costmap_2d. When I check the share directory in the ROS_PACKAGE_PATH, these packages are indeed not there. However, I managed to find them on ros-hydro.
What am I missing here? Where are these package on ros-indigo or how can these packages be installed?
Originally posted by adina on ROS Answers with karma: 3 on 2014-09-09
Post score: 0
|
Hey,
I am really confused about all the options to install a package either from deb (ok, this not really confused about) or source.
I tried to figure out how to get the turtlebot simulator working on my current system (Ubuntu 14.04 ros-indigo gazebo_2_2).
So first I looked up the branches on the github repositories and found the indigo Branch (Turtlebot-Indigo-Branch). So I tried to install this package but failed.
There is a .rosinstall file but i found in several other questions on answers.ros.org also a lot about rosmake, roslocate (which wont work for me somhow), local installtion of ros and so on and I got really confused (The confusing link :))
On the other hand there are also a lot of packages which could be installed (?) like these ones Packages which can be installed
So for now I am really really confused about all the installation methods and downloading the packages.
Maybe some find this a question for real freshmen but I am a little bit clueless with this.
Originally posted by schultza on ROS Answers with karma: 232 on 2014-09-09
Post score: 0
Original comments
Comment by Sebastian Kasperski on 2014-09-09:
Do you want to install the complete ROS from source or just the turtlebot simulator?
PS: The answer in your link refers to using rosbuild. For indigo you will have to create a catkin workspace and build your from-source-package there: http://wiki.ros.org/catkin/Tutorials/using_a_workspace
Comment by schultza on 2014-09-09:
I already installed Ros via deb so i just want to run turtlebot simulator but I am actually looking for a general answer for installing packages and stacks.
Oh thanks i didnt notice this about rosbuild in the link.
I already did the tutorials but maybe i missed something with catkin workspaces
|
i can't puplish mesage up wifi ..
can you help me ?
sorry I don't speak English well.
thank you
Originally posted by turtle on ROS Answers with karma: 17 on 2014-09-09
Post score: 0
Original comments
Comment by BennyRe on 2014-09-09:
If you provide more information we can help you.
Comment by turtle on 2014-09-09:
thank you
i just can publish mesage in my pc
i can't publish to other pc in LAN
|
Hi ROS Users,
The ROS community has grown tremendously over the last 2 years, and it is good to be part of this growing community. Previously I tried to install ROS (Groovy) on Raspberry Pi using this tutorial and it was successful (Debian installation). I also understand that there is Hydro Installation (installation from Source) which requires lot of time for compilation. So now My questions are,
how should one proceed to install the latest version of ROS (For eg. Indigo ) on Raspberry Pi from source?
how to create a ROS Indigo debian release, after installing from source (I would like to try this)?
it is also much appreciated if someone can give pointers to a debian installation of Hydro on Raspberry pi. Thanks again, and thanks to the whole community,
Best Regards,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2014-09-09
Post score: 1
Original comments
Comment by Airuno2L on 2014-09-09:
It would be nice if there was a collection of images somewhere for common hardware such as the Raspberry Pi and Beaglebone Black with Ubuntu + ROS preinstalled.
Comment by ccapriotti on 2014-09-09:
This has already been discussed on other topics. Turns out the cost (money and man hours) to keep this kind of images AND maintain binaries+repositories is high.
Not practical in the end. Community goals do not lean that way. (which is a nice way to say that those platforms are not that popular).
|
The tutorials for the navigation_2d package are provided here. The first 3 work flawlessly and, being a beginner, they have taught me a lot. However, the next 2 tutorials have very little documentation, namely the ones corresponding to the tutorial4.launch file in the package and a tutorial that helps one implement their own exploration strategy. They can be found at these links:
tutorial4.launch
Exploration Strategy
I was wondering if anyone had managed to successfully implement tutorial4.launch file, the one which deals with multi-robot exploration and mapping. I would greatly appreciate it if you could give me a few pointers on how to set it up or maybe direct me to a link with a more detailed explanation of the working methodology.
Thank You!
Originally posted by Ashwin27 on ROS Answers with karma: 34 on 2014-09-09
Post score: 0
Original comments
Comment by sobot on 2015-05-21:
Hello @Ashwin27, i have some problems to get nav2d exploration run on my turtlebot, may i ask what equipments did you use for your tasks with nav2d?
|
ros indigo
ubuntu 14.04 trusty
when i launch:
roslaunch clam_moveit_config move_group.launch
i get:
[ERROR] [1410255339.968987526]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are
Available plugins:
[ WARN] [1410255340.750304310]: MoveGroup running was unable to load ompl_interface/OMPLPlanner
contents of ompl_planning_pipeline.launch :
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find clam_moveit_config)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find clam_moveit_config)/config/ompl_planning.yaml"/>
</launch>
ompl_planning.yaml :
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
RRTkConfigDefault:
type: geometric::RRT
RRTConnectkConfigDefault:
type: geometric::RRTConnect
LazyRRTkConfigDefault:
type: geometric::LazyRRT
ESTkConfigDefault:
type: geometric::EST
KPIECEkConfigDefault:
type: geometric::KPIECE
RRTStarkConfigDefault:
type: geometric::RRTstar
BKPIECEkConfigDefault:
type: geometric::BKPIECE
arm:
planner_configs:
- SBLkConfigDefault
- LBKPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- ESTkConfigDefault
- KPIECEkConfigDefault
- BKPIECEkConfigDefault
- RRTStarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_pitch_joint)
longest_valid_segment_fraction: 0.05
gripper_group:
planner_configs:
- SBLkConfigDefault
- LBKPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- ESTkConfigDefault
- KPIECEkConfigDefault
- BKPIECEkConfigDefault
- RRTStarkConfigDefault
Originally posted by jay75 on ROS Answers with karma: 259 on 2014-09-09
Post score: 4
|
Hi all,
i have the velocity topic /cmd_vel, and it's the type geometry_msgs::Twist, it is given in the object reference frame, and now i need to transform the velocity to another frame, such as my robot's base frame. How can i do that, if i know the translation and rotation between the two frames?
I think it is different from position transformation, because velocity is 6 dimension and position only 3.
Does someone have this knowledge? Any help is appreciated.
Originally posted by Qt_Yeung on ROS Answers with karma: 90 on 2014-09-09
Post score: 4
|
I am running ROS Indigo on a fresh install of Ubuntu 14.04 (Linux turtlebot 3.13.0-35-generic #62-Ubuntu SMP Fri Aug 15 01:58:42 UTC 2014 x86_64 x86_64 x86_64 GNU/Linux)
The only ROS package is the 1394-master branch as downloaded from github: https://github.com/ros-drivers/camera1394
When I try to run the camera1394_node, ros can't find the executable:
turtlebot@turtlebot:~/ros$ rosrun camera1394 camera1394_node
[rosrun] Couldn't find executable named camera1394_node below /home/turtlebot/ros/src/camera1394-master
Its the same with camera1394_nodelet:
turtlebot@turtlebot:~/ros$ rosrun camera1394 camera1394_nodelet
[rosrun] Couldn't find executable named camera1394_nodelet below /home/turtlebot/ros/src/camera1394-master
I don't see any errors when I catkin_make:
$ cd ~/ros/ && catkin_make
Base path: /home/turtlebot/ros
Source space: /home/turtlebot/ros/src
Build space: /home/turtlebot/ros/build
Devel space: /home/turtlebot/ros/devel
Install space: /home/turtlebot/ros/install
####
#### Running command: "cmake /home/turtlebot/ros/src -DCATKIN_DEVEL_PREFIX=/home/turtlebot/ros/devel -DCMAKE_INSTALL_PREFIX=/home/turtlebot/ros/install" in "/home/turtlebot/ros/build"
####
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Using CATKIN_DEVEL_PREFIX: /home/turtlebot/ros/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/turtlebot/ros/build/test_results
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - camera1394
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'camera1394'
-- ==> add_subdirectory(camera1394-master)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- thread
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- checking for module 'libdc1394-2'
-- found libdc1394-2, version 2.2.1
-- camera1394: 0 messages, 2 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/turtlebot/ros/build
####
#### Running command: "make -j4" in "/home/turtlebot/ros/build"
####
Scanning dependencies of target _camera1394_generate_messages_check_deps_SetCameraRegisters
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target _camera1394_generate_messages_check_deps_GetCameraRegisters
Scanning dependencies of target camera1394_gencfg
[ 0%] Built target std_msgs_generate_messages_cpp
[ 4%] Generating dynamic reconfigure files from cfg/Camera1394.cfg: /home/turtlebot/ros/devel/include/camera1394/Camera1394Config.h /home/turtlebot/ros/devel/lib/python2.7/dist-packages/camera1394/cfg/Camera1394Config.py
Scanning dependencies of target std_msgs_generate_messages_lisp
[ 4%] Built target std_msgs_generate_messages_lisp
[ 4%] [ 4%] Built target _camera1394_generate_messages_check_deps_GetCameraRegisters
Built target _camera1394_generate_messages_check_deps_SetCameraRegisters
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target camera1394_generate_messages_cpp
Scanning dependencies of target camera1394_generate_messages_lisp
[ 4%] Built target std_msgs_generate_messages_py
[ 12%] [ 12%] Generating Lisp code from camera1394/SetCameraRegisters.srv
Generating C++ code from camera1394/SetCameraRegisters.srv
Scanning dependencies of target camera1394_generate_messages_py
Generating reconfiguration files for Camera1394 in camera1394
[ 16%] Wrote header file in /home/turtlebot/ros/devel/include/camera1394/Camera1394Config.h
Generating Python code from SRV camera1394/SetCameraRegisters
[ 20%] [ 20%] Built target camera1394_gencfg
Generating Lisp code from camera1394/GetCameraRegisters.srv
[ 25%] Generating Python code from SRV camera1394/GetCameraRegisters
[ 29%] Generating C++ code from camera1394/GetCameraRegisters.srv
[ 29%] Built target camera1394_generate_messages_lisp
[ 33%] Generating Python srv __init__.py for camera1394
[ 33%] Built target camera1394_generate_messages_py
[ 33%] Built target camera1394_generate_messages_cpp
Scanning dependencies of target camera1394_generate_messages
Scanning dependencies of target camera1394_nodelet
Scanning dependencies of target camera1394_node
[ 33%] Built target camera1394_generate_messages
[ 37%] [ 41%] [ 45%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/dev_camera1394.cpp.o
Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/camera1394_node.cpp.o
[ 50%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/driver1394.cpp.o
Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/nodelet.cpp.o
[ 54%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/features.cpp.o
[ 58%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/format7.cpp.o
[ 62%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/driver1394.cpp.o
[ 66%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/modes.cpp.o
[ 70%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/registers.cpp.o
[ 75%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_node.dir/trigger.cpp.o
[ 79%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/dev_camera1394.cpp.o
[ 83%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/features.cpp.o
Linking CXX executable /home/turtlebot/ros/devel/lib/camera1394/camera1394_node
[ 83%] Built target camera1394_node
[ 87%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/format7.cpp.o
[ 91%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/modes.cpp.o
[ 95%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/registers.cpp.o
[100%] Building CXX object camera1394-master/src/nodes/CMakeFiles/camera1394_nodelet.dir/trigger.cpp.o
Linking CXX shared library /home/turtlebot/ros/devel/lib/libcamera1394_nodelet.so
[100%] Built target camera1394_nodelet
Originally posted by benabruzzo on ROS Answers with karma: 79 on 2014-09-09
Post score: 0
Original comments
Comment by benabruzzo on 2014-09-10:
Tutorial fail:
source ./devel/setup.bash
//\ running this allows me to now run camera1394_node, the nodlet is still missing
|
Just wanted to know the state-of-the-art in path planners that incorporate dynamic obstacle avoidance. And some of the well known libraries for this sort of stuff.
UPDATE: I'm not talking about local planners like the dynamic window approach that approach dynamic obstacles as a static path planning problem with the additional dimension of time.
I'm looking for approaches like the velocity obstacle and others that model and/or predict the motion of obstacles and plan accordingly.
EDIT: Someone mentioned OMPL and MoveIt! in the comments. But AFAIK, OMPL is only for sampling based planners? And so these are not as useful for field robotics. Also, dynamic obstacle avoidance should involve much more than planning in a static space?
Thank you very much!
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-09-09
Post score: 4
Original comments
Comment by bvbdort on 2014-09-17:
I think robotics.stackexchange is the right forum for this question.
Comment by 2ROS0 on 2014-09-17:
Sounds good. Thanks!
Comment by 2ROS0 on 2014-10-24:
Changed Q to be ROS specific.
Comment by Airuno2L on 2014-10-27:
Not sure why this was closed, it seems like a relevant discussion to have.
Comment by VEGETA on 2016-05-28:
I'd like to know the answer too. If you know anything plz send it here [email protected]
thanks
|
Hello
I'm trying to set up the navigation stack on a robot possessing only odometry sensors (wheel encoder, IMU published to /odom /imu). No camera/laser. The robot is also using robot_state_publisher to publish the transformations between robot coordinates.
I want to use only odometry sources (wheel encoder, IMU) to navigate the robot, so my plan is to use robot_pose_ekf to fuse the odometry data and use fake_localization to localize the robot on the known map (since no laser is involved).
So I was wondering where I can change the default parameters in order to use robot_pose_ekf and fake_localization in my navigation system. Also, I could not find the launch file for robot_pose_ekf in the package directory (/opt/ros/hydro/share/robot_pose_ekf) as mentioned in the tutorial. There is no launch file for fake_localization in /opt/ros/hydro/share/fake_localization either.
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-09
Post score: 0
Original comments
Comment by ahendrix on 2014-09-09:
The fake_localization package only contains a node. You'll have to write your own launch file for it.
|
Is there an equivalent package to camera pose calibration in ROS Hydro? Finding the exact transform connecting the frame of a new camera to an existing robot's tf tree is almost impossible ...
Originally posted by atp on ROS Answers with karma: 529 on 2014-09-09
Post score: 4
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Hi,
I am new to ROS community. I have dedicated build server for all ROS packages. Once a package is successfully build I want to transfer only package binaries to target machine.
The target machine has ROS installed. Currently I am following approach.
catkin_make -install -DCMAKE_INSTALL_PREFIX package_name
compress the install directory
transfer and decompress the ROS package
Update ROS_PACKAGE_PATH on target and
rosrun pacakge_name executable
However ROS is failing to locate the package.
I am guessing I need to update the scripts setup scripts generated in build process. However, these scripts have hardcoded values of build project path so cannot directly copy paste.
I even tried to replace catkin workspace directory path with installed path on target machine. Still rosrun cannot find the package.
Can anyone please guide me in this regard?
I am using ROS 1.11.8 on Ubuntu 14.04
Originally posted by Jarvis on ROS Answers with karma: 67 on 2014-09-09
Post score: 2
Original comments
Comment by pachuc on 2014-09-16:
Were you able to figure something out?
Comment by Jarvis on 2014-10-28:
Yes. I have wrote a script to provide this functionality. One requirement for my script to work is to provide install rule for each package and run catkin_make install to build packages. If you need I can upload it in separate GitHub repo and provide link here.
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Whenever I catkin_make I get all this unnecessary output like:
"set ARCHDIR to Linux64
use the location of executables to set EUSDIR
set EUSDIR to /opt/ros/hydro/share/euslisp/jskeus/eus"
after every single object is compiled.
How do I silence this?
Thanks
Arjun
Originally posted by agmenon on ROS Answers with karma: 1 on 2014-09-09
Post score: 0
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I'm using AMCL and it does a good job of estimating my position and accounting for drift, looking at the particles cloud. The odometry is periodically updated from AMCL but then reverts back to the drifted solution. Am I supposed to subscribe to amcl_pose and update my odometry node? or something else?
Originally posted by jseal on ROS Answers with karma: 258 on 2014-09-09
Post score: 0
Original comments
Comment by Sebastian Kasperski on 2014-09-10:
amcl_pose should contain the robots position in the map. So you have to subscribe to this or to tf and get the 'map' -> 'robot' transform. What do you mean with updating the odometry node?
Comment by jseal on 2014-09-10:
My odometry node publishes a transform from base_link to odom, which is still being updated from the drifted odometry. It also publishes a static transform from odom to map.
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Is there a way to set cmake variables in one package and export them to all depending packages?
For clarity:
If I set a cmake variable in one packages CMakeLists.txt like:
set( My_Var "Hello World" )
I can it now has the value in this package, I can e. g. echo it like
message( "My_Var = ${My_Var}" )
which will result in the output:
My_Var = Hello World
However, if I put the same output in another package (which depends on the previous one), the result is empty:
message( "My_Var = ${My_Var}" )
Resulting output:
My_Var =
Apparently, both packages have separate cmake namespaces. Now Is there a way to set a variable in one package, the mark it in some kind of way to be exported into depending packages and access its value in the depending packages?
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-09-10
Post score: 2
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Hi all!
I'm working with arduino car under directly ROS topic command. I have a arduino uno board with Arduino Sensor Shield v5.0 installed. I'm running the basic publish and subscribe tutorial from rosserial:
http://wiki.ros.org/rosserial_arduino/Tutorials/Hello%20World
http://wiki.ros.org/rosserial_arduino/Tutorials/Blink
When using USB shown as dev/ttyACM0, things are doing well.
Then, I'm trying to connect with HC-05 bluetooth module. First I connect it with command:
sudo rfcomm connect /dev/rfcomm0 00:06:71:00:3E:87 1
And the
Then launching rosserial as before with additional argument :
rosrun rosserial_python serial_node.py _port:=/dev/rfcomm0 _baud:=9600
With the tutorial code on the car:
#include <ros.h>
#include <std_msgs/String.h>
ros::NodeHandle nh;
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
char hello[13] = "hello world!";
void setup()
{
nh.getHardware()->setBaud(9600);
nh.initNode();
nh.advertise(chatter);
}
void loop()
{
str_msg.data = hello;
chatter.publish( &str_msg );
nh.spinOnce();
delay(1000);
}
The terminal become a waterfall of running warning:
[INFO] [WallTime: 1410329846.797489] ROS Serial Python Node
[INFO] [WallTime: 1410329846.814548] Connecting to /dev/rfcomm0 at 9600 baud
[WARN] [WallTime: 1410329849.792440] Serial Port read returned short (expected 72 bytes, received 8 instead).
[WARN] [WallTime: 1410329849.793548] Serial Port read failure:
[INFO] [WallTime: 1410329849.794408] Packet Failed : Failed to read msg data
[INFO] [WallTime: 1410329849.795036] msg len is 8
[WARN] [WallTime: 1410329850.814268] Serial Port read returned short (expected 16 bytes, received 13 instead).
[WARN] [WallTime: 1410329850.815325] Serial Port read failure:
[INFO] [WallTime: 1410329850.816327] Packet Failed : Failed to read msg data
[INFO] [WallTime: 1410329850.816984] msg len is 8
For most of the time its complaining about expected 72 bytes.
And thetopic,
rostopic info chatter
will return result (hello world!) quite randomly (it correctly shows with 1 Hz when using USB)
I've done another experiment on subscribe function. Arduino Car subscribe to std_msgs/Empty and topic is published by
rostopic pub toggle_led std_msgs/Empty --rate=1
The result is similar: some of the command can arrived (by moving the sonar servo) but quite randomly, and sometimes move more then 1 time in 1 second (published in 1Hz).
I've tried to read the source but still couldn't locate the problem.
Any help or suggestion are very welcome, thanks.
edit:
It truns out it is the problem of baudrate of my bluetooth module! The chip (YFRobot) is a china made cheap one and not is a real HC-06 or any official supported chip. The common method of setting baudrate in a console just won't work. There is something like a single post in some unkown chinese forum that provides the datasheet (Luckily I can read simplified Chinese ^^). After a weird setup process, it's fine now, except that the module just won't work beyond exceed certain rate (57600 I think).
Originally posted by EwingKang on ROS Answers with karma: 78 on 2014-09-10
Post score: 2
Original comments
Comment by EwingKang on 2014-09-10:
ahendrix hello.
I've never set the baud rate other then nh.getHardware()->setBaud() in bluetooth module. But if the baud rate is wrong, shouldn't it be completely unable to communicate? Using Arduino IDE with it's serial monitor and function like Serial.begin/Serial.write have no problem at all.
Comment by ahendrix on 2014-09-10:
Most bluetooth modules have a UART buad rate that cannot be set through normal software. They usually have some sort of AT command set for modifying the baud rate.
Comment by ahendrix on 2014-09-10:
Since the arduino serial console and Serial.write work over bluetooth, that means that the baud rate setting you're using matches the bluetooth module's setting, and it means that the problem is elsewhere.
Comment by EwingKang on 2014-09-10:
Mmmmm ahendrix thank you. hope this can be fix. I'll keep trying.
Comment by 130s on 2015-03-23:
@EwingKang I suggest you re-post the solution as an answer and select it as the right-answer so that others can tell this question has an answer.
Comment by EwingKang on 2015-03-23:
@130s OK, I see. I'm not sure whether if it is okay to do so here at ros answers. Some of the Q&A site forbid self-answering the question. Anyway, thanks.
edit: I see the line " you are encourage to answer you own...." when I editing my answer ^_^
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In this description it is said that ApproximateTime works without any epsilon to set. So I infer that ExactTime need an epsilon to be set to allow slightly different timestamps to match. But I found no methods to do that in the API reference. Ho can I set them? I already tried ApproximateTime but it's too slow. An
Originally posted by mark_vision on ROS Answers with karma: 275 on 2014-09-10
Post score: 0
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ubuntu 14.04 trusty
ros indigo
when i launch:
roslaunch clam_moveit_config moveit_rviz.launch
i get :
[ERROR] [1410332944.683556716]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin/MotionPlanning with base class type rviz::Display does not exist. Declared types are rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu
i need to install something, apt-get install [what?]
Originally posted by jay75 on ROS Answers with karma: 259 on 2014-09-10
Post score: 1
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I am configuring Eclipse to enable autocompletion for programming using rospy. So, can anyone please provide the Paths in Eclipse for the following Variables :
PATH
PYTHONPATH
ROS_MASTER_URI
ROS_PACKAGE_PATH
ROS_ROOT
I have followed all the steps from the tutorial here. http://wiki.ros.org/IDEs
But, when I run the test.py file, it gives an error saying "No Module named rospy"
I think, I am not setting the environment variables correctly. Hence, Please someone provide the environment variables you use so that I can correct the mistake if any.
Also, if somebody of you have any other suggestions, I would be pleased to know
Thanks,
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-09-10
Post score: 0
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I would like to link to roscpp in an external software such to communicate with the ROS system running on my robot.
The scope is to use my Qt5 GUI to control and configure the robot on different systems (Windows, Linux, Android...).
Is there a guide or examples about this process?
Thank you
Walter
Originally posted by Myzhar on ROS Answers with karma: 541 on 2014-09-10
Post score: 1
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Hello folks,
I am using Sick LM291 and usb serial converter.
Ubuntu 12.04 intell 64 bits and hydro.
In fuerte, there was no problem to use this laser but we recently change the ros version and this is the output of the laser LM291 sicktoolbox_wrapper:
$ rosrun sicktoolbox_wrapper sicklms
*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0
Device opened!
Attempting to start buffer monitor...
Buffer monitor started!
Attempting to set requested baud rate...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Failed to set requested baud rate...
Attempting to detect LMS baud rate...
Checking 19200bps...
A Timeout Occurred! 2 tries remaining
A Timeout Occurred! 1 tries remaining
A Timeout Occurred - SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!
Checking 38400bps...
Detected LMS baud @ 38400bps!
Operating @ 38400bps
Attempting to sync driver...
Driver synchronized!
*** Init. complete: Sick LMS is online and ready!
Sick Type: Sick LMS 291-S05
Scan Angle: 100 (deg)
Scan Resolution: 0.25 (deg)
Measuring Mode: 8m/80m; fields A,B,Dazzle
Measuring Units: Centimeters (cm)
[ INFO] [1410366255.940479716]: Variant setup not requested or identical to actual (100, 0.250000)
[ INFO] [1410366255.940548802]: Measuring units setup not requested or identical to actual ('Centimeters (cm)')
[ WARN] [1410366255.940781220]: You are using an angle smaller than 180 degrees and a scan resolution less than 1 degree per scan. Thus, you are in inteleaved mode and the returns will not arrive sequentially how you read them. So, the time_increment field will be misleading. If you need to know when the measurement was made at a time resolution better than the scan_time, use the whole 180 degree field of view.
Requesting measured value data stream...
Data stream started!
A Timeout Occurred - SickLIDAR::_recvMessage: Timeout occurred!
[ERROR] [1410366261.971579984]: Unknown error.
terminate called after throwing an instance of 'SickToolbox::SickThreadException'
Aborted (core dumped)
The most strange thing is that the node indentify correctly the laser but when try to publish, appear segmentation fault with unknown error.
Tell me if I am doing something wrong or is just package problem. Some related problems but not the same here:
http://answers.ros.org/question/99096/using-sicktoolbox-on-hydro/
Best regards.
************* EDIT ***************
I try it in indigo and it works fine. Maybe some problem related to hydro branch?
Originally posted by pmarinplaza on ROS Answers with karma: 330 on 2014-09-10
Post score: 0
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Hi, I am new in ROS and I want to do a SLAM using gmapping package with "laser scan" and "odometry data".
In the first step I just want to see the current map provided with laser scan in fixed location (x = 0, y = 0, theta = 0) in rviz.
I have laser scan topic but I don't have a odometry data yet, so I want to make a fake odometry data. For this I think I should publish a TF data with all zeros.
I think I should do some thing like this link:
1
2
3
Am I in the right path? could you please tell me what should I do in details? or show me some references?
Originally posted by AliAs on ROS Answers with karma: 63 on 2014-09-10
Post score: 0
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Hi,
I have trouble with a nodelet which is responsible for converting depth image to laser scan. I have the required topics namely /camera/depth/camera_info and /camera/depth/image_raw and here is how my launch file looks like:
<launch>
<arg name="camera" value="camera"/>
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<group ns="$(arg camera)">
<node pkg="nodelet" type="nodelet" name="$(arg manager)" respawn="true" args="manager"/>
<node pkg="nodelet" type="nodelet" name="openni2_camera" args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)" respawn="true">
</node>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan_loader" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg manager)">
<param name="scan_height" value="10"/>
<param name="output_frame_id" value="/depth_camera_link"/>
<param name="range_min" value="0.3"/>
<remap from="image" to="/depth/image_raw"/>
<remap from="scan" to="/scan"/>
</node>
</group>
</launch>
My problem is that the /scan topic is empty and is not being published. However when I do
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
the /scan topic is being published as expected. Do you have any suggestions?
Thanks a lot in advance.
Originally posted by zeinab on ROS Answers with karma: 88 on 2014-09-10
Post score: 1
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I can't overcome the above problem. If I start to remove packages to install pyqt4-10, too much other apps would need to be removed (some of them I really need). Does anyone have a solution for this? Manual installation on an other machine didn't really help, the dependency problem strikes me there too.
Cheers
Paul
Originally posted by poseidon on ROS Answers with karma: 1 on 2014-09-10
Post score: 0
|
Hi.
This question is related to this one: http://answers.ros.org/question/173804/generate-deb-from-ros-package/
Basically, what we need to do is to provide our ros packages to project partners and clients.
But we do not want to distribute the source code for some of the nodes (some yes, and some no).
And we don’t want either to appear yet in the official ROS buildfarm/jenkins/repo for project confidentiality required by some clients.
And we will want in the future to add obfuscation of python code and license management for C++ code with LMX for example...
So we’ve been digging around the ROS release process.
But things are not really clear to us yet.
Would you know how to do, or how would you advise us to do in order to generate such installers so that our clients can easily install it and that we can check release numbers, and send only compiled code.
I think there are 2 ways:
The “easier” but not sure if it works well: generate a tar.gz of the catkin workspace after having cleaned it from source code…. Do you have experience on this? Do we need to remove the devel folder? if we remove the src folder this doesn't work, do we need to leave at least the config and lanch files? more?... Is this documented somewhere? Maybe we need to compile catkin with release flag?
The more complex but cleaner and more long-term: generating a debian and putting it on a server.
I’ve seen that we can use Bloom to generate a debian automatically in GitHub. And then there is pull generated to populate the ROS buildfarm…
But then, where is it compiled? In local? By github? By ros.org?
How can we specify/include in the debian only compiled code and not source code? (or a mix)
Can we generate only one debian for a metapackage? or will we have to generate as many .debs as packages?
Do you know how to disable this pull to ros.org? and to github (or how to configure the deb to be generated on our git server?)
If we don’t publish it on ros.org, can we still get the track feature to manage release version and tags etc…
If/when we'll have generated the .deb, what kind of server would we need to implement to get a private server to be able to run apt-get? (or any similar method) Might PPA be the solution? Or can one call an apt-get on a private git server since the release debian will be there?
And finally, how/where does the obfuscation popsup in this process?
Thanks in advance for any advice and guidelines.
You will have understood that we know more or less what we want, but have little idea of the available options and how to implement this... what a program :-)
For the question point 2, for a first package that in particular defines its own services, we started to follow some steps found here http://answers.ros.org/question/173804/generate-deb-from-ros-package/ but without success yet...
We do run bloom-generate rosdebian --os-name ubuntu --os-version precise --ros-distro hydro without error in the prompt.
But when running fakeroot debian/rules binary the compiler doesn’t find the include files that are located in the "devel/include/" directory of the catkin workspace and thus aborts.
Those header files are auto-generated by catkin_make when defining services in my main code... Any idea on to solve this?
Also, could you elaborate on the 2 alternatives you are proposing: checkinstall and dpkg-buildpackage ? Thanks in advance.
Thanks in advance
Damien
Originally posted by Damien on ROS Answers with karma: 203 on 2014-09-10
Post score: 8
Original comments
Comment by William on 2014-09-12:
@Damien I haven't forgotten about this, I'm at ROSCon right now, so it might be a few days before I get to this. Sorry!
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I want to know what is the convention for creating ROS node handles. I have my ROS nodes, but I realized that for every subscriber/publisher in my node I have created an individual node handle.
I am doing this in one node/program, for example:
ros::NodeHandle motor_nh;
ros::NodeHandle velocity_nh;
ros::NodeHandle vel_callback_nh;
ros::NodeHandle imu_nh;
ros::NodeHandle alarm_sound_nh;
I am not sure if that is the correct usage, or am I supposed to have one single node handle for the entire node/program?
Thanks
Originally posted by Pototo on ROS Answers with karma: 803 on 2014-09-10
Post score: 0
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Related to the answer to this question: http://answers.ros.org/question/192057/grab-single-frame-from-gazebo-camera/.
I'm trying to write a C++ program that will allow me to capture a single frame from a camera in Gazebo and will be basing it on gazebo_ros_camera based on advice from that answer. Can someone explain to me what exactly is gazebo_ros_camera supposed to do? The source code documentation didn't really explain it, and the ROS wiki page only mentions it in passing in various places.
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-09-10
Post score: 0
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Hi everyone,
I started using the nav2d package and did the four tutorials with success.
In the 3rd tutorial you can make a robot autonomously explore an unknown map.
In the 4th, you can move two robots via joystick, exploring a map and have one robot localize itself via amcl.
What I'm trying to achieve is a sort of "mix" between the two tutorials, that is having two robots autonomously exploring and building the map while having one of them localizing itself.
I'm struggling on the rqt_graph and launch files, trying to understand how to make stuff work, but without results until now (I'm pretty new to ROS and don't know how the nav2d package elements work in detail). Can someone help figure out how to achieve this goal?
Thank you very much for your kind help,
Regards.
Originally posted by Marco_F on ROS Answers with karma: 23 on 2014-09-11
Post score: 1
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Hello,
I have a urdf which does not display its material correctly, here is the code:
<link name="chassis" >
<visual>
<geometry>
<box size="${sheet_sx} ${sheet_sy} ${sheet_sz}" />
</geometry>
<origin xyz="0.0 0.0 ${(chassis_sz + sheet_sz) / 2.0}" rpy="0.0 0.0 0.0" />
<material name="myColor">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
<collision>
<geometry>
<box size="${chassis_sx} ${chassis_sy} ${chassis_sz}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
<xacro:box_inertia sizeX="${chassis_sx}" sizeY="${chassis_sy}" sizeZ="${chassis_sz}" mass="${mb_mass - sheet_mass - 4 * wheel_mass}">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:box_inertia>
</link>
The box should be blue and it is actually white in gazebo (it is red in RViz for some reason I do not know).
I tried many different ways to define the material (in a separate file, at the beginning of the file...) nothing seems to work.
I am using precise with hydro.
Any idea?
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-11
Post score: 0
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