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Hi there,
I have the RGBD SLAM v2 package (http://felixendres.github.io/rgbdslam_v2/) running on a Core i7 computer with a Nvidia GTX 780 graphics card. The computer runs Ubuntu 12.04.5 and ROS Hydro.
I want to use the package for robot localization, but it seems like I'm getting a too low pub rate of the transform.
In my launch file I have:
<node pkg="tf" type="static_transform_publisher" name="map_to_local_origin" output="screen" args="0 0 0 0 0 0 /map /local_origin 10" />
<node pkg="tf" type="static_transform_publisher" name="mav_to_camera" output="screen" args="-0.05 0.15 0.8 0 1.570796 0 vision camera_link 10" />
which are transforms that I need to exist for sending the pose estimation for the robot. I also have:
<!-- TF information settings -->
<param name="config/fixed_frame_name" value="/map"/>
<param name="config/ground_truth_frame_name" value=""/><!--empty string if no ground truth-->
<param name="config/base_frame_name" value="vision"/> <!-- /openni_camera for hand-held kinect. For robot, e.g., /base_link -->
<param name="config/fixed_camera" value="false"/> <!--is the kinect fixed with respect to base, or can it be moved (false makes sense only if transform betw. base_frame and openni_camera is sent via tf)-->
where 'vision' is considered the base of the robot. 'till now everything is ok. The problem comes when I run the package and start processing. Using the tf view_frames, I can check the following on the tf tree:
Broadcaster: /rgbdslam
Average rate: 10000.000 Hz
Most recent transform: 1409946186.276
Buffer length: 0.000 sec
which for sure is not right, given that as said in http://answers.ros.org/question/54240/using-robot_pose_ekf-and-rgbdslam-for-path-planning-with-octomaps/?answer=54312#post-id-54312 the tf transform is being sent at a 10Hz rate supposedly, which I know it can be less, but less can't be what is in the following: (Issuing 'rosrun tf tf_monitor')
Node: /rgbdslam 0.202653 Hz, Average Delay: 1.97535 Max Delay: 11.3705
Which is extremely slow! Does someone has a tip for what is happening or why is it so slow?
Thanks in advance!
Originally posted by TSC on ROS Answers with karma: 210 on 2014-09-11
Post score: 0
Original comments
Comment by msandertar on 2015-05-09:
Hi, I have the same problem, using ros indigo dist. Some tf pubs seems to have 10000 HZ frecuency although I publish them at 10 HZ.
Could you solve your problem? How did you solve it?
Thanks.
|
ubuntu 14.04 trusty
ros indigo
as soon as my pick place node reaches pick the movegroup launch terminal gives this error :
[ INFO] [1410435960.615041253]: Planning attempt 1 of at most 1
move_group: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:78: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
[move_group-1] process has died [pid 6922, exit code -6, cmd /opt/ros/indigo/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/jaysin/.ros/log/d4d874c0-39a8-11e4-a0cf-28e347742258/move_group-1.log].
log file: /home/jaysin/.ros/log/d4d874c0-39a8-11e4-a0cf-28e347742258/move_group-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
i have gcc 4.8 installed and have been to the mentioned website, but not being too confident about what to do, i would like to know if there is a simple fix for this, and if no simple fix is available then what course of action i should take?
Originally posted by jay75 on ROS Answers with karma: 259 on 2014-09-11
Post score: 0
|
Hi,
I am currently trying to extract the world co-ordinates from a pointcloud reconstructed scene. I am currently using ROS-Hydro.
I have followed these two as my reference.
http://answers.ros.org/question/98011/how-to-convert-pclpointcloud2-to-pointcloudt-in-hydro/
http://wiki.ros.org/pcl_ros
I am subscribing to the pointcloud message generated by the proc stereo_img_proc.
My code is something like this.
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv/highgui.h>
#include <cv_bridge/cv_bridge.h>
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <boost/foreach.hpp>
#include <pcl/PCLPointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
void cloud_cb (const sensor_msgs::PointCloud2 pc)
{
pcl::PCLPointCloud2 pcl_pc;
pcl_conversions::toPCL(pc, pcl_pc);
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::fromPCLPointCloud2(pcl_pc, cloud);
for(int i=0;i<cloud.height;i++)
{
for(int j=0; j<cloud.height;j++)
{
BOOST_FOREACH (const pcl::PointXYZ& pt, cloud.points);
}
}
}
I want to have the depth value for every pixel and then publish it in form of a sensor_msgs::Image message.
Please guide me.
Edit:
I have made some modifications.
for(int j=0; j<cloud.points.size();j++)
{
float x = cloud.points[j].x;
float y = cloud.points[j].y;
float z = cloud.points[j].z;
}
where x,y,z are the world co-ordinates as extracted from cloud. Will this work??
Originally posted by m1ckey on ROS Answers with karma: 21 on 2014-09-11
Post score: 2
|
Hi,
I am creating a catkin package that adds some .c and .cpp files to the library. The .c files come from some very old project and it can be built without ROS. When I try to catkinize the project, I dont want to modify these .c files but just add them to catkin library, together with other .cpp files.
However, some of the c files have #include, #include, and when I do catkin_make, it says iostream/iomanip no such file.
Is there a way of using catkin_make without changing any original c files.
Thanks,
Yiming
Originally posted by Yiming.Yang on ROS Answers with karma: 1 on 2014-09-11
Post score: 0
|
I used the source code method to build the "Quadrotor outdoor flight demo" as the ros-hydro-hector-quadrotor-demo cannot be located. However, I cannot proceed with installation as I always encountered the following error message when doing "catkin_make", as shown in the following. The OS I am using is Ubuntu 14.04 and ROS Indigo.
viki@c3po:~hector_quadrotor_tutorial$ catkin_make
........
........
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'hector_geotiff_plugins'
-- ==> add_subdirectory(hector_slam/hector_geotiff_plugins)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'hector_marker_drawing'
-- ==> add_subdirectory(hector_slam/hector_marker_drawing)
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'hector_quadrotor_controller'
-- ==> add_subdirectory(hector_quadrotor/hector_quadrotor_controller)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
hector_quadrotor/hector_quadrotor_controller/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/viki/hector_quadrotor_tutorial/build/CMakeFiles/CMakeOutput.log".
See also "/home/viki/hector_quadrotor_tutorial/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
...
Could you help fix this? Thanks.
Originally posted by UAS on ROS Answers with karma: 1 on 2014-09-11
Post score: 0
|
While installing USARSim package, ros always gives an error "Unable to locate package ros-indigo-USARSim". i am using the following command to install USARSim Package:- "$sudo apt-get install ros-indigo-USARSim".
Originally posted by Aarif on ROS Answers with karma: 351 on 2014-09-11
Post score: 0
|
I'm brand new to ROS so bear with me:
I was hoping for some advise as to how to approach a project I am attempting. I have logic control written in Java (as an Android application) that I want to implement on a Dr. Robot Jaguar 4x4 robot (compatible with ROS Fuerte). My plan was to create a simple Android app that could just act as a passthrough converting java commands into ROS instructions, however as far as I can tell, Ros Java was designed to use Catkin and I can't figure out how to build the Jaguar drivers with Catkin. I really appreciate any suggestions.
Originally posted by navy_robots on ROS Answers with karma: 1 on 2014-09-11
Post score: 0
|
After installing jsk_common, which included the install of jsk_recognition and jsk_libfreenect2, did a source ~/ros/hydro/devel/setup.bash, complied by executing catkin_make in the catkin work folder ~/ros/hyro. After considerable script activity, following error message appeared.
[roseus.cmake] compile installed package sound_play
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'jsk_2014_06_pr2_drcbox'
-- ==> add_subdirectory(jsk-ros-pkg/jsk_demos/jsk_2014_06_pr2_drcbox)
-- +++ processing catkin package: 'jsk_rosjava_messages'
-- ==> add_subdirectory(jsk-ros-pkg/jsk_smart_apps/jsk_rosjava_messages)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed.
No other error messages. Is there a log file to review for more detail?
openjdk-6-jre and openjdk-7-jre are installed
Originally posted by RobotRoss on ROS Answers with karma: 141 on 2014-09-11
Post score: 0
|
EDIT: I still haven't found a definitive answer (so I am not posting this as an answer), but I got frustrated, re-installed ROS, and took great care to update my ROS_PACKAGE_PATH environment variable as instructed here. I would still like to see a complete explanation of the solution if possible, but now I can let the community know that this question is not longer urgent for me.
Hi. I am trying to complete the actionlib tutorials. This issue is mostly unrelated to actionlib. Can someone please help me resolve this problem?
I am trying to create a new catkin package for the tutorial. My shell commands go like this:
cd
source /opt/ros/hydro/setup.bash
mkdir -p ROS_TUTORIALS/actionlib_ws/src
cd ROS_TUTORIALS/actionlib_ws/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash
cd src
catkin_create_pkg learning_actionlib actionlib message_generation roscpp rospy std_msgs actionlib_msgs
# I add some files and change CMakeLists.txt as specified here:
# http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28ExecuteCallbackMethod%29
cd ../..
catkin_make
The error I get is this:
CMake Error: File /home/<username>/ROS_TUTORIALS/actionlib_ws/src/package.xml does not exist.
CMake Error at /opt/ros/hydro/share/catkin/cmake/stamp.cmake:10 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package_xml.cmake:61 (stamp)
/opt/ros/hydro/share/catkin/cmake/catkin_package_xml.cmake:39 (_catkin_package_xml)
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:95 (catkin_package_xml)
CMakeLists.txt:7 (catkin_package)
This is preceded by some success/status messages, and further error messages follow (they are dependent on the above error) .
I have reviewed the tutorials, and repeated them several times, and my directory appears to have the correct structure. For clarification:
actionlib_ws/ # the catkin workspace
src/
CMakeLists.txt
learning_actionlib/
package.xml
CMakeLists.txt
...
src/
...
devel/
...
build/
...
Sorry if I wrote too much, I wanted to help whoever tries to answer my question as much as possible. Thanks in advance for any help!
Originally posted by T-R0D on ROS Answers with karma: 13 on 2014-09-11
Post score: 0
Original comments
Comment by BennyRe on 2014-09-12:
Thumbs up for providing that much information. Nowadays many new users simply say they have a problem and that's it.
|
i am using kinect in ROS. i am working with indigo, ubuntu 14.04. .. my doubt is how can i calculated depth of a point in image. My task is to locate a point in image using mouse and it will tell me the depth of that point.. i already installed openni, pcl. i am also confused of taking which topic i subscribe to calculate depth?
please help me step by step..
language c++
Originally posted by ASHISH CHHONKAR on ROS Answers with karma: 41 on 2014-09-11
Post score: 2
|
i can't publish int8 .. can you help me?
#include "ros/ros.h"
#include "std_msgs/Int8.h"
#include <sstream>
int main(int argc, char **argv)
{
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::Int8>("mytopic", 1000);
ros::Rate loop_rate(10);
int8_t count = 0;
while (ros::ok())
{
std_msgs::Int8 msg;
msg.data = count++;
ROS_INFO("%s", msg.data);
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
display : NULL
Originally posted by turtle on ROS Answers with karma: 17 on 2014-09-12
Post score: 0
|
Hi, All. I have a catkin workspace in eclipse and I am writing a Node. But, I need to import a python file from another catkin workspace which contains this file. But, when I try to import it, there is an error that there is no module named like that.
The exact error is like this -
File "src/Ish_odom_out_and_back.py", line 9, in
from rbx1_nav.transform_utils import quat_to_angle, normalize_angle
ImportError: No module named rbx1_nav.transform_utils
For example,
My Catkin Workspace is like this - catkin_ws_ishan/src/ishan/ishan_nav/src/move.py. ishan_nav is the package name in my workspace.
The file that I want to import is in - catkin_ws/src/rbx1/rbx1_nav/src/rbx1_nav/transform_utils.py. Here, rbx1_nav is the package. The file That I want to import is transform_utils.py
So, How do I import transform_utils.py from my program in Eclipse which is in another catkin workspace????
Can anybody please help me.
Thanks.
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-09-12
Post score: 0
|
I have the following structure.
my_first_package exposes its headers:
catkin_package(
INCLUDE_DIRS include
# LIBRARIES
# CATKIN_DEPENDS
# DEPENDS systemlib
)
my_second_package depends on my_first_package. In my_second_package's CMakeLists.txt my_first_package is stated as CATKIN_DEPENDS:
catkin_package(
INCLUDE_DIRS include
# LIBRARIES
CATKIN_DEPENDS my_first_package
# DEPENDS systemlib
)
my_third_package depends on my_second_package. It is able to "see" headers and stuff of my_second_package and my_first_package. However, in my_third_package depends's CMakeLists.txt my_second_package is !!not!! stated as CATKIN_DEPENDS:
catkin_package(
INCLUDE_DIRS include
# LIBRARIES
# CATKIN_DEPENDS #NOTE: not set
# DEPENDS systemlib
)
Now: Will my_fourth_package which depends on my_third_package be able to "see" headers and stuff of my_first_package?
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-09-12
Post score: 1
|
Hi all,
Do you know if there is a way to visualize the inertia of the different links of a urdf? Something like RViz or gazebo displaying the inertia ellipsoid centered on the center of mass...
I could not find anything relevant. Any idea?
Thanks,
Antoine
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-12
Post score: 1
|
I am trying to run camera calibration on my Odroid U3 running Lubuntu 13.04. I ran the following command :
rosrun uvc_camera uvc_camera_node width:=640 height:=480 frame:=camera device:=/dev/video0
after which a i got an error :
terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Character [4] is not valid as the first character in Graph Resource Name [480]. Valid characters are a-z, A-Z, / and in some cases ~.
Aborted (core dumped)
running the same command without specifying height and width, i get the following error:
/opt/ros/hydro/lib/uvc_camera/uvc_camera_node: symbol lookup error: /opt/ros/hydro/lib/libimage_transport.so: undefined symbol: _ZN3ros7package10getPluginsERKSsS2_RSt6vectorISsSaISsEEb
How do I overcome this problem??
I have followed earlier tutorials successfully and have sourced required files.
Originally posted by rookie on ROS Answers with karma: 15 on 2014-09-12
Post score: 1
|
Hi, all ,I am using turtlebot2( i.e. kobuki) to test my local planner. The global_planner being used is the default navfn of move_base node (i.e. navfn). But some strange path planning happen due to the incorrect costmap (global costmap ?).
Please see following two images. The black and grey areas are with high cost from global costmap.
The red ellipses are the areas that should be with white. Because there are nothing on these area. Beforehand some moving objects such as persons were moving through these areas. But when a turtlebot robot is ordered to go from start points ( blue squares) to goal points (orange squares), there are nothing in these areas. That is why the planned path(green lines) get round these areas like there exists obstacles.
Here I give the yaml files that the move_base node is using.
local_costmap_params.yaml:
local_costmap:
global_frame: odom #was /odom
robot_base_frame: base_link #was /base_footprint
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.1
transform_tolerance: 0.5
global_costmap_params.yaml:
global_costmap:
global_frame: /map
robot_base_frame: base_link # was /base_footprint
update_frequency: 5.0
publish_frequency: 1.0
static_map: true
transform_tolerance: 0.5
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
costmap_common_params:
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.18
inflation_radius: 0.50
observation_sources: scan bump
scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: false}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false}
How to change these grey areas into white area in time?
One more thing, I think the grey areas attached to static object (black bold lines from wall and desk) in my map are thicker than I request like the grey area around the desk, how to make them thin? Thank you
Edit： one picture is replaced.
Dear (@Fernando\ Herrero)， Thank you for your attention. So I should change the inflation radius smaller to be 0.20, i.e. 0.20m.
However, please note the second picture. The white lines are the laser scan, so the area in red ellipse is scanned but still in grey. Why? Thank you！
Originally posted by scopus on ROS Answers with karma: 279 on 2014-09-12
Post score: 0
Original comments
Comment by fherrero on 2014-09-12:
The global costmap is updated with the scan if it has an obstacle layer.
If these areas are result of mobile obstacles, they should be cleared by the scan when you go there again and it's free. The thick areas are result of the obstacle inflation, to prevent the robot to get too close to obstacles
Comment by scopus on 2014-09-12:
However, please note the second picture. The white lines are the laser scan, so the area in red ellipse is scanned but still in grey. Why? Thank you！
|
Hi,
I have a kinect attached to an Intel J1900 based machine and the OpenNI examples run fine including the hand tracking example. Using OpenNI and SensorKinect. (https://github.com/OpenNI/OpenNI.git and https://github.com/avin2/SensorKinect.git both on unstable branch). This is an Ubuntu 14.04.1 installation with ROS indigo.
I have rgbdslam installed via catkin as the web page suggests. After some compile and linking glitches I got a binary. However, trying to run:
$ roslaunch rgbdslam openni+rgbdslam.launch
results in the rgbdslam-23 process segving and thus the launch as a whole entering the fail state.
process[rgbdslam-23]: started with pid [8189]
================================================================================REQUIRED process [rgbdslam-23] has died!
process has died [pid 8189, exit code -11, cmd /home/monkeyiq/catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/monkeyiq/.ros/log/7f7c8758-3a90-11e4-8b1b-d050992ba7ab/rgbdslam-23.log].
log file: /home/monkeyiq/.ros/log/7f7c8758-3a90-11e4-8b1b-d050992ba7ab/rgbdslam-23*.log
Initiating shutdown!
Unfortunately the Logs do not seem to shine light on any specific cause.
I'm not sure if its a good idea to try to gdb the rgbdslam executable directly, but this is what I get when that segvs:
~/catkin_ws/src/rgbdslam_v2/launch$ gdb /home/monkeyiq/catkin_ws/devel/lib/rgbdslam/rgbdslam
...
Program received signal SIGSEGV, Segmentation fault.
0x00007ffff7582a8c in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() ()
from /usr/lib/libpcl_io.so.1.7
(gdb) bt
#0 0x00007ffff7582a8c in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() ()
from /usr/lib/libpcl_io.so.1.7
#1 0x00007ffff750d186 in ?? () from /usr/lib/libpcl_io.so.1.7
#2 0x00007ffff7dea13a in call_init (l=<optimised out>, argc=argc@entry=1, argv=argv@entry=0x7fffffffe138, env=env@entry=0x7fffffffe148) at dl-init.c:78
#3 0x00007ffff7dea223 in call_init (env=<optimised out>, argv=<optimised out>, argc=<optimised out>, l=<optimised out>) at dl-init.c:36
#4 _dl_init (main_map=0x7ffff7ffe1c8, argc=1, argv=0x7fffffffe138, env=0x7fffffffe148) at dl-init.c:126
#5 0x00007ffff7ddb30a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#6 0x0000000000000001 in ?? ()
#7 0x00007fffffffe3d5 in ?? ()
#8 0x0000000000000000 in ?? ()
(gdb) q
Any thoughts or recommendations are greatly appreciated.
Originally posted by monkeyiq on ROS Answers with karma: 46 on 2014-09-12
Post score: 0
Original comments
Comment by monkeyiq on 2014-09-14:
This appears to be a clash with boost and your selected c++ standard during various compiles. Removing the -std=c++0x from catkin_ws/src/rgbdslam_v2/CMakeLists.txt no longer crashes in the same way. Shortly I will verify that the DSLAM as a whole is doing something productive now.
Comment by Noahsark on 2014-10-12:
I have a similar problem. May I ask how did you compile without -std=c++0x ? it seems some components are forced to be compiled under C++11.
|
Hi,
I am trying to transform geometry_msgs::PoseStamped in one frame to other. I am using tf::TransformListener::transformPose here is my code snippet.
tf::TransformListener listener;
geometry_msgs::PoseStamped pose_map;
try{
listener.transformPose("map",pose_world,pose_map); // pose_world is in world frame
}
catch( tf::TransformException ex)
{
ROS_ERROR("transfrom exception : %s",ex.what());
}
i am getting below exception.
[ERROR] [1410527449.677789054, 1410185755.142016150]: transfrom exception : "map" passed to lookupTransform argument target_frame does not exist.
But i can see tf between /world and /map from rosrun tf view_frames and also from rosrun tf tf_echo world map
Edit:
After adding wait for transform i am getting below exception. But /map to /world is publishing at 25hz from launch file. I am using bag file for tf data with --clock and use_sim_time true
[ERROR] [1410539110.856303453, 1410185780.612246601]: transfrompose exception : Lookup would require extrapolation into the past. Requested time 1410185779.600078575 but the earliest data is at time 1410185779.862480216, when looking up transform from frame [world] to frame [map]
Thank you.
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-09-12
Post score: 6
Original comments
Comment by Tom Moore on 2014-09-13:
You're running roscore first, then setting use_sim_time, then starting your launch file, then running rosbag play, correct?
Comment by bvbdort on 2014-09-13:
i put use_sim_time param in launch file as first line. First launch file then rosbag play
Comment by Tom Moore on 2014-09-13:
Can you post the relevant parts of your launch file?
Comment by bvbdort on 2014-09-13:
here is launch file
Comment by Tom Moore on 2014-09-13:
And you're certain that the original data (before you bagged it) didn't also have this problem? Try playing back the bag file very slowly (with -r) and watch the message time stamps. If the tf ones seem out of sync, then perhaps your original data (i.e., on the live robot) had this problem as well.
Comment by bvbdort on 2014-09-13:
I didnt try with live data so far, but in rosbag data I can see all the required tf from rostopic echo.
Comment by Tom Moore on 2014-09-13:
But the bag data came from somewhere. The question isn't whether the tranforms exist. It's whether they have the correct time stamps. If there was something wrong when you recorded the data, it won't get better when you replay it.
Comment by tfoote on 2014-09-13:
Does this error happen once or a few times at startup or does it continuously happen?
Comment by bvbdort on 2014-09-14:
@Tom Moore : When i just do roscore + use_sim_time true +rosbag play --clock i can see all the tf
@tfoote : it is happening continuously.
Comment by Tom Moore on 2014-09-14:
Can you share the bag somewhere?
Comment by bvbdort on 2014-09-14:
world to map tf is from launch file. here is bag file zft_world and world in my description are same.
|
Hello,
I am trying to make tf tree from rosbag file and raw topics like /imu/data and /scan without tf topic. At the time when record the bagfile, we don't know the tf jet and now we want to make the tf appropriate tree.
We are doing tf static transform with static_transform_publisher nodes by launch file:
<node pkg="tf" type="static_transform_publisher" name="base_link_imu" args="0.5 0 0.1 0 1.57 0 /base_link /imu 10"/>
<node pkg="tf" type="static_transform_publisher" name="base_footprint" args="0 0 0.2 0 0 0 /base_footprint /base_link 10"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_laser" args="0.5 0 0 0 0 0 /base_link /laser 10"/>
In imu msg topic, the header is the follow:
header:
seq: 49958
stamp:
secs: 1410520339
nsecs: 565862711
frame_id: imu
Frame_id : imu.
The same for the laser data:
header:
seq: 1831
stamp:
secs: 1410520215
nsecs: 426117012
frame_id: laser
angle_min: -0.872664630413
angle_max: 0.872664630413
angle_increment: 0.00436332309619
time_increment: 3.70370362361e-05
scan_time: 0.0533333346248
range_min: 0.0
range_max: 81.0
Notice that both frame publisher are "imu" and "laser".
Now we run the launch file generating the tree but when we want to see in rviz, appear the next msg:
In imu frame:
Transform [sender=unknown_publisher]
Message removed because it is too old (frame=[imu], stamp=[1410520316.775747058])
In laser frame.
Transform [sender=unknown_publisher]
Message removed because it is too old (frame=[laser], stamp=[1410520194.940736519])
The problem is the msg has other timestamp as the tf_publisher.
What is the best strategy to make new tf with old timestamp to use the raw data from the rosbag file?
The aim is watch the robot pose and the map/odometry just with the rosbag sensors. I read hector_mapping can do the thing but need tf in order to make correct odometry.
Originally posted by pmarinplaza on ROS Answers with karma: 330 on 2014-09-12
Post score: 2
|
I have an intel atom tunnel creek processor (E640) for my project and a xtion pro live sensor.And I am planning to implement SLAM. So will the intel atom creek handle the extensive processing ?
Originally posted by Shubham Garg on ROS Answers with karma: 13 on 2014-09-12
Post score: 1
|
I am following this tutorial:
http://wiki.ros.org/lse_roomba_toolbox/Tutorials/Simulating%20a%20Roomba%20on%20Stage
When I enter this command,
rosrun stage stageros roomba_isr_floor0.world
it gives this error
[rosrun] Couldn't find executable named stageros below /opt/ros/hydro/share/stage
Originally posted by tonyParker on ROS Answers with karma: 377 on 2014-09-12
Post score: 2
Original comments
Comment by Akali on 2015-01-12:
I had same problem bro. Did you solve that error?
Comment by marcobecerrap on 2015-07-29:
Does anyone knows how to solve this? I'm having the same error here... I'm trying to run stage with a simple command:
$ rosrun stage_ros stageros ./map01_Room.world
But I get this error:
[rosrun] Couldn't find executable named stageros below /opt/ros/indigo/share/stage_ros
|
Hi,
I have some problems on using command "rosrun uwsim uwsim" to run uwsim following errors are showing:
Jack@Jack:~$ rosrun uwsim uwsim
Starting UWSim...
. Setting localized world: 6.1e-05s
Loading URDF robot...
· robot/GIRONA500/g500_March11.osg: 2.67438s
· robot/ARM5E/ARM5E_part0.osg: 0.082435s
· robot/ARM5E/ARM5E_part1.osg: 0.119529s
· robot/ARM5E/ARM5E_part2.osg: 0.127205s
· robot/ARM5E/ARM5E_part3.osg: 0.439133s
· robot/ARM5E/ARM5E_part4_base.osg: 0.420119s
· robot/ARM5E/ARM5E_part4_jaw1.osg: 0.065359s
· robot/ARM5E/ARM5E_part4_jaw2.osg: 0.058875s
· Linking links.../opt/ros/groovy/lib/uwsim/uwsim: line 20: 25729 Segmentation fault (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@
Thank you for your help!
Originally posted by Cong Wang on ROS Answers with karma: 1 on 2014-09-12
Post score: 0
|
Hello,
I was wondering if there is a database of different environment maps for testing robot navigation in ROS. In particular, I'm looking for an open space environment map without narrow corridors and many obstacles.
Thanks.
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-12
Post score: 1
Original comments
Comment by dornhege on 2014-09-13:
What format are you looking for? Just a map, i.e. yaml/ppm?
Comment by ROSCMBOT on 2014-09-13:
Yes yaml/pgm files would be fine
|
Hi All! I am just starting to learn ROS.
So I was following the tutorial on understanding TOPICS (http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics), where I was supposed to run $ rosrun rqt_plot rqt_plot and enter /turtle1/pose/x in GUI, but I keep getting this message in the terminal:
Traceback (most recent call last): File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 204, in on_topic_edit_textChanged
plottable, message = is_plottable(topic_name) File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 104, in is_plottable
fields, message = get_plot_fields(topic_name) File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 75, in get_plot_fields
field_class = topic_helpers.get_type_class(slot_type) AttributeError: 'module' object has no attribute 'get_type_class'
AttributeError: 'module' object has no attribute 'get_type_class'
I ran roswtf and got this :
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:
Found 1 error(s).
ERROR Not all paths in PYTHONPATH [/home/omar/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages] point to a directory:
* /home/omar/catkin_ws/devel/lib/python2.7/dist-packages
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
Online checks summary:
No errors or warnings
I can't get any plots described in tutorials, so I was hoping you could help.
Originally posted by kost9 on ROS Answers with karma: 97 on 2014-09-13
Post score: 0
|
I'm having a hard time debugging my Turtlebot because I don't know what a functioning Turtlebot should look like. Now that I've read the source code for turtlebot_calibration I have some better understanding of what to expect, but I'm still not sure if my bot is mechanically broken.
Is it normal for Tbot to stop for long periods of time during the calibration routine?
Is it normal for calibration to take 7-10 minutes, or more?
What are some examples of reasonable values for gyro_scale_correction and odom_angular_scale_correction (for a gyro_measurement_range of 150)? Is a gyro value of 0.3 completely unreasonable? What about 3.4? Should it be much closer to the default?
What is a normal error range for odom and IMU? Even on a good run I might see an odom error of >10% and IMU error >40%.
Is it normal for the bot to drift out of place during calibration? (i.e. it doesn't turn in place perfectly, but drifts a few centimeters over the course of the routine; one wheel must be spinning faster than the other, I guess)
Also, what kind of error is acceptable overall (from the EKF's odom_combined) to be able to run gmapping? If I rotate 360° while watching the output of rosrun tf_echo odom base_footprint, should the yaw delta be within 1-2°? Or can I accept errors of more like 10-20° and still be able to run SLAM?
Here's a video showing my bot doing calibration (I know it over-turns right now so the numbers aren't correct, I just want to show you how it stops for long periods of time making weird noises, e.g. t=0:50): https://www.youtube.com/watch?v=8X8SmUVgJd0
I appreciate any clues you can give, even if you can't answer all of the questions above. We can collaboratively put together an answer here.
Edit:
Seriously? No one is going to even give me a hint of whether they think my video looks normal or not??
Originally posted by Neil Traft on ROS Answers with karma: 205 on 2014-09-14
Post score: 2
Original comments
Comment by Neil Traft on 2014-09-14:
If you are following this question then you might also want to upvote it.
Comment by charkoteow on 2014-09-18:
Not the answer you're looking for but you can always calibrate the Turtlebot manually. Oh and it took me around 5 minutes to auto calibrate mine and the results are bad.
|
I want to simulate any robot on Gazebo and stage for understanding both simulators.. But most of the tutorials/packages I found is for Groovy, fuerte ,Electric of Diamondback. Can I use these ?
Or I install multiple ROs distributions for testing them ?
Originally posted by tonyParker on ROS Answers with karma: 377 on 2014-09-14
Post score: 0
|
Hi,
I have a point cloud which was obtained from Laser scanning. I need to extract depth images from this point cloud. I want to assume random camera position and set up some camera parameters and get images corresponding to these positions. I found some documentation but this isn't what I need : http://wiki.ros.org/pcl_ros/Tutorials/CloudToImage.
There was a discussion which looked similar to mine here : http://www.pcl-users.org/get-a-2d-depth-image-from-the-pointcloud-td2795083.html but the links posted here are not valid.
Can anybody help me by telling how I should get started with this and also if this is possible.
Thanks
Originally posted by Banu Muthukumar on ROS Answers with karma: 1 on 2014-09-14
Post score: 0
|
Hello,
I've set up the navigation stack on my robot. The issue is move_base is publishing the velocity commands on cmd_vel whose message is of type Twist, but my robot is subscribing to a topic called base_velocity whose message is of type TwistStamped. So as I understand, only remapping wouldn't do the work. What can I do to remap topics of different message types.
Thanks
Answer: So I wrote the node below that converts cmd_vel messages to base_velocity,
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist, TwistStamped
import time
def callback(cmdVelocity):
baseVelocity = TwistStamped()
baseVelocity.twist = cmdVelocity
now = rospy.get_rostime()
baseVelocity.header.stamp.secs = now.secs
baseVelocity.header.stamp.nsecs = now.nsecs
baseVelocityPub = rospy.Publisher('base_velocity', TwistStamped, queue_size=10)
baseVelocityPub.publish(baseVelocity)
def cmd_vel_listener():
rospy.Subscriber("cmd_vel", Twist, callback)
rospy.spin()
if __name__ == '__main__':
rospy.init_node('cmd_vel_listener', anonymous=True)
cmd_vel_listener()
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-14
Post score: 0
|
Dear ROS users,
trying to use
rosrun tf view_frames
I get
Traceback (most recent call last):
File "/opt/ros/fuerte/stacks/geometry/tf/scripts/view_frames", line 43, in <module>
import roslib; roslib.load_manifest(PKG)
File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
from roslib.launcher import load_manifest
File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ImportError: No module named rospkg
...but I cannot find any errors around my environmental variables.. :(
Originally posted by Rahndall on ROS Answers with karma: 133 on 2014-09-15
Post score: 0
|
Hey,
i have a node that publishes sensor_msgs/PointCloud data and i want to subscribe to this.
My Subscriber looks like this:
distance_sub = nh.subscribe<pcl::PointCloud<pcl::PointXYZ>>("/distance_sensors", 1, &SafetyBelt::distanceCallback, this);
I included the point_cloud.h and the point_types.h headers. But i am not able to compile this Code and i have no idea what the error means:
/opt/ros/indigo/include/ros/subscribe_options.h:111:54: required from ‘void ros::SubscribeOptions::init(const string&, uint32_t, const boost::function<void(const boost::shared_ptr<const M>&)>&, const boost::function<boost::shared_ptr<X>()>&) [with M = pcl::PointCloud<pcl::PointXYZ>; std::string = std::basic_string<char>; uint32_t = unsigned int]’
/opt/ros/indigo/include/ros/node_handle.h:443:5: required from ‘ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const M>&), T*, const ros::TransportHints&) [with M = pcl::PointCloud<pcl::PointXYZ>; T = SafetyBelt; std::string = std::basic_string<char>; uint32_t = unsigned int]’
/home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/src/SafetyBelt.cpp:16:121: required from here
/opt/ros/indigo/include/ros/message_traits.h:138:31: error: ‘__s_getDataType’ is not a member of ‘pcl::PointCloud<pcl::PointXYZ>’
return M::__s_getDataType().c_str();
^
In file included from /opt/ros/indigo/include/ros/publisher.h:34:0,
from /opt/ros/indigo/include/ros/node_handle.h:32,
from /opt/ros/indigo/include/ros/ros.h:45,
from /home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/include/SafetyBelt.h:1,
from /home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/src/SafetyBelt.cpp:1:
/opt/ros/indigo/include/ros/serialization.h: In instantiation of ‘static void ros::serialization::Serializer<T>::read(Stream&, typename boost::call_traits<T>::reference) [with Stream = ros::serialization::IStream; T = pcl::PointCloud<pcl::PointXYZ>; typename boost::call_traits<T>::reference = pcl::PointCloud<pcl::PointXYZ>&]’:
/opt/ros/indigo/include/ros/serialization.h:163:32: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = pcl::PointCloud<pcl::PointXYZ>; Stream = ros::serialization::IStream]’
/opt/ros/indigo/include/ros/subscription_callback_helper.h:136:34: required from ‘ros::VoidConstPtr ros::SubscriptionCallbackHelperT<P, Enabled>::deserialize(const ros::SubscriptionCallbackHelperDeserializeParams&) [with P = const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&; Enabled = void; ros::VoidConstPtr = boost::shared_ptr<const void>]’
/home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/src/SafetyBelt.cpp:81:1: required from here
/opt/ros/indigo/include/ros/serialization.h:136:5: error: ‘class pcl::PointCloud<pcl::PointXYZ>’ has no member named ‘deserialize’
t.deserialize(stream.getData());
^
In file included from /opt/ros/indigo/include/ros/serialization.h:37:0,
from /opt/ros/indigo/include/ros/publisher.h:34,
from /opt/ros/indigo/include/ros/node_handle.h:32,
from /opt/ros/indigo/include/ros/ros.h:45,
from /home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/include/SafetyBelt.h:1,
from /home/daniel/Desktop/robotino/trunk2/trunk/robotino/robotino_teleop/src/SafetyBelt.cpp:1:
/opt/ros/indigo/include/ros/message_traits.h: In static member function ‘static const char* ros::message_traits::MD5Sum<M>::value() [with M = pcl::PointCloud<pcl::PointXYZ>]’:
/opt/ros/indigo/include/ros/message_traits.h:122:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
/opt/ros/indigo/include/ros/message_traits.h: In static member function ‘static const char* ros::message_traits::DataType<M>::value() [with M = pcl::PointCloud<pcl::PointXYZ>]’:
/opt/ros/indigo/include/ros/message_traits.h:139:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
Can anyone tell me how to correctly subscribe to this topic?
Best regards
Daniel
Originally posted by Missing on ROS Answers with karma: 41 on 2014-09-15
Post score: 4
|
hi everyone
Is this line enough in order to use tf package for set a fixed relation between base_link and base_laser frames in my launch file?
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link base_laser 100" />
and do i need other nodes or scripts to set /map frames or others especially when we want to use packages like gmapping or amcl??
thanks:))))
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-09-15
Post score: 1
|
Hi everybody,
I have a problem here. I try to control the turtlebot speed based on the IR sensors reading.
Unfortunately, the turtlebot only slow down the object is at it's very right side.
However, the IR sensors shows all reading without any problem.
Here is my code:
#include <ros/ros.h>
#include <roomba_500_series/RoombaIR.h>
#include <geometry_msgs/Twist.h>
#include <ros/rate.h>
#include <iostream>
using namespace std;
ros::Publisher pub_vel;
geometry_msgs::Twist cmdvel;
int reading, condition;
double speed;
//define the irsensorCallback function
void irsensorCallback(const roomba_500_series::RoombaIR::ConstPtr& msg)
{
reading = msg->signal;
condition = msg->state;
cout<<"IR State = "<<reading<<endl;
cout<<"IR Signal = "<<condition<<endl;
if(condition!=0 || reading=>100)
{
cmdvel.linear.x=0.08;
cmdvel.amgular.z=0.0;
}
else
{
cmdvel.linear.x=0.2;
cmdvel.amgular.z=0.0;
}
pub_vel.publish(cmdvel);
}
//ROS node entry point
int main(int argc, char **argv)
{
ros::init(argc, argv, "turtlebot_test");
ros::NodeHandle n;
ros::Subscriber irsensorSubscriber = n.subscribe("/ir_bumper", 1000, irsensorCallback);
ros::Publisher velocityPublisher = n.advertise<geometry_msgs::Twist>("cmd_vel", 1000);
cmdvel.linear.x = 0.0;
cmdvel.angular.z = 0.0;
ros::spin();
return 0;
}
Hopefully somebody could advise me on this.
Thank you.
Originally posted by nadal11 on ROS Answers with karma: 23 on 2014-09-15
Post score: 0
Original comments
Comment by ahendrix on 2014-10-14:
Your code looks pretty reasonable. Are you sure you're interpreting the IR readings from the Roomba correctly?
Comment by nadal11 on 2014-10-15:
Yes I am sure. Because IR readings display all readings from all sensors. However, the turtlebot only slow down if the IR reading from very right side is less than 100. Any idea?
Comment by ahendrix on 2014-10-15:
Is each sensor reading published as a separate message? Is it possible that you're publishing a command for each sensor reading, and only the most recent command is being used?
Comment by nadal11 on 2014-10-17:
yes, each sensor reading published as a separate message. And yes, the sensor reading from very right is the last sensor reading published and only this sensor reading is being used. that's why I wonder how I could make sure all other sensor reading are being used as well.
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package.xml
<package>
<description> knex_ros </description>
<name> knex_ros </name>
<author>jfstepha</author>
<license>BSD</license>
<url>http://ros.org/wiki/kinex_ros</url>
<version> 0.0.0</version>
<maintainer email="[email protected]">andre</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>tf</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>robot_state_publisher</build_depend>
<build_depend>differential_drive</build_depend>
<run_depend>tf</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>differential_drive</run_depend>
</package>
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(knex_ros)
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
tf
roscpp
robot_state_publisher
differential_drive
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES motor_control
# CATKIN_DEPENDS ros_control roscpp rospy std_msgs
# DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
)
catkin_install_python(PROGRAMS
scripts/knex_arduino_connector.py
scripts/knex_scratch_connector.py
scripts/range_filter.py
scripts/range_to_laser.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
After I catkin_make under [ws], I did . [ws]/devel/setup.bash
When I run rospack find, I can find knex_ros, but when I rosrun knex_ros whatever.py, I got
~/catkin_ws/src/knex_ros$ rosrun knex_ros knex_arduino_connector.py
[rosrun] Couldn't find executable named knex_arduino_connector.py below /home/andre/catkin_ws/src/knex_ros
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/andre/catkin_ws/src/knex_ros/scripts/knex_arduino_connector.py
I tried tab to show available executable from knex_ros package, it doesn't show anything. Other package under the same workspace work fine.
One weird thing I noticed happening along with not able to find executable is that I have to source devel/setup.bash every time I open a new terminal, and I didn't have to do this before.
update:
I ran catkin_make install and . install/setup.bash, and rosrun can find the executables.
Not sure why only running catkin_make, rosrun works for other package containing python scripts, but not for knex_ros
Originally posted by mugenzebra on ROS Answers with karma: 51 on 2014-09-15
Post score: 3
|
On the Jenkins build farm, my downloads from bitbucket.org always yield the same hash of d41d8cd98f00b204e9800998ecf8427e causing a build/configure failure. I don't think http will work any better because it redirects to an https amazon cloud server.
http://jenkins.ros.org/job/ros-indigo-ueye_binarydeb_trusty_amd64/1/consoleText
http://jenkins.ros.org/job/ros-indigo-ueye_binarydeb_trusty_i386/1/consoleText
From my CMakeLists.txt:
file(DOWNLOAD
https://bitbucket.org/kmhallen/ueye/downloads/uEye_SDK_4_40_amd64.tar.gz
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/3rdparty/uEye_SDK_amd64.tar.gz
SHOW_PROGRESS
INACTIVITY_TIMEOUT 60
EXPECTED_MD5 5290609fb3906a3355a6350dd36b2c76
TLS_VERIFY on)
file(DOWNLOAD
https://bitbucket.org/kmhallen/ueye/downloads/uEye_SDK_4_40_i386.tar.gz
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/3rdparty/uEye_SDK_i386.tar.gz
SHOW_PROGRESS
INACTIVITY_TIMEOUT 60
EXPECTED_MD5 d9803f2db1604f5a0993c4b62d395a31
TLS_VERIFY on)
From the CMakeLists.txt of velodyne_driver:
catkin_download_test_data(
${PROJECT_NAME}_tests_class.pcap
http://download.ros.org/data/velodyne/class.pcap
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
MD5 65808d25772101358a3719b451b3d015)
One solution is to hosts files on download.ros.org like the velodyne_driver and the costmap_2d packages. How can I upload to this hosting service?
Update: Prerelease downloads and builds fine.
http://jenkins.ros.org/job/prerelease-indigo-ueye/1/ARCH_PARAM=amd64,UBUNTU_PARAM=trusty,label=prerelease/console
Originally posted by kmhallen on ROS Answers with karma: 1416 on 2014-09-15
Post score: 1
|
So im trying to migrate over from hydro to indigo, and along with that I am trying to move over my custom simulator packages. Im getting alot fatal errors with trying to run my model with gazebo 2.2 on indigo. But then i realized that the stock Clearpath Husky model that comes from the model database doesnt work either..
Here is the error when I click on the Clearpath model (after gazebo is already open):
[FATAL] [1410814234.648936211]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1410814234.648982364]: BREAKPOINT HIT
file = /tmp/buildd/ros-indigo-roscpp-1.11.9-0trusty-20140904-2000/src/libros/node_handle.cpp
line=151
Not sure what to do, and dont really want to resort to installing hydro from source since i already updated to 14.04 ubuntu.. Anybody having a closing on this?
Originally posted by l0g1x on ROS Answers with karma: 1526 on 2014-09-15
Post score: 0
|
So I have a urdf for my robot, with the tree root as base_link.
However, I am using robot_pose_ekf, which has a hard-coded transform for base_footprint. Assuming a simple square base_footprint, should I make it the root:
base_footprint
base_link ... rest of model
EDIT:
After adding a base_footprint link and joint to base_link:
robot name is: Thumperbot_Simplistic
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
I still get the following error:
Node: /robot_pose_ekf
Time: 12:35:35.441279569 (2014-09-16)
Severity: Debug
Published Topics: /robot_pose_ekf/odom_combined, /rosout, /tf
Could not transform imu message from base_link to base_footprint. Imu will not be activated yet.
Location:
/tmp/buildd/ros-indigo-robot-pose-ekf-1.11.11-0trusty-20140805-0105/src/odom_estimation_node.cpp:OdomEstimationNode::imuCallback:234
----------------------------------------------------------------------------------------------------
Perhaps it is not receiving my urdf that have in the launchfile? Here is the launchfile:
<launch>
<param name="robot_description" textfile="$(find thumperbot_description)/urdf/thumperbot_description.urdf" />
<node name="gps_conv" pkg="gps_common" type="utm_odometry_node">
<remap from="odom" to="vo" />
<remap from="fix" to="/gps/fix" />
<param name="rot_covariance" value="99999" />
<param name="frame_id" value="base_link" />
</node>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<rosparam>
odom_used: false
imu_used: true
vo_used: true
debug: true
self_dignose: true
</rosparam>
</node>
<include file="$(find piksi_driver)/launch/piksi_driver.launch" />
<include file="$(find razor_imu)/launch/razor-pub.launch"/>
</launch>
Here razor_imu and piksi_driver are drivers for the razor imu sensor and the piksi gps sensor. Both sensors output their data correctly.
Originally posted by jackcviers on ROS Answers with karma: 207 on 2014-09-15
Post score: 1
|
Hi all,
Unfortunately I am really struggling with implementing MoveIt! on my custom hardware.
Basically I am stuck in connecting to an Action Client.
I have been successful in using a driver package to control my motor drivers (RoboClaw).
link from @bcharrow
Unfortunately in MoveIt am always greeted with:
[INFO] [1410916361.912676781]: MoveitSimpleControllerManager: Waiting for /full_ctrl/joint_trajectory_action to come up
[ERROR] [1410916366.912904732]: MoveitSimpleControllerManager: Action client not connected: /full_ctrl/joint_trajectory_action
[ INFO] [1410916371.938914542]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up
[ INFO] [1410916376.939103684]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up
[ERROR] [1410916381.939338320]: MoveitSimpleControllerManager: Action client not connected: /gripper_ctrl/joint_trajectory_action
[ INFO] [1410916381.957750506]: Returned 0 controllers in list
[ INFO] [1410916381.963234975]: Trajectory execution is managing controllers
My Action Client is based on this:
link
Can anyone offer more of a step by step instruction on connecting my robot to MoveIt, i haven't found any such tutorial or etc such as:
link1
link2
Cheers,
Chris.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-09-15
Post score: 3
|
Hello, I am using 64E_S2 for a year.
I used two commands to get 3d point-clouds from the Lidar throughout ROS.
The two commands are (1) rosrun velodyne_driver velodyne_node _model:=64E_S2 _rpm:=0600 and (2) rosrun nodelet nodelet standalone velodyne_pointcloud/CloudNodelet transform_node _calibration:=db.yaml.
The file, db.yaml, is generated by using "rosrun velodyne_pointcloud gen_calibration.py db.xml" where db.xml file is provided with the Lidar. Actually, it worked well under ubuntu 12.04 with ROS-hydro.
The problem is here.
I upgrade Ubuntu-version to 14.04 and ROS-indigo, and installed ros-indigo-velodyne. However, when I tried to same commands with same 'db.yaml' file, I got error messages like below.
YAML Exception: yaml-cpp: error at line 0, column 0: bad conversion
and
[ERROR] [1410851740.164624564]: Unable to open calibration file: db.yaml
I thought that I have to generate db.yaml again, but it still not work. In addition, I would like to check what the problem is among the generated file 'db.yaml' and installed velodyne driver. So, I tried roslaunch velodyne_pointcloud 32e_points.launch because it used the yaml file which is provided from ROS. Interestingly, it is working well loading the calibration file without error.
Therefore, I just guess that I should have to generate yaml file differently not following general way.
However, one strange thing is that generated file and provided file are following same format.
I think that it is better to ask here about this problem.
Originally posted by teawonHan on ROS Answers with karma: 1 on 2014-09-16
Post score: 0
|
Hi All,
I am having a very frustrating problem. I have a package pac_industrial_robot_driver that uses messages declared in another package ros_opto22. However, I cannot get the dependency recognised by the pac_industrial_robot_driver CMakeLists.txt file.
The error message:
[ 31%] In file included from /home/controller/catkin_ws/src/pac_industrial_robot_driver/lib/PacIndustrialDriver.cpp:8:0:
/home/controller/catkin_ws/src/pac_industrial_robot_driver/include/PacIndustrialDriver.hpp:32:38: fatal error: ros_opto22/valve_command.h: No such file or directory
Clearly it is not finding the include file.
# Create executables and add dependencies.
foreach(p ${ALL_EXECS})
add_executable(${p} ${${p}_SRC})
add_dependencies(${p} ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS} ros_opto22_EXPORTED_TARGETS ros_opto22_gencpp ros_opto22_generate_messages_cpp)
target_link_libraries(${p} ${ALL_LIBS} ${catkin_LIBRARIES} industrial_robot_client simple_message industrial_utils)
endforeach(p)
Note the inclusion of ros_opto22_gencpp and ros_opto22_generate_messages_cpp.
I also have the following earlier on in the CMakeLists.txt file:
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES pac_industrial_robot_driver
CATKIN_DEPENDS ros_opto22
# DEPENDS system_lib
)
and
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include ${catkin_INCLUDE_DIRS})
as well as a having ros_opto22 listed under the find_package call.
I am very frustrated with this, not in the least because there does not seem to be a single definitive guide to solving this problem. What is the best way to go about solving this problem? I can run catkin_make twice but that only masks the problem. I want catkin_make to run properly first time every time even after deleting everything in the build and devel directories under my catkin workspace.
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-09-16
Post score: 1
Original comments
Comment by fherrero on 2014-09-16:
I think what you need is generate_messages(DEPENDENCIES ros_opto22)
Comment by paulbovbel on 2014-09-16:
I believe generate_messages is not for using message files from another package.
Comment by fherrero on 2014-09-17:
True, my mistake. I meant add_dependencies(${PROJECT_NAME} <msg_package_name>_cpp). We use this in order to ensure the necessary messages are compiled before the current package.
|
Hello,
during the past months I have been working on gettings results from a stereo-cam system
using ROS-package viso2_ros in a moving vehicle. So far so good, the egomotion estimation from visual
odometry really works well as can be seen here:
https://docs.google.com/document/d/1lsqHfEHf7g4K1UC0KOJIlh22V57SYQLA5EkSOBJr0fg/edit
I now have wheel_odometry, visual_odometry, IMU and GPS-data in ASCII-files ready to be processed and filtered (also have a reference trajectory giving the "true" position). Here is the data:
https://drive.google.com/file/d/0B1b1mlDmiL4wQm9DdVAzX0lWYmc/edit?usp=sharing
I can filter all the data with the package "robot_pose_ekf".
The disadvantage is that the package uses the orientation from the IMU rather than
angular rates and acceleration. This orientation is drifting and not accurate.
I was wondering if you could give me tips how to build a filter which fuses all
the described data. If possible the design of the filter should not be that complicated
since I donot have that much knowledge about EKFs. Also any good literature recommendation is appreciated.
Hector
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-09-16
Post score: 0
Original comments
Comment by karry3775 on 2020-04-06:
Hi I am also using viso2_ros inside gazebo to get stereo visual odometry. I am facing issues with translation estimates. When my robot is standstill, even then there is some forward motion estimate given by the package. Did you ever face these issues ? Thanks
|
Hi All,
I am following through the Moveit! Industrial Robot Tutorial and have got stuck at Part 3.1.2. I have copied the template launch file and minimally modified it for my own ends, but I have some questions:
There is a part of the <robot>_moveit_config moveit_planning_execution.launch that deals with the 'real' robot interface. Is this a node I need to write myself? I already have a means of publishing the joint angles of the robot to a sensor_msgs/JointState topic. My robot uses hydraulic rams so the joint angles are converted to ram lengths which are sent to a PID controller that takes in a sensor_msgs/JointState error and converts it to an effort that is then relayed to the robot valves. I'm a little lost about what sort of node I need to write to accept commands from the move_group node. As a starting point, I would like to have a planned trajectory as an input.
Here is the real robot-specific part of the launch file:
The other problem I have is that the inverse kinematics don't seem to work properly. While I can drag the arm around, I cannot plan a path from one point to another. RViz says there is no planning library loaded and on the console I get the following message:
[ INFO] [1410858518.526968209]: Constructing new MoveGroup connection for group 'xyz_control'
[ERROR] [1410858548.853118450]: Unable to connect to move_group action server within allotted time (2)
Here is my RViz screen as I see it. Note that the tutorial implies I should be able to drag the robot around and plan paths with it. However I cannot plan paths with it.
And here is my ROS graph from rqt_graph:
The lack of planning library could be an issue with changing from the 'fake' controller manager to the 'simple' controller manager. Is this an issue? Here's a diff of controllers.yaml between where RViz was able to find a planning library and when it wasn't.
@@ -1,9 +1,9 @@
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
- <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+ <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveitSimpleControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
- <rosparam file="$(find hyd_sys_complete_sldasm_moveit_config)/config/fake_controllers.yaml"/>
+ <rosparam file="$(find hyd_sys_complete_sldasm_moveit_config)/config/controllers.yaml"/>
</launch>
Note there is also an IKFast inverse kinematics plugin I have generated that has to fit into the mix somewhere. What is the best way to proceed? I want to be able to plan paths of the robot using Section 3 of the tutorial. There are a few pieces to this puzzle and I haven't quite worked out how they all go together at this stage.
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-09-16
Post score: 0
|
Hi all,
I want to use transparent_object to estimate the pose of my object. And the sample program needs camera.yml as input.
%YAML:1.0
camera:
K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 525., 0., 3.2050000000000000e+02, 0., 525.,
2.4050000000000000e+02, 0., 0., 1. ]
D: !!opencv-matrix
rows: 5
cols: 1
dt: f
data: [ 0., 0., 0., 0., 0. ]
width: 640
height: 480
pose:
rvec: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ 0., 0., 0. ]
tvec: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ 0., 0., 0. ]
I've found that this file is for camera calibration,
http://docs.opencv.org/trunk/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
http://maztories.blogspot.tw/2013/07/camera-calibration-with-opencv.html
I don't know the relationship between this file and PR2. If I want to use PR2's kinect to get image, do I need to adjust the content of this file? How do I adjust it?
Thanks in advance.
Originally posted by Po-Jen Lai on ROS Answers with karma: 1371 on 2014-09-16
Post score: 0
|
After running
$ rosrun rqt_graph rqt_graph
i get the following error msg:
PluginHandlerDirect._restore_settings() plugin "rqt_graph/RosGraph#0" raised an exception:
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 116, in _restore_settings
self._plugin.restore_settings(plugin_settings_plugin, instance_settings_plugin)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 202, in restore_settings
self._refresh_rosgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 226, in _refresh_rosgraph
self._update_graph_view(self._generate_dotcode())
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 259, in _update_graph_view
self._redraw_graph_view()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_graph/ros_graph.py", line 292, in _redraw_graph_view
same_label_siblings=True)
File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_dotgraph/dot_to_qt.py", line 254, in dotcode_to_qt_items
subgraph_nodeitem = self.getNodeItemForSubgraph(subgraph, highlight_level)
File "/opt/ros/indigo/lib/python2.7/dist-packages/qt_dotgraph/dot_to_qt.py", line 83, in getNodeItemForSubgraph
bb = subgraph.attr['bb'].strip('"').split(',')
KeyError: 'bb'
Originally posted by Tomaszz on ROS Answers with karma: 33 on 2014-09-16
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-09-18:
What version of these two packages do you use: rqt_graph and qt_dotgraph?
Also please provide more information since you are likely doing more than what you described. E.g. which packages did you try to visualize in the graph?
Comment by Tomaszz on 2014-09-19:
Well, I'm not sure what do you mean by version of rqt_graph. I use ROS Indigo. Problems with rqt_graph started when using VREP together with ROS. For the first time it crashed when I played the simulation on VREP. Officially VREP doesn't support ROS Indigo. Now each rqt_graph run fails.
Comment by Dirk Thomas on 2014-09-19:
With "version" I mean the version of the Debian package you have installed. Please run "dpkg -l | grep rqt-graph" and "dpkg -l | grep qt-dotgraph" and post the result. My second question was: which packages did you try to visualize in the graph?
Comment by Tomaszz on 2014-09-20:
1/ ros-indigo-rqt-graph 0.3.9-0trusty-20140905-0110-+0000 amd64
ros-indigo-qt-dotgraph 0.2.26-0trusty-20140819-0222-+0000 amd64
2/ i tried to visualize vrep tutorials packages "ros_bubble_rob", "vrep_joy" etc
actually now it works fine :P I have restarted my laptop
Comment by Robopija on 2014-09-26:
I get exactly the same error message. I have ros-indigo-rqt-graph 0.3.9-0trusty-20140905-0309-+0000 i386 and ros-indigo-qt-dotgraph 0.2.26-0trusty-20140819-0326-+0000 i386, i don't use VREP. This happens even if no ros nodes are running, just a roscore.
Comment by VinceDietrich on 2015-02-19:
I have the same problem. Restarting Ubuntu helps at first, but error came back. Installing ros-indigo-qt-gui-app and ros-indigo-qt-gui-core did not help for me so far.
ros-indigo-rqt-graph 0.3.10-0trusty-20141230-0525-+0000 amd64
ros-indigo-qt-dotgraph 0.2.26-0trusty-20141230-0049-+0000 amd64
Comment by Dirk Thomas on 2015-02-19:
If anybody could come up with a minimal example to reproduce the issue it might be feasible to fix the problem.
Comment by Will Chamberlain on 2015-02-26:
Hello: I get the same problem. My versions are
ii ros-indigo-rqt-graph 0.3.10-0trusty-20141230-0525-+0000 amd64
ii ros-indigo-qt-dotgraph 0.2.26-0trusty-20141230-0049-+0000 amd64
and I am trying to use rqt_graph as on A Gentle Introduction to ROS (J.M. O'Kane) p24
Comment by Will Chamberlain on 2015-02-26:
(cont): rosnode list
lists
/rosout
/teleop_turtle
/turtlesim
Workaround/clue: I just found that unticking 'Hide Debug' clears the error and displays the graph. Ticking 'Hide Debug' gives the error message again.
Comment by gocarlos on 2015-03-11:
happen here too...
nothing open and still crashing. only two very small packages in the WS
Comment by silverArgon on 2015-04-15:
Hi, im having the same problem. Tried both install ros-indigo-qt-gui-app and ros-indigo-qt-gui-core and restarting, but with no result. Any guess to what it could be?
Comment by Dirk Thomas on 2015-04-23:
As before: if anybody could come up with a minimal example (using ROS packages) to reproduce the issue it might be feasible to find the source of the problem.
|
Hello,
So, I have been trying for a moment to compile a catkin package written in C++ which would use the sound_play package API, but it seems never to find the header <sound_play/sound_play.h>, even though the sound_play package is installed and works normally through rosrun. I have tried to use rosmake in the sound_play package, and can see that the header is indeed in the right place, but still catkin can't find it. Maybe I am forgetting to add an include somewhere?
This is ROS groovy I am using.
Thanks for any suggestions.
Originally posted by hiro64 on ROS Answers with karma: 58 on 2014-09-16
Post score: 0
Original comments
Comment by hiro64 on 2014-09-18:
If anyone gets into this situation, I have solved it by taking the headers (sound_play.h and SoundRequest.h) directly from the sound_play package and using them as part of the src of my package. This way, one is able to use their functions and the SoundClient class.
Comment by joq on 2014-09-18:
That is probably not a solution we should recommend.
|
I'm trying to follow this tutorial - http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages
to stream images to a node.
After I added the node see_image.cpp, I'm adding an executable by name image_viewer.
To be clearer, my CMakeLists.txt looks like this -
cmake_minimum_required(VERSION 2.8.3)
project(visual_odometry)
find_package(catkin REQUIRED COMPONENTS
ardrone_autonomy
roscpp
rospy
sensor_msgs
cv_bridge
std_msgs
image_transport
)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_executable(subscriber_test src/subscriber.cpp)
target_link_libraries(subscriber_test
${catkin_LIBRARIES}
)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
add_executable(image_viewer src/see_image.cpp)
target_link_libraries(image_viewer ${OpenCV_LIBRARIES})
And my package.xml looks like this:
<package>
<name>visual_odometry</name>
<version>0.0.0</version>
<description>The visual_odometry package</description>
<maintainer email="[email protected]">voladoddi</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>ardrone_autonomy</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<!--adding build_depend and run_depend according to page http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages Example 1.4 - ROS node-->
<build_depend>sensor_msgs</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>image_transport</build_depend>
<run_depend>ardrone_autonomy</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<!--run dependencies for the 4 build dependencies added above-->
<run_depend>sensor_msgs</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>image_transport</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
After all this, I try to build using catkin_make and I'm getting the following errors:
Linking CXX executable /home/voladoddi/catkin_ws/devel/lib/visual_odometry/image_viewer
[ 5%] Performing install step for 'ardronelib'
make[3]: warning: jobserver unavailable: using -j1. Add `+' to parent make rule.
[ 6%] Completed 'ardronelib'
[ 8%] Built target ardronelib
[ 9%] Built target subscriber_test
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `main':
see_image.cpp:(.text+0x55): undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
see_image.cpp:(.text+0x81): undefined reference to `ros::spin()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `image_transport::TransportHints::TransportHints(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::TransportHints const&, ros::NodeHandle const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
see_image.cpp:(.text._ZN15image_transport14TransportHintsC2ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_[_ZN15image_transport14TransportHintsC5ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_]+0x53): undefined reference to `ros::NodeHandle::NodeHandle(ros::NodeHandle const&)'
see_image.cpp:(.text._ZN15image_transport14TransportHintsC2ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_[_ZN15image_transport14TransportHintsC5ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_]+0x84): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `image_transport::TransportHints::~TransportHints()':
see_image.cpp:(.text._ZN15image_transport14TransportHintsD2Ev[_ZN15image_transport14TransportHintsD5Ev]+0x19): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `ImageConverter::ImageConverter()':
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x47): undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x82): undefined reference to `image_transport::ImageTransport::ImageTransport(ros::NodeHandle const&)'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x11a): undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x291): undefined reference to `ros::NodeHandle::~NodeHandle()'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x31d): undefined reference to `image_transport::ImageTransport::advertise(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, bool)'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x42e): undefined reference to `ros::NodeHandle::~NodeHandle()'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x505): undefined reference to `image_transport::ImageTransport::~ImageTransport()'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x519): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `ImageConverter::~ImageConverter()':
see_image.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0x49): undefined reference to `image_transport::ImageTransport::~ImageTransport()'
see_image.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0x55): undefined reference to `ros::NodeHandle::~NodeHandle()'
see_image.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0x9f): undefined reference to `image_transport::ImageTransport::~ImageTransport()'
see_image.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0xb0): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x3f): undefined reference to `cv_bridge::toCvCopy(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x18c): undefined reference to `cv_bridge::CvImage::toImageMsg() const'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x1bf): undefined reference to `image_transport::Publisher::publish(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x259): undefined reference to `ros::console::g_initialized'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x269): undefined reference to `ros::console::initialize()'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x2b2): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x2ed): undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x2f7): undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
see_image.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)]+0x35b): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `void ros::NodeHandle::param<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const':
see_image.cpp:(.text._ZNK3ros10NodeHandle5paramISsEEvRKSsRT_RKS4_[void ros::NodeHandle::param<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const]+0x27): undefined reference to `ros::NodeHandle::hasParam(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
see_image.cpp:(.text._ZNK3ros10NodeHandle5paramISsEEvRKSsRT_RKS4_[void ros::NodeHandle::param<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const]+0x42): undefined reference to `ros::NodeHandle::getParam(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `image_transport::Subscriber image_transport::ImageTransport::subscribe<ImageConverter>(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, void (ImageConverter::*)(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&), ImageConverter*, image_transport::TransportHints const&)':
see_image.cpp:(.text._ZN15image_transport14ImageTransport9subscribeI14ImageConverterEENS_10SubscriberERKSsjMT_FvRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEEPS6_RKNS_14TransportHintsE[image_transport::Subscriber image_transport::ImageTransport::subscribe<ImageConverter>(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, void (ImageConverter::*)(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&), ImageConverter*, image_transport::TransportHints const&)]+0xaa): undefined reference to `image_transport::ImageTransport::subscribe(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&, boost::shared_ptr<void> const&, image_transport::TransportHints const&)'
collect2: ld returned 1 exit status
make[2]: *** [/home/voladoddi/catkin_ws/devel/lib/visual_odometry/image_viewer] Error 1
make[1]: *** [visual_odometry/CMakeFiles/image_viewer.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 39%] Built target ardrone_autonomy_generate_messages_py
make: *** [all] Error 2
Invoking "make" failed
I have a feeling this has to do with incorrect declarations / missing declarations in package.xml and CMakeLists.txt.
NOTE: the errors before in the first version of the code were because there were line numbers in my code from the tutorial.
EDIT: the above issue is solved.
CPP file is as below:
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
static const std::string OPENCV_WINDOW = "Image window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;
public:
ImageConverter()
: it_(nh_)
{
// Subscrive to input video feed and publish output video feed
image_sub_ = it_.subscribe("/ardrone/image_raw", 1,
&ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_converter/output_video", 1);
cv::namedWindow(OPENCV_WINDOW);
}
~ImageConverter()
{
cv::destroyWindow(OPENCV_WINDOW);
}
void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
// Draw an example circle on the video stream
if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));
// Update GUI Window
cv::imshow(OPENCV_WINDOW, cv_ptr->image);
cv::waitKey(3);
// Output modified video stream
image_pub_.publish(cv_ptr->toImageMsg());
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_converter");
ImageConverter ic;
ros::spin();
return 0;
}
Originally posted by voladoddi on ROS Answers with karma: 87 on 2014-09-16
Post score: 1
Original comments
Comment by bvbdort on 2014-09-16:
can you post your .cpp file
Comment by voladoddi on 2014-09-16:
I needed to add a target library for the new executable on catkin_libraries. worked. Thank you. However, still not able to see the images.
Do have a look at the .cpp file.
|
Hi guys,
This is my first post on this forum!
I have been searching everywhere on the web and especially on this forum without finding any answer. Please forgive me if the answer was there and that I missed it!
I am trying to display an image from my xtion live connected on my beagle bone black to a rviz instance running on a virtual machine.
I am running ROS indigo on ubuntu 14.04 on both the virtual machine and the bbb. I followed the ros installation tutorials for ubuntu and ubuntu ARM.
roscore is running on the virtual machine
rviz is running on the virtual machine as well
I set the ROS_MASTER_URI variable to the IP of the virtual machine on my bbb
When I run "roslaunch openni2_launch openni2.launch" on the bbb I get the following log :
Device "1d27/0601@1/3" with serial number "1208250036" connected
camera/driver-2 process has finished cleanly
The log file states :
Bond broken, exiting
I am able to open a depth stream using mjpeg_server and using "rosrun openni2_camera openni2_camera_node" but even though the IR sensor lights up I get no image either in rviz or on mjpeg_server
Can anyone help me ?
Full output of "roslaunch openni2_launch openni2.launch --screen" can be found here : http://pastebin.com/Q38VpuVq
Thanks
Regards,
Pouc
Originally posted by pouc on ROS Answers with karma: 16 on 2014-09-16
Post score: 0
Original comments
Comment by ahendrix on 2014-09-16:
It looks like the openni2 driver is crashing. Can you edit your question to include the full output from roslaunch openni2_launch openni2.launch --screen please?
Comment by pouc on 2014-09-16:
Hi ahendrix. Thanks for your answer. I have added the requested command output in the question as a pastebin link.
Comment by ahendrix on 2014-09-17:
I haven't seen anything like that before. It looks like some part of the nodelet infrastructure is crashing, but I'm not really sure how to go about troubleshooting it.
|
When I call catkin_make like this
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so
I see this in the output
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Python nosetests: /usr/bin/nosetests-3.4
-- Using empy: /usr/lib/python3.4/site-packages/em.py
Naturally my build process fails because the python 2 executable cannot interpret these versions. How do I force catkin to use the python 2.7 versions?
Originally posted by clauniel on ROS Answers with karma: 23 on 2014-09-16
Post score: 0
|
Hi,
I'm working on a path planner that incorporates dynamic obstacle avoidance. I was wondering if there is a visualizer or any tool available for developing path planners?
Some of the requirements would be:
To visualize a 2D (or even 3D) space
Include static and dynamic obstacles programmatically
Visualize robot position and goal
Visualize the progress of the path planner as it searches the space (whichever path planner is used, eg: A*, RRT etc.)
Something similar to this: http://qiao.github.io/PathFinding.js/visual
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-09-16
Post score: 0
|
Hi, I had some doubts about how catkin_make works, and was hoping someone could explain it all to me. So, i have gone through all the basic ros tutorials, and have the begginer_tutorials package that they use. I am able to build the package and run it using ros run. This works with my devel/setup.bash sourced.
After this point I was trying to use catkin_make install to make the installation directory. I used the cmake flags to specify an install directory inside my catkin workspace and everything ran correctly. After this my workspace had the folders src, devel, build, and install. However, upon further inspection I noticed that the install folder did not contain any binary files, only the headers. I also noticed that if I use the setup.bash in the install folder none of my packages can be found; however, all my packages show up when I source /devel/setup.bash.
So, I was wondering why this is, and how it works. Why does install contain no binaries? Is it supposed to be this way? Are they just referenced by devel? Why doesn't my setup.bash in install work? If someone could provide some insight it would be greatly appreciated.
Originally posted by pachuc on ROS Answers with karma: 13 on 2014-09-16
Post score: 0
|
Hi guys.
since I put the inertia value into the base link I got all the time the following error:
The root link base_link has an inertia
specified in the URDF, but KDL does
not support a root link with an
inertia. As a workaround, you can add
an extra dummy link to your URDF.
Now. I would create another link as suggested by the message, BUT in that case I must define a joint.
Since the base_link can move on 6DOF and the joint "floating" has been deprecated and not usable, I dont know how which constrains shoudl I use for the joint.
Any idea on how to get rid of the message?
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-16
Post score: 2
Original comments
Comment by filipposanfilippo on 2016-04-19:
I am having the same issue. Could you please post or better explain your solution?
Comment by Andromeda on 2016-04-19:
Create a frame 'odom' and a frame 'base_link' or whatever you like. Then joint them toghether with a fixed joint. The inertia must be put on the child frame, in this case 'base_link' otherwise you get the error.
Comment by filipposanfilippo on 2016-04-19:
This is the message that I get when running roslaunch rrbot_control rrbot_control.launch:
The root link link1 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
Any ideas?
Comment by Andromeda on 2016-04-19:
After link1 create a dummy frame which has mass and inertia properties. You fix them together. You move the inertia from link1 to link_dummy
Comment by filipposanfilippo on 2016-04-20:
Thank you, Andromeda! I have done the suggested modification. However, now my link1 has got a gray color (the one set is orange). How can I fix this? Also in the robot tree, linl1 is not appearing (it only shows link_dummy, link2, ...). Is this normal?
|
I am trying to run slam_gmapping on this bag file I collected with my robot and I am getting ridiculously bad results -- so ridiculously bad that my first inclination is to suspect that I am missing something fundamental in my setup.
Here is my setup:
I have a SICK LMS100 mounted upside down forward (by 0.267m) and to the right (by .256m) of the center of my robot. We run custom software on our robot, so I have written a translator that listens to the telemetry published by the robot and publishes TF frames according to my best understanding of how one should do that -- basically, I send transforms with a frame ID of "odom", a child ID of "base_link", and with an x, y, and rotation extracted from the x, y, and heading information (relative to the location at which I booted the robot).
Our LMS100 is configured to report scans over a 190 degree range (rather than the 270 degree range of which it is capable). I had to modify the LMS1xx driver to account for that. (Unfortunately, I modified the older LMS1xx driver, rather than the newer lms1xx driver. If I learn that the newer driver also needs this patch, I will submit it.)
Anyway, if somebody with more expertise than I in gmapping (which is pretty much everybody on this list) could take a look at my bag file and suggest what I should do to get better results, I would appreciate any tips you could give me.
I have run rviz on the bag file with the fixed frame set to /odom and the laser scan decay time set to infinite, and the map from laser data & odometry alone looks ok -- there is certainly some drift in the odometry, but not much. And that result looks significantly better than the map produced by slam_gmapping.
I wonder if the fact that the SICK is mounted upside down is causing a problem -- I think I have the static TF set up correctly to account for that:
node pkg="tf" type="static_transform_publisher" name="sick2bot"
args="0.267 -0.256 0 0 0 3.14159 base_link laser 100"
I wonder if the fact that the SICK is mounted right of center is causing a problem.
I wonder if I should collect the data using the newer SICK driver. (Unfortunately, I'm at IROS right now, and I left my robot in Boston, so I'll have to wait a week to try that.)
Our robot publishes telemetry at 200 Hz, the SICK publishes scans at 25 Hz; I wonder if that is causing a problem.
What else should I look at?
EDIT :
Here is gmapping result
gmapping result http://answers.ros.org/upfiles/14109570815496716.png
Here is acumilation Lasers in rviz
Laser scans http://answers.ros.org/upfiles/14109573119452673.png
:: This looks much more like what I expected when I wheeled my robot down the hall (on the right), turned right, wheeled down the corridor, round the corner, down to the lunchroom, and back again. Clearly, there is some drift in the odometry as I return to my starting point, but it doesn't look that bad to me.
Originally posted by wpd on ROS Answers with karma: 249 on 2014-09-16
Post score: 0
Original comments
Comment by wpd on 2014-09-16:
I just found this question where the author posted code setting the x and y values in his odom_trans structure to -x and -y respectively. Is that common/required practice for publishing odom->base_link frames?
Comment by bvbdort on 2014-09-17:
Placement of laser doesnot effect gmapping , It can handle whether laser is up side down or not. Try running gmapping with reduced rate rosbag play -r 0.25 halls.bag --clock. Also please share the map ur getting currently.
Comment by wpd on 2014-09-17:
Thank you for your reply. I would expect that slam_gmapping should work regardless of the orientation and placement of the laser. The results I get look so bad that I expect I have set something up incorrectly... (continued next comment)
Comment by wpd on 2014-09-17:
Perhaps I specified the placement or orientation incorrectly -- I think they're correct, but perhaps somebody else could look at my description (upside down, 0.267m forward and 0.256m right of center) and my static transform and tell me I specified it incorrectly. (continued...)
Comment by wpd on 2014-09-17:
Perhaps I specify the odometry incorrectly. I'm confused by the question I referenced above where the author used -x and -y in the TF transform. That doesn't make sense to me, but perhaps that's what I'm supposed to do.
Comment by wpd on 2014-09-17:
Perhaps the lms100 is reporting distances in mm instead of meters. Again, I don't think any of these "Perhaps"'s are true. But they represent the paths I've taken to try to figure out what's going on. I'm hoping somebody will read this thread and suggest something else for me to check.
|
Hello,
I'm having a problem with catkin_make. When I run run it i get
-- Using these message generators: gencpp;genlisp;genpy
-- tum_ardrone: 1 messages, 5 services
-- Configuring done
CMake Error at rosberry_pichopter/CMakeLists.txt:94 (add_library):
Cannot find source file:
src/rosberry_pichopter/joy/src/servo.cpp
Tried extensions .c .C .c++ .cc .cpp .cxx .m .M .mm .h .hh .h++ .hm .hpp
.hxx .in .txx
-- Build files have been written to: /home/donni/catkin_ws/build
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
With a bunch of stuff before it. I don't know why I'm getting the error, becouse servo.cpp is in catkin_ws/src/rosberry_pichopter/joy/src/servo.cpp.
I'm using hydro.
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-09-16
Post score: 0
|
I am testing the arm_navigation's collision detection for a virtual object added to the planning scene and a virtual object attached to the robot. When using CYLINDER models, the collision detection fails; the results are OK when using BOX models. Using CYLINDER models is better in my case, so if somebody knows the reason, please tell me.
Here is the detail:
Based on the tutorial: http://wiki.ros.org/arm_navigation/Tutorials
I modified a bit because of the difference of ROS version.
My ROS version: Groovy
Robot: Simulated PR2
Language: Python
First, I added a virtual CYLINDER object to the planning scene through the /environment_server/set_planning_scene_diff service. Also, I attached a virtual CYLINDER object to the robot's left gripper. Then, I checked the collision during moving the robot's arm through the planning_scene_validity_server/get_state_validity service.
It could detect collisions between 1. the robot's body and the virtual scene object, and 2. the virtual robot's object and the robot's body. However, it could not detect collisions between the virtual robot's object and the virtual scene object. I tested to change the SetPlanningSceneDiffRequest.operations.collision_operations parameter, but it did not work.
Here is a video to show this problem:
http://youtu.be/oRmfEwKrD9s (CYLINDER case)
By changing the objects to BOX models, it works as I expected.
The video is here: http://youtu.be/YH-MAvbKm9M (BOX case)
Many thanks!
Update: Combinations of (CYLINDER and BOX) or (BOX and CYLINDER) work well. Only the (CYLINDER and CYLINDER) case is weird.
Originally posted by akihiko on ROS Answers with karma: 113 on 2014-09-16
Post score: 2
Original comments
Comment by David Lu on 2014-09-17:
I know this was a bug I reported way back in the day. No idea what became of it or even where I reported it.
Comment by akihiko on 2014-09-17:
Thanks for the information.
|
Hi everyone,
I have a setup with a robot-arm and 3D-Sensors observing the workspace. I want the arm to execute some Pick & Place scenarios, while I move through the workspace.
Now, while planning the octomap gets respected, the created plans avoid any collisions.
But my question is, would moveIt check if an obstacle moved into the planned path, therefore making it invalid?
Here I read about the StateValidity-Service, but I am wondering if I have to implement it myself or if it happens automaticly?
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-09-17
Post score: 0
|
Hello All,
I am developing a ground station application for a mobile robot. I usually create the qt-ros package using catkin_create_qt_pkg. I recently updated to qtcreator 5.0.2 and qtquick 2. Since I want to use QML UI for the interface and c++ for the logic part. I changed my cmake to be able to use QT5. However i still get errors whenever I use any qtquick 2 library.
For example when I try to use qquickview to define a view:
QQuickView *view = new QQuickView();
I get this error: error: undefined reference to `QQuickView::QQuickView(QWindow*)'
My question is how can solve this ?
And is it possible to use qt5/qml with cmake to develope GUI's for ROS applications.
Originally posted by AmiraJr on ROS Answers with karma: 28 on 2014-09-17
Post score: 0
|
Hi im currently doing position detection. By using Opencv color(red) detection i detect the red object and now i want to publish it in the tf and show where and the distance between the object and camera.
Originally posted by chiongsterx on ROS Answers with karma: 33 on 2014-09-17
Post score: 0
|
Is anyone using the xv-11 lidar unit with their robot? I am in the process of incorporating the lidar unit with my bot and would like to share information.
Thank you
Originally posted by Morpheus on ROS Answers with karma: 111 on 2014-09-17
Post score: 0
|
Hi,
I have a robot which is my ros_master and my local machine which is able to to list the nodes and topics and also do rosrun. I have ROS_MASTER_URI, ROS_HOSTNAME and ROS_IP correctly set on both machines. However when I want to start a package on my local machine using roslaunch ( in my case I am trying to launch gmapping) I have problems. My local machine tries to run roscore locally and it gives me errors.
Thanks in advance for helping me out.
Originally posted by zeinab on ROS Answers with karma: 88 on 2014-09-17
Post score: 0
|
Hey everyone,
I have the issue, that while running moveIt, I get transforms errors:
[ERROR] [1410959502.463512661]: Transform error: Lookup would require extrapolation into the future. Requested time 1410959502.460805976 but the latest data is at time 1410959502.410336017, when looking up transform from frame [finger_1_link_0] to frame [camera_top/camera_top_depth_optical_frame]
Now, following this guide, I debugged the transforms, I appended the results below. What I was wondering is: Why is the chain so long and looped? Might this be the root of the issue?
RESULTS: for camera_top/camera_top_depth_optical_frame to finger_1_link_0
Chain is: segment_0 -> camera_top/camera_top_link -> camera_top/camera_top_rgb_frame -> camera_top/camera_top_link -> camera_front/camera_front_link -> segment_0 -> camera_top/camera_top_depth_frame -> camera_front/camera_front_link -> palm -> segment_7 -> camera_front/camera_front_depth_frame -> camera_front/camera_front_rgb_frame -> finger_1_link_1 -> finger_1_link_0 -> finger_1_link_2 -> finger_2_link_1 -> finger_2_link_0 -> finger_2_link_2 -> finger_middle_link_1 -> finger_middle_link_0 -> finger_middle_link_2 -> palm -> palm -> palm -> segment_6 -> segment_0 -> segment_1 -> segment_2 -> segment_3 -> segment_4 -> segment_5
Net delay avg = 0.055249: max = 0.117458
Frames:
Frame: camera_front/camera_front_depth_frame published by /camera_front_base_link Average Delay: -0.00940285 Max Delay: 0
Frame: camera_front/camera_front_link published by /second_kinect_broadcaster Average Delay: -0.0993219 Max Delay: 0
Frame: camera_front/camera_front_link published by /second_kinect_broadcaster Average Delay: -0.0993219 Max Delay: 0
Frame: camera_front/camera_front_rgb_frame published by /camera_front_base_link_1 Average Delay: -0.00940964 Max Delay: 0
Frame: camera_top/camera_top_depth_frame published by /camera_top_base_link Average Delay: -0.00945783 Max Delay: 0
Frame: camera_top/camera_top_link published by /camera_top_link_broadcaster Average Delay: -0.00942012 Max Delay: 0
Frame: camera_top/camera_top_link published by /camera_top_link_broadcaster Average Delay: -0.00942012 Max Delay: 0
Frame: camera_top/camera_top_rgb_frame published by /camera_top_base_link_1 Average Delay: -0.00942155 Max Delay: 0
Frame: finger_1_link_0 published by /robot_tf_state_publisher Average Delay: -0.496956 Max Delay: 0
Frame: finger_1_link_1 published by /robot_tf_state_publisher Average Delay: 0.00512914 Max Delay: 0.0639241
Frame: finger_1_link_2 published by /robot_tf_state_publisher Average Delay: -0.496976 Max Delay: 0
Frame: finger_2_link_0 published by /robot_tf_state_publisher Average Delay: -0.496954 Max Delay: 0
Frame: finger_2_link_1 published by /robot_tf_state_publisher Average Delay: 0.00513452 Max Delay: 0.0639276
Frame: finger_2_link_2 published by /robot_tf_state_publisher Average Delay: -0.496969 Max Delay: 0
Frame: finger_middle_link_0 published by /robot_tf_state_publisher Average Delay: -0.496951 Max Delay: 0
Frame: finger_middle_link_1 published by /robot_tf_state_publisher Average Delay: 0.00513811 Max Delay: 0.0639306
Frame: finger_middle_link_2 published by /robot_tf_state_publisher Average Delay: -0.496963 Max Delay: 0
Frame: palm published by /robot_tf_state_publisher Average Delay: -0.496948 Max Delay: 0
Frame: palm published by /robot_tf_state_publisher Average Delay: -0.496948 Max Delay: 0
Frame: palm published by /robot_tf_state_publisher Average Delay: -0.496948 Max Delay: 0
Frame: palm published by /robot_tf_state_publisher Average Delay: -0.496948 Max Delay: 0
Frame: segment_1 published by /robot_tf_state_publisher Average Delay: 0.00514182 Max Delay: 0.0639336
Frame: segment_2 published by /robot_tf_state_publisher Average Delay: 0.00514508 Max Delay: 0.0639368
Frame: segment_3 published by /robot_tf_state_publisher Average Delay: 0.00514861 Max Delay: 0.0639399
Frame: segment_4 published by /robot_tf_state_publisher Average Delay: 0.00515163 Max Delay: 0.063943
Frame: segment_5 published by /robot_tf_state_publisher Average Delay: 0.00515438 Max Delay: 0.0639463
Frame: segment_6 published by /robot_tf_state_publisher Average Delay: 0.00515731 Max Delay: 0.0639497
Frame: segment_7 published by /robot_tf_state_publisher Average Delay: 0.00515987 Max Delay: 0.0639524
All Broadcasters:
Node: /camera_front_base_link 99.3663 Hz, Average Delay: -0.00940285 Max Delay: 0
Node: /camera_front_base_link_1 99.4127 Hz, Average Delay: -0.00940964 Max Delay: 0
Node: /camera_front_base_link_2 99.3969 Hz, Average Delay: -0.00941993 Max Delay: 0
Node: /camera_front_base_link_3 99.4064 Hz, Average Delay: -0.00940085 Max Delay: 0
Node: /camera_top_base_link 99.4075 Hz, Average Delay: -0.00945783 Max Delay: 0
Node: /camera_top_base_link_1 99.4135 Hz, Average Delay: -0.00942155 Max Delay: 0
Node: /camera_top_base_link_2 99.4092 Hz, Average Delay: -0.00940796 Max Delay: 0
Node: /camera_top_base_link_3 99.4122 Hz, Average Delay: -0.00936636 Max Delay: 0
Node: /camera_top_link_broadcaster 99.404 Hz, Average Delay: -0.00942012 Max Delay: 0
Node: /pinch_frame_broadcaster 99.4173 Hz, Average Delay: -0.00934003 Max Delay: 0
Node: /robot_tf_state_publisher 110.242 Hz, Average Delay: -0.451271 Max Delay: 0.012499
Node: /second_kinect_broadcaster 9.94165 Hz, Average Delay: -0.0993219 Max Delay: 0
Here is my transform tree:
I'm thankful for any hints,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-09-17
Post score: 0
|
Using fuerte/rosbuild, I was able to "cheat" and both generate cpp/py protobuf files and link/import them from other projects. I say "cheat" because the generated artifacts ended up in the package source directory and was easy to find. But hydro/catkin does things "right" and I can't cheat anymore.
Say I have two packages: my_package_msgs and my_package_nodes. In my_package_msgs, there's a proto directory with *.proto message files. I use an add_custom_command() call to generate the protobuf artifacts and output directories. Here's basically how its written right now:
cmake_minimum_required(VERSION 2.8.3)
project(my_package_msgs)
find_package(catkin REQUIRED)
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(ProtocolBuffers REQUIRED)
set(proto_dir ${PROJECT_SOURCE_DIR}/proto)
set(proto_files ${proto_dir}/Message0.proto
${proto_dir}/Message1.proto
${proto_dir}/Message2.proto)
message(STATUS "Proto Source Dir: ${proto_dir}")
message(STATUS "Proto Source Files: ${proto_files}")
# Set up destination directories
catkin_destinations()
set(proto_gen_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/proto_gen)
set(proto_gen_cpp_dir ${proto_gen_dir}/cpp/include/${PROJECT_NAME})
set(proto_gen_python_dir ${proto_gen_dir}/python)
file(MAKE_DIRECTORY ${proto_gen_dir})
file(MAKE_DIRECTORY ${proto_gen_cpp_dir})
file(MAKE_DIRECTORY ${proto_gen_python_dir})
set(protogen_include_dirs ${proto_gen_cpp_dir}/../ ${proto_gen_python_dir})
message(STATUS "Proto Include Dirs: ${protogen_include_dirs}")
# Create lists of files to be generated.
set(proto_gen_cpp_files "")
set(proto_gen_python_files "")
foreach(proto_file ${proto_files})
get_filename_component(proto_name ${proto_file} NAME_WE)
list(APPEND proto_gen_cpp_files ${proto_gen_cpp_dir}/${proto_name}.pb.h ${proto_gen_cpp_dir}/${proto_name}.pb.cc)
list(APPEND proto_gen_python_files ${proto_gen_python_dir}/${proto_name}_pb2.py)
endforeach(proto_file ${proto_files})
# Run protoc and generate language-specific headers.
add_custom_command(
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} --proto_path=${proto_dir} --cpp_out=${proto_gen_cpp_dir} --python_out=${proto_gen_python_dir} ${proto_files}
DEPENDS ${PROTOBUF_PROTOC_EXECUTABLE} ${proto_files}
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
OUTPUT ${proto_gen_cpp_files} ${proto_gen_python_files}
)
# Create proto library for linking.
include_directories(${PROTOBUF_INCLUDE_DIR} ${PROTOBUF_INCLUDE_DIR}/../../)
add_library(${PROJECT_NAME}_proto ${proto_gen_cpp_files})
target_link_libraries(${PROJECT_NAME}_proto ${PROTOBUF_LIBRARY})
catkin_package(
INCLUDE_DIRS ${protogen_include_dirs}
LIBRARIES ${PROJECT_NAME}_proto
)
install(TARGETS ${PROJECT_NAME}_proto
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY ${proto_gen_cpp_dir}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
install(DIRECTORY ${proto_gen_python_dir}/
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
I tried using catkin_install_python(), but it complains about files not existing (because they haven't been generated). I haven't tried using catkin_python_setup() because of the same problem, and because the output isn't a normal python library layout.
Then, my_package_nodes 'run_depend's on my_package_msgs. But, when I attempt to rosrun one of the python executables in my_package_nodes, I get errors that say python modules aren't found:
Traceback (most recent call last):
File "/home/dgooding/catkin_ws/src/my_packages/my_package_nodes/src/Node2.py", line 8, in <module>
import Message2_pb2
ImportError: No module named Message2_pb2
So what's the correct (not cheating) way to generate cpp and python files in one catkin package, and have a second package access them?
edit: I've adopted some techniques from http://answers.ros.org/question/123221/where-should-generated-header-files-be-generated-to-how-can-i-then-export-them-with-catkin/ that have helped... but not completely done yet.
edit2: I tried making use of catkin_python_setup() (using some configure_file() magic to find the generated python files), but I think catkin_python_setup() is being executed before the code generation happens because I end up with an empty directory in the dist-packages area in devel space.
Originally posted by dustingooding on ROS Answers with karma: 139 on 2014-09-17
Post score: 2
|
Hello , I am interested to work with ROS as a part of OPW internship for this winter . Can somebody please help me as to how I should start working or if there is any person whom I can contact for further information .
Thanks ,
Regards,
Myra
Originally posted by Myra on ROS Answers with karma: 1 on 2014-09-17
Post score: 0
|
Hello,
I am putting a place a mobile robot with mecanum wheels. For my robot to be driven I would like to be able to specify a desired velocity to the platform (a twist) and have the robot decide itself about the velocity of the wheels (joint velocity) that lead to this desired twist: this is what I call the mobile platform's IK. This IK is not so complex to compute but I am afraid I do not understand where to perform the computation in ROS. So what is the best practise to implement this mobile IK? And where should I put the code?
I had a look at the husky packages but could not find anything relevant. I am pretty sure many robot simulations do have the same need and implement this, no?
Anyone having a better understanding than me? Any example code?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-17
Post score: 0
|
I don't know publisher image and camera
Can you help me ?
I use ros fuerte .
I want to publisher camera but i don't now !
Originally posted by turtle on ROS Answers with karma: 17 on 2014-09-17
Post score: 0
Original comments
Comment by bvbdort on 2014-09-17:
Please write more about what your looking for.
Comment by joq on 2014-09-18:
There are many ROS camera driver packages. Use one that supports your device: http://wiki.ros.org/Sensors/Cameras .
Comment by joq on 2014-09-18:
If you tell us what kind of camera you have, someone can probably suggest a good driver.
|
Hi dear ROS community!
I've started learning ROS a few months ago. Currently I'm trying to create my first launchfile that starts gscam and image_view packages to open a camera and visualize the video stream. I made a launch file, however, gscam and image_view cannot get connected. Gscam node is launching properly, but not the image_view one; it seems that it is not receiving the parameter. If I launch image_view manually ($rosrun image_view image_view image:=/camera/image_raw) everything works fine and I can visualize the video stream from my camera. How can I fix my launch file? Thank you!
<launch>
<node pkg="gscam" type="gscam" name="gscam01">
<env name="GSCAM_CONFIG" value="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace" />
</node>
<node pkg="image_view" type="image_view" name="image_view01">
<param name="image" type="string" value="/camera/image_raw" />
</node>
SOLUTION:
launch>
<node pkg="gscam" type="gscam" name="gscam01">
<env name="GSCAM_CONFIG" value="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace" />
</node>
<node pkg="image_view" type="image_view" name="image_view01">
<remap from="image" to="/camera/image_raw"/>
</node>
Originally posted by diegomex on ROS Answers with karma: 13 on 2014-09-17
Post score: 0
|
I've tried searching for this but have been unsuccessful so far.
Is it possible to see a topic's value, programatically?
Basically, I need the functionality of rostopic echo, but I need to add it to my code.
It's a topic that I created myself, so I can't just create a client and call a service...
And I also do not want to subscribe to the topic and create a callback function.
I just want to know the topic's value at a given point in my code.
Is this possible?
Originally posted by an on ROS Answers with karma: 1 on 2014-09-17
Post score: 0
|
Hi guys
im working on a buffer service that saves a bunch of data i get from a detection node.
I also want to save the tf data from a moving object in that service.
Now my question is should i avoid the while(ros::ok()) loop i need to listen to the tf data, by writing a new node that sends the tf data to the service if it changed or is it usual to use while loops in ros services. Im just a little bit worried that the callback from the client would be delayed or the program would get stuck in the loop.
Thanks
Alex
Originally posted by AlexKolb on ROS Answers with karma: 30 on 2014-09-17
Post score: 0
|
Hello,
I'm debugging the navigation stack set up on my robot. My question is about amcl_pose. This topic is published by amcl (or fake_localization), and in my robot amcl_pose is being published to by the localization module too, but no topic is subscribed to amcl_pose.
As I understand, local planner should use amcl_pose and I'm using DWAPlannerROS in the navigation stack, and DWAPlannerROS is only subscribed to odom.
So, the question is which component is using the result of the localization module.
UPDATE 1: Another suspicious thing with amcl (or fake_localization) is, although it is publishing to /particlecloud, but I can not visualize the particles in Rviz using /particlecloud topic. Nothing appears in Rviz.
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-18
Post score: 2
Original comments
Comment by Rick Armstrong on 2014-09-18:
Regarding the /particlecloud visualization in Rviz: I vaguely recall having trouble seeing this topic and I think it was because I had the wrong FixedFrame selected in Rviz. You can see the /particlecloud topic in Rviz if you have the right settings.
Comment by ROSCMBOT on 2014-09-19:
My FixedFrame is map. and everything works and looks fine in rviz, except particlecloud
Comment by Rick Armstrong on 2014-09-26:
Please forgive if this is a dumb question, but have you given the robot an initialpose? Another: does your particlecloud topic show up in the 'By Topic ' tab of the Add dialog in Rviz?
|
I want to buy a real robot so that I could test out some of my source code and see how it works on a real robot. I wanted to buy TurtleBot but it is very expensive around $2000. Can anybody suggest any cheaper ones??
Thanks
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-09-18
Post score: 2
Original comments
Comment by Rabe on 2014-09-18:
You should maybe specify, what your robot should be able to do, which sensors it should have and so on. You could look into kits, that transform your smartphone into a driving robot. Would propably be the best bang for the buck
|
for developping low level interfaces for a new robot, are there existing standard messages for battery level (in %) or voltage, or thresholds (low) / flags (charging / dis-charging) ?
Originally posted by mherrb on ROS Answers with karma: 148 on 2014-09-18
Post score: 1
|
Hi all,
Is it possible to specify loops with different frequencies in ros_control?
More specifically I am thinking about a low-level loop for motor control (I am thinking something like 200 1000Hz) and a somehow higher level loop for differential or mecanum drive control (something between 30Hz and 100Hz)?
These loops can both use ros_control but the higher the level, the slower the requirements for the speed of the loop...
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-18
Post score: 1
|
Hi dear ROS community!
I would like to learn how to use multiple RGB cameras with ROS in a single PC. I already know how to use a single camera with the gscam package, I can read the video stream in the /camera/image_raw topic.
However, I couldn't find any information about the use of multiple cameras with ROS (let's say 3). I would like to create a node for each camera ( e.g. /camera01/image_raw, /camera02/image_raw, etc.) and then process them separatedly. I don't know if this is possible using gscam.
In general, what is the proper way (good practice) to use multiple RGB cameras with ROS?
Thank you very much!
Originally posted by diegomex on ROS Answers with karma: 13 on 2014-09-18
Post score: 1
Original comments
Comment by Rabe on 2014-09-18:
I don't know about RGB, but for RGBD it is possible to use multiple Kinects. Look into the openni_launch-package. There you can give each camera it's own namespace, like you proposed in your question
|
My project complies just file, and I am expecting ROS to generate my docs, but I keep receiving a failure!
The console log located here:
http://jenkins.ros.org/job/devel-hydro-ar_sys/61/console
What shall I do?
Originally posted by sahloul on ROS Answers with karma: 18 on 2014-09-18
Post score: 0
|
i've finished my opencv program ! I want to publish to pc other (LAN)
What should I do
Here my program opencv
/*
* roscolor.cpp
*
* Created on: Sep 5, 2014
* Author: dell
*/
#include <ros/ros.h>
#include <vector>
#include <stdio.h>
#include <math.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
using namespace cv;
int minR = 0;
int minG = 0;
int minB = 0;
int maxR = 255;
int maxG = 255;
int maxB = 255;
void imageCallback(const sensor_msgs::ImageConstPtr& color_img)
{
cv_bridge::CvImagePtr img_ptr;
cv::Mat img_rgb;
try
{
img_ptr = cv_bridge::toCvCopy(color_img,
sensor_msgs::image_encodings::BGR8);
img_rgb = img_ptr->image;
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: \%s", e.what());
return;
}
cvCreateTrackbar("min R:","trackbar",&minR, 255);
cvCreateTrackbar("min G:","trackbar",&minG, 255);
cvCreateTrackbar("min B:","trackbar",&minB, 255);
cvCreateTrackbar("max R:","trackbar",&maxR, 255);
cvCreateTrackbar("max G:","trackbar",&maxG, 255);
cvCreateTrackbar("max B:","trackbar",&maxB, 255);
//cv::Mat img_hsv;
cv::Mat img_binary;
CvMoments colorMoment;
cv::Scalar min_vals(minR, minG, minB);
cv::Scalar max_vals(maxR, maxG, maxB);
//cv::cvtColor(img_rgb, img_hsv, CV_BGR2HSV);
cv::inRange(img_rgb, min_vals, max_vals, img_binary);
dilate( img_binary, img_binary, getStructuringElement(MORPH_ELLIPSE, Size(10, 10)) );
/*======================= TOA DO ================================*/
colorMoment = moments(img_binary);
double moment10 = cvGetSpatialMoment(&colorMoment, 1, 0);
double moment01 = cvGetSpatialMoment(&colorMoment, 0, 1);
double area = cvGetCentralMoment(&colorMoment, 0, 0);
float posX = (moment10/area);
float posY = (moment01/area);
/*================= HIEN THI =================================*/
printf("1. x-Axis %f y-Axis %f Area %f\n", moment10, moment01, area);
printf("2. x %f y %f \n\n", posX , posY);
cv::imshow("TRACKING COLOR", img_binary);
cv::imshow("RGB image", img_rgb);
cv::waitKey(3);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "HSV_image");
ros::NodeHandle nh;
cvNamedWindow("TRACKING COLOR", 2 );
cvNamedWindow("RGB image", 2 );
cvNamedWindow ("trackbar", 2 );
cvStartWindowThread();
image_transport::ImageTransport it(nh);
ros::Subscriber cam_img_sub =nh.subscribe("/gscam/image_raw", 1, &imageCallback);
ros::spin();
cvDestroyWindow("TRACKING COLOR");
cvDestroyWindow("RGB image");
}
can you help me, please ?
Thank you!
Originally posted by turtle on ROS Answers with karma: 17 on 2014-09-18
Post score: 1
|
Can't compile moveit_ros, getting linking errors. What can be the cause?
Linking CXX shared library /Users/sk/ros_workspace/moveit/devel/lib/libmoveit_depth_image_octomap_updater_core.dylib
[ 57%] Built target moveit_pointcloud_octomap_updater
Undefined symbols for architecture x86_64:
"occupancy_map_monitor::OccupancyMapMonitor::setMapFrame(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback(boost::shared_ptr<sensor_msgs::Image_<std::__1::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::CameraInfo_<std::__1::allocator<void> > const> const&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, double*)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::setParams(XmlRpc::XmlRpcValue&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, unsigned int*)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::setParams(XmlRpc::XmlRpcValue&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::updateTransformCache(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, ros::Time const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback(boost::shared_ptr<sensor_msgs::Image_<std::__1::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::CameraInfo_<std::__1::allocator<void> > const> const&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::OccupancyMapUpdater(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::~OccupancyMapUpdater()", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
occupancy_map_monitor::DepthImageOctomapUpdater::~DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
"typeinfo for occupancy_map_monitor::OccupancyMapUpdater", referenced from:
typeinfo for occupancy_map_monitor::DepthImageOctomapUpdater in depth_image_octomap_updater.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/sk/ros_workspace/moveit/devel/lib/libmoveit_depth_image_octomap_updater_core.dylib] Error 1
make[1]: *** [moveit_ros/perception/depth_image_octomap_updater/CMakeFiles/moveit_depth_image_octomap_updater_core.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 57%] Building CXX object moveit_ros/perception/semantic_world/CMakeFiles/moveit_semantic_world.dir/src/semantic_world.cpp.o
Linking CXX shared library /Users/sk/ros_workspace/moveit/devel/lib/libmoveit_semantic_world.dylib
[ 57%] Built target moveit_semantic_world
make: *** [all] Error 2
Update:
it can be fixed by adding moveit_occupancy_map_monitor to target_link_libraries of depth_image_octomap_updater
target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_occupancy_map_monitor moveit_mesh_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
but i'm not sure if it was removed in indigo-devel intentionally, and if it should be put back
Originally posted by sk2009 on ROS Answers with karma: 3 on 2014-09-18
Post score: 0
|
I'm building MoveIt from source (indigo-devel branch for most packages), and getting this warnings everywhere (because octomap in included everywhere).
Is there a fix for octomap to get rid of them?
I'm using OSX 10.9, and Clang 5.1
In file included from /opt/ros/indigo/include/octomap/octomap.h:37:
In file included from /opt/ros/indigo/include/octomap/OcTree.h:38:
In file included from /opt/ros/indigo/include/octomap/OccupancyOcTreeBase.h:44:
/opt/ros/indigo/include/octomap/OcTreeBaseImpl.h:262:11: warning: class member
cannot be redeclared [-Wredeclared-class-member]
class leaf_iterator;
^
/opt/ros/indigo/include/octomap/OcTreeIterator.hxx:260:11: note: previous
declaration is here
class leaf_iterator : public iterator_base {
^
Originally posted by sk2009 on ROS Answers with karma: 3 on 2014-09-18
Post score: 0
|
Dear all, I am using Indigo,
coming from Groovy and Hydro, I found it difficult to understand the internals of pcl_ros and pcl_conversions packages.
My problem is the following: I have a subscription callback like this:
void RosHandler::xtionCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
or, for me it's the same, like this:
void RosHandler::xtionCloudCallback(const pcl::PointCloudpcl::PointXYZRGB::ConstPtr& msg);
the first question is: is this pcl::PointCloudpcl::PointXYZRGB the same as in pcl?
if it is the same, how can I clone the data, in such a way that I can use them without bothering of what ROS is doing meanwhile (i.e., in another thread)?
What I did in Groovy (and it worked) was to manually copy the message field by field (and cloning "data"), but it does not work anymore (and, indeed, I was not sure it was safe to do that in that way).
EDIT:
when I say "it does not work" I mean that it segfault when I delete the new (cloned) cloud, so this means the ownership of the cloud was not (entirely?) mine
EDIT2:
the problem is not only I cannot delete the cloud, of course, but also that I cannot read it (it has been deleted by someone else)
Originally posted by madmage on ROS Answers with karma: 293 on 2014-09-18
Post score: 1
|
Hey everyone,
I'd like to record image streams from two cameras at the same time. One is a uEye (using the uEye driver) and the other is a Asus Xtion Pro Kinect-like (using the ROS openni_camera package).
Starting data retrieval nodes for both cameras is not a problem. Displaying one of them with image_view also works. However, I cannot display or record (with rosbag) them both at the same time. The OpenNi will display just fine, but the uEye stops sending data.
I've dug into the code, and the problem seems to be that whenever the OpenNi is active (i.e., being recorded or displayed), the is_GetImageMem method within the libueye_api shared object changes behaviour: It receives a pointer and will change it to the new frame's address. The faulty behaviour results in the pointer not being changed, and indeed the image data at that address does not change either.
Has anyone seen similar behaviour? Or used a uEye camera together with a different camera?
Thanks for any help!
TL;DR: When OpenNi camera is being used, the uEye camera stops generating new frames.
Originally posted by Nikolaus Mayer on ROS Answers with karma: 23 on 2014-09-18
Post score: 1
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I'm in the processing of standing up some regression tests, and my tests require that I can play back bag data against my node, and then monitor the output. rostest conveniently provides all the tools I need to complete this, but what's considered best practice for where the bag data should be stored? I can't have my tests failing on Jenkins because the bags are missing, but then I also don't want my repo to get unreasonably large, and I will have quite a few of these regression tests to run. Should I just run them offline?
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-09-18
Post score: 0
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Hi.
I need to ship to some client ans application based on ROS.
I don't want to provide my source code to this client.
So I'm planning to ship a tar.gz of the /install folder of catkin_ws or a .deb.
One starting question: does a .pyc file dependent on my system settings? or will my client have the capability to execute my node since he uses the same version of ubuntu and ros?
Supposing it makes sense to ship a .pyc and not a .py file:
The package packing process will take as input the /install folder.
The files that end-up in /install are set in the CMakeList.txt
So if I want to ship on .pyc files, I should specify them explicitly in the install section of CmakeList
But
If I checkout my svn repo in a clean environment, run catkin_make, I get an error since no pyc files have been generated yet and my Camkefile is inconsistent.
This works fine if in Cmakefile I specify to install my_file.py but this is not what I want...
So is there a way to force catkin_make to build all the python in .pyc?
Otherwise I need to run this twice with a change in Cmakelist in between...
I have lots of proprietary packages to ship, and this is just not OK.
Thanks for any insights
Damien
Originally posted by Damien on ROS Answers with karma: 203 on 2014-09-18
Post score: 4
Original comments
Comment by Jarvis on 2014-09-19:
Hi Damein,
Are you able to run your rospy node with this process?
I am trying to do the same process for both C++ and python packages. However, it takes a lot of efforts to run a ros from install directory.
Let me know if you have some simple way of doing this?
Comment by Jarvis on 2014-09-19:
You can check my post at [link text](You can look at my post at link text
|
The catkin package is giving me all kinds of problems. I have been having problems recently with Import and PYTHONPATH. After adding every catkin_pkg folder I could find to that, this latest block says that --install-layout is not recognized.
==> make -j2 -l2 in '/home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin'
==> make install in '/home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin'
Install the project...
-- Install configuration: "Release"
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/_setup_util.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/env.sh
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/setup.bash
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/setup.sh
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/setup.zsh
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/.rosinstall
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/etc/catkin/profile.d/05.catkin_make.bash
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/etc/catkin/profile.d/05.catkin_make_isolated.bash
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/lib/pkgconfig/catkin.pc
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkinConfig.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkinConfig-version.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/package.xml
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/LICENSE
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/eigen/cmake/eigen-config.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/eigen/cmake/eigen-config-version.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/string_starts_with.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/list_append_unique.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_python_setup.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/all.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/atomic_configure_file.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/assert.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_add_env_hooks.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/python.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/list_append_deduplicate.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/shell.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/env-hooks
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/env-hooks/05.catkin_make.bash
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/env-hooks/05.catkin-test-results.bat.develspace.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/interrogate_setup_dot_py.py
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/em
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/em/pkg.pc.em
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/em/order_packages.cmake.em
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_generate_environment.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_install_python.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_workspace.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/Doxyfile.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/script.sh.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/pkg.context.pc.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/generate_cached_setup.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/relay.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/setup.sh.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/safe_execute_install.cmake.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/env.bat.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/script.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/python_distutils_install.bat.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/_setup_util.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/cfg-extras.context.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/script.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/env-hook.context.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/_setup_util.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/setup.bash.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/setup.zsh.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/env.sh.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/script.bash.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/order_packages.context.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/pkgConfig-version.cmake.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/__init__.py.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/rosinstall.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/setup.bat.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/python_distutils_install.sh.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/templates/pkgConfig.cmake.in
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/em_expand.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_destinations.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/platform
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/platform/windows.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/platform/ubuntu.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/platform/lsb.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/parse_arguments.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/tests.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/gtest.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/run_tests.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/download_checkmd5.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/catkin_download_test_data.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/download_test_data.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/test/nosetests.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_package_xml.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/parse_package_xml.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/stamp.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/legacy.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/find_program_required.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_metapackage.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/empy.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_libraries.cmake
-- Installing: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools/threads.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools/rt.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools/bz2.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools/doxygen.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/tools/libraries.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/order_paths.py
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/list_insert_in_workspace_order.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/catkin_package.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/toplevel.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/safe_execute_process.cmake
-- Up-to-date: /home/cbt33/Modules/ros_catkin_ws/install_isolated/share/catkin/cmake/debug_message.cmake
+ [ -n ]
+ cd /home/cbt33/Modules/ros_catkin_ws/src/catkin
+ /usr/bin/env PYTHONPATH=/home/cbt33/Modules/ros_catkin_ws/install_isolated/lib/python2.7/dist-packages:/home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin/lib/python2.7/dist-packages:/usr/lib/pymodules/:/usr/lib/pymodules/python2.7/:/usr/lib/pymodules/python2.6/:/usr/lib/pymodules/python2.7/catkin_pkg/:/usr/lib/pymodules/python2.6/catkin_pkg/:~/Modules/:~/Modules/ros_catkin_ws/:~/Modules/ros_catkin_ws/src/:~/Modules/ros_catkin_ws/src/catkin/:/usr/share/pyshared/:/usr/share/pyshared/catkin_pkg CATKIN_BINARY_DIR=/home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin /usr/local/bin/python /home/cbt33/Modules/ros_catkin_ws/src/catkin/setup.py build --build-base /home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin install --install-layout=deb --prefix=/home/cbt33/Modules/ros_catkin_ws/install_isolated --install-scripts=/home/cbt33/Modules/ros_catkin_ws/install_isolated/bin
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
or: setup.py --help [cmd1 cmd2 ...]
or: setup.py --help-commands
or: setup.py cmd --help
error: option --install-layout not recognized
CMake Error at catkin_generated/safe_execute_install.cmake:4 (message):
execute_process(/home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin/catkin_generated/python_distutils_install.sh)
returned error code
Call Stack (most recent call first):
cmake_install.cmake:156 (INCLUDE)
make: *** [install] Error 1
<== Failed to process package 'catkin':
Command 'make install' returned non-zero exit status 2
Reproduce this error by running:
==> cd /home/cbt33/Modules/ros_catkin_ws/build_isolated/catkin && make install
Command failed, exiting.
Is there an example PYTHONPATH for building ROS that I could get to stop all of the Import/package not found errors? I know that is not the way that catkin is supposed to work but seeing as how it is very temperamental now it would help.
I've also read suggestions about a groovy-gento install with a similar problem but none of those solved it here.
Originally posted by cbt33 on ROS Answers with karma: 16 on 2014-09-18
Post score: 0
Original comments
Comment by Andromeda on 2014-09-19:
Your Debian distro?
|
I am currently using Xsens MTi-28A53G35 IMU for the the motion tracking on our robot. The IMU only puts out linear and angular acceleration and orientation data. Is there an node that can transform this to linear velocity so I can use it to localize the robot and help improve the accuracy of odometry.
Originally posted by [email protected] on ROS Answers with karma: 1 on 2014-09-18
Post score: 0
Original comments
Comment by Mekateng on 2018-01-07:
Hi, Did you do it Mr. @[email protected]
|
My IMU( Xsens MTi-28A53G35) only puts out orientation, angular velocity and linear acceleration. I want to use this data to help improve the accuracy of odom of the robot.
The Robot_localization doesn't support acceleration data from IMU so I have to transform acceleration into velocity first. I am wondering whether there are any nodes that can do this or I have write a node for it?
Originally posted by [email protected] on ROS Answers with karma: 1 on 2014-09-18
Post score: 0
|
Hello everyone,
I am working on a robot (turtlebot) to make autonomous navigation in an unknown environment with some extra skills (objet recognition, object localization, ...).
The robot is equipped with a Hokuyo UTM-30LX and a Asus XtionPRO. On the Turtlebot there is a small laptop (Ubuntu 12.04, ROS Hydro) to get the data from the sensors (scan from the lidar and images from the camera) and to receive the cmd_velocity to move the robot.
Another computer (Ubuntu 12.04, Ros Groovy) is used to process all this data and for example to calculate the path of the robot.
For the map&localization I'm using Hector SLAM. For the navigation, I'm using Hector Navigation Stack (hector_costmap, hector_exploration_node, hector_ecploration_controller). Here is my launchfile for the navigation part:
<launch>
<node pkg="hector_costmap" type="hector_costmap" name="hector_costmap" output="screen" respawn="false">
<!-- Frame names -->
<param name="cost_map_topic" value="cost_map" />
<param name="map_frame_id" value="map" />
<param name="local_transform_frame_id" value="base_footprint" />
<param name="elevation_map_topic" value="elevation_map_local" />
<param name="grid_map_topic" value="scanmatcher_map" />
<param name="sys_msg_topic" value="syscommand" />
<param name="cloud_topic" value="openni/depth/points" />
<!-- Costmap parameters -->
<param name="use_elevation_map" value="false" />
<param name="use_grid_map" value="true" />
<param name="use_cloud_map" value="false" />
<param name="initial_free_cells_radius" value="0.3" />
<param name="update_radius" value="1.0"/>
<param name="costmap_pub_freq" value="1.0" />
</node>
<node pkg="hector_exploration_node" type="exploration_planner_node" name="hector_exploration_node" output="screen">
<rosparam file="$(find hector_exploration_node)/config/costmap.yaml" command="load" />
</node>
<node pkg="hector_exploration_controller" type="simple_exploration_controller" name="hector_exploration_controller" output="screen" respawn="true">
<remap from="/cmd_vel" to="/mobile_base/commands/velocity"/>
</node>
</launch>
And here is the costmap config file:
global_costmap:
map_type: costmap
track_unknown_space: true
unknown_cost_value: 255
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.15, 0.0],
[0.15, 0.15],
[0.0, 0.17],
[-0.15, 0.15],
[-0.15,0.0],
[-0.15,-0.15],
[0.0, -0.17],
[0.15, -0.15]
]
inflation_radius: 0.50
#transform_tolerance: 0.5
inscribed_radius: 0.3
circumscribed_radius: 0.32
global_frame: /map
robot_base_frame: /base_link
update_frequency: 0.5
publish_frequency: 0.1
static_map: true
rolling_window: false
cost_scaling_factor: 10.0
It seems to work well, Hector packages find frontiers, can calculate the path. The velocity command is well sent to the robot, but this latter is like a drunk robot ! It is making circles and don't follow the path.... (see Figure: https://www.dropbox.com/s/w4tuocrf1py6ffp/Screenshot%20from%202014-09-19%2016%3A54%3A22.png)
I'm sure it's because I miss something or put bad parameters. Do you have any idea ?
Thank you for your help ! :)
Edit : I make new tests and the robot still have the same behaviour: turning on itself. I noticed that the robot stops for a short moment when a new path was calculated and it still turn on itself. It's like if the robot can't be on the exact location of the path and turns to try being on the path... Is there any parameters to give it more tolerance ?
Moreover I just use the cmd_velocity generated by the hector_exploration_controller, is it enough ? I saw that there is also the hector_path_follower but it doesn't seem to work (maybe need a remap from a topic...).
Edit 2 : I still don't manage to solve this issue. Maybe I could give the exploration path generated by Hector_Exploration node to give it to a local planer ? Do you have an idea to do that ?!
Thanks for your help or suggestions !
Originally posted by jeremy33 on ROS Answers with karma: 38 on 2014-09-19
Post score: 0
|
Hello,
I have a couple of static_transform_publishers from the TF2 package running. How is it possible that a node complains about extrapolating into the future, when it tries to lookup a transformation from a random element to the static one? In my understanding, the static-transforms should be valid for all eternity, so why would you complain about timing issues?
A further explanation about my setup:
I have 2 Kinects and I am using those in my moveIt setup to create the Octomap.
As explained here, moveIt complains about extrapolation into the future while looking up a transform from my robot to the cameras.
My first solution was to write a python node, which would handle all the publishing instead of seperate static_transform_publishers from the old TF. There, I could date the transformations back in time to avoid those issues.
Now I read about the static transforms in TF2 and implemented all the camera transformations like this:
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_top_base_link_1" args="0 -0.045 0 0 0 0 1 /camera_top/camera_top_link camera_top/camera_top_rgb_frame " />
Still, moveIt is complaining
[ERROR] [1411130239.665581579]: Transform error: Lookup would require extrapolation into the future. Requested time 1411130239.663295803 but the latest data is at time 1411130239.541714906, when looking up transform from frame [finger_2_link_0] to frame [camera_top/camera_top_depth_optical_frame]
[ERROR] [1411130239.997648183]: Transform cache was not updated. Self-filtering may fail
But running ``rosrun tf tf_echo /finger_2_link_0 camera_top/camera_top_depth_optical_frame` has no problems and tells me the transforms moveIt couldn't find?
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-09-19
Post score: 0
Original comments
Comment by Mani on 2014-09-19:
Have you tried reducing static_transform_publisher's publishing frequency from the current rate (1000Hz)? I would suggest that you decrease that frequency to 10Hz or even 1Hz.
Comment by Rabe on 2014-09-19:
Why is there a rate at all? My understandin was that it was "static" as in "published once"? Anyway, I can't even set the rate in the current way it is implemented, see the file here
Comment by Rabe on 2014-09-19:
I also tried various rates with the old implementation of tf, which didn't change anything either
Comment by Mani on 2014-09-19:
@Rabe Sorry, I made a mistake when reading your static_transform_publisher command.
|
Most of the tutorials I found is for stage version 3.x.x.. But Since Fuerte stage version is 4.x.x.
I use Ubuntu 12.04 and on this version ROS Electric can not be installed.
Originally posted by tonyParker on ROS Answers with karma: 377 on 2014-09-19
Post score: 0
|
Hi all,
I'm trying to run multiple independent Gazebo-ROS instances on the same machine so two or more remotely connected users can use it at the same time.
I've read this answer about multiple ros masters and this one about multiple Gazebo instances.I've been following them with no success.
I've tried running two ros masters on different ports and launch a gazebo empty_world.launch on each one with different group namespaces as follows:
terminal 1: Run the first ros master: roscore -p 11312
terminal 2: Run test_A.launch: Where test_A.launch is the same as gazebo_ros empty_world.launch but adding a group ns="ns_A" and changing the node names as follows:
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<!-- set use_sim_time flag -->
<group if="$(arg use_sim_time)">
<param name="/use_sim_time" value="true" />
</group>
<!-- set command arguments -->
<arg unless="$(arg paused)" name="command_arg1" value=""/>
<arg if="$(arg paused)" name="command_arg1" value="-u"/>
<arg unless="$(arg headless)" name="command_arg2" value=""/>
<arg if="$(arg headless)" name="command_arg2" value="-r"/>
<arg unless="$(arg verbose)" name="command_arg3" value=""/>
<arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
<arg unless="$(arg debug)" name="script_type" value="gzserver"/>
<arg if="$(arg debug)" name="script_type" value="debug"/>
<group ns="ns_A">
<!-- start gazebo server-->
<node name="gazebo_A" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen"
args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)" />
<!-- start gazebo client -->
<node name="gazebo_gui_A" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"></node>
</group>
</launch>
terminal 3: Run the second ros master: roscore -p 11313
terminal 4: Run test_B.launch: Where test_B.launch is the same as gazebo_ros empty_world.launch but adding a group ns="ns_B" and changing the node names as follows:
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<!-- set use_sim_time flag -->
<group if="$(arg use_sim_time)">
<param name="/use_sim_time" value="true" />
</group>
<!-- set command arguments -->
<arg unless="$(arg paused)" name="command_arg1" value=""/>
<arg if="$(arg paused)" name="command_arg1" value="-u"/>
<arg unless="$(arg headless)" name="command_arg2" value=""/>
<arg if="$(arg headless)" name="command_arg2" value="-r"/>
<arg unless="$(arg verbose)" name="command_arg3" value=""/>
<arg if="$(arg verbose)" name="command_arg3" value="--verbose"/>
<arg unless="$(arg debug)" name="script_type" value="gzserver"/>
<arg if="$(arg debug)" name="script_type" value="debug"/>
<group ns="ns_B">
<!-- start gazebo server-->
<node name="gazebo_B" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen"
args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)" />
<!-- start gazebo client -->
<node name="gazebo_gui_B" pkg="gazebo_ros" type="gzclient" respawn="false" output="screen"></node>
</group>
</launch>
When I execute all this I get one instance of Gazebo running, in which I insert a box.
Then, when I launch the second instance (test_B.launch) I get a new Gazebo window in which I see the box inserted on the first. In other words, as I understand it, I got another client connected to the same server, even running from different ros masters. This is the exception the second instance trows:
Exception [Master.cc:50] Unable to
start server[Address already in use].
There is probably another Gazebo
process running.
¿Has anyone been able to do this? ¿Can you spot any error?
I'm using ROS Hydro on Ubuntu 12.04 LTS.
Thank you in advance for your help.
Originally posted by Sergio MP on ROS Answers with karma: 182 on 2014-09-19
Post score: 3
|
When I go to re-release a bloom package, I am getting a new error today:
indigo-devel] moveit_simple_grasps$ bloom-release moveit_simple_grasps -t indigo -r indigo --pull-request-only
==> Fetching 'moveit_simple_grasps' repository from 'https://github.com/davetcoleman/moveit_simple_grasps-release.git'
Cloning into '/tmp/tmp7en7KA'...
remote: Counting objects: 610, done.
remote: Compressing objects: 100% (405/405), done.
remote: Total 610 (delta 205), reused 498 (delta 165)
Receiving objects: 100% (610/610), 364.99 KiB | 0 bytes/s, done.
Resolving deltas: 100% (205/205), done.
Checking connectivity... done.
==> Generating pull request to distro file located at 'https://raw.github.com/ros/rosdistro/master/indigo/distribution.yaml'
Unified diff for the ROS distro file located at '/tmp/tmpbnVBxY/moveit_simple_grasps-1.2.0-0.patch':
--- ../indigo/distribution.yaml
+++ ../indigo/distribution.yaml
@@ -2660,7 +2660,7 @@
tags:
release: release/indigo/{package}/{version}
url: https://github.com/davetcoleman/moveit_simple_grasps-release.git
- version: 1.1.0-0
+ version: 1.2.0-0
source:
type: git
url: https://github.com/davetcoleman/moveit_simple_grasps.git
==> Checking on github for a fork to make the pull request from...
==> davetcoleman/rosdistro is not a fork, searching...
Failed to open pull request: KeyError - 'owner'
In particular,
davetcoleman/rosdistro is not a fork, searching...
But it is in fact a fork and I've done this many times before...?
Thanks!
UPDATE 1:
Bloom Log: https://gist.github.com/davetcoleman/25eaabafc3f155658376
UPDATE 2:
I applied your github patch. Note I got a somewhat weird message while doing so, but on visual inspection it looks like it worked:
bloom$ sudo patch < github.py.patch
patching file github.py
patch unexpectedly ends in middle of line
Hunk #1 succeeded at 121 with fuzz 1.
I then re-ran just the pull request only part and got the new, updated error message:
moveit_simple_grasps$ bloom-release moveit_simple_grasps -t indigo -r indigo --pull-request-only
==> Fetching 'moveit_simple_grasps' repository from 'https://github.com/davetcoleman/moveit_simple_grasps-release.git'
Cloning into '/tmp/tmpCjmYhp'...
remote: Counting objects: 610, done.
remote: Total 610 (delta 0), reused 0 (delta 0)
Receiving objects: 100% (610/610), 365.77 KiB | 0 bytes/s, done.
Resolving deltas: 100% (204/204), done.
Checking connectivity... done.
==> Generating pull request to distro file located at 'https://raw.github.com/ros/rosdistro/master/indigo/distribution.yaml'
Unified diff for the ROS distro file located at '/tmp/tmpZTKg5o/moveit_simple_grasps-1.2.0-0.patch':
--- ../indigo/distribution.yaml
+++ ../indigo/distribution.yaml
@@ -2660,7 +2660,7 @@
tags:
release: release/indigo/{package}/{version}
url: https://github.com/davetcoleman/moveit_simple_grasps-release.git
- version: 1.1.0-0
+ version: 1.2.0-0
source:
type: git
url: https://github.com/davetcoleman/moveit_simple_grasps.git
==> Checking on github for a fork to make the pull request from...
==> davetcoleman/rosdistro is not a fork, searching...
Failed to open pull request: GithubException - Failed to list repositories for user 'davetcoleman' using url '/users/davetcoleman/repos?page=1': 401 Unauthorized
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-09-19
Post score: 3
Original comments
Comment by William on 2014-09-19:
Please post your bloom log for this run (they are in ~/.bloom_logs)
Comment by ahendrix on 2014-09-19:
Have you exceeded your quota of github API requests or something?
Comment by William on 2014-09-19:
No, he probably put in his password wrong or the oauth token was revoked or something. bloom should never operate without authentication to prevent exactly this. AFAIK Github allows unlimited API requests for authenticated users.
Comment by Dave Coleman on 2014-09-19:
I changed computers this week, yes, and on the new computer Github/bloom wasn't working until I deleted the old oauth token. Now Im back on the older computer and it doesn't work. Not sure what is going on. Both computers have the same system name, also, fyi.
Comment by William on 2014-09-19:
You are getting 401 unauthorized which means the oauth token bloom has does not work. Remove the file ~/.config/bloom and try bloom again. It should prompt you to create a new oauth token. The identical computer name maybe a problem, you can edit them at https://github.com/settings/application.
Comment by kmhallen on 2014-09-21:
I had the same problem and removing the file ~/.config/bloom worked.
|
Hello,
I'm trying to figure out how to publish either markers or other data representing unexplored frontiers to rviz or another node. By frontier, I mean the boundary between open and unexplored space in a 2D occupancy map. I know that hector_exploration_planner does this internally and generates a single goal, after which hector_exploration_controller moves the robot to the said goal. However, I would like to play an intermediary role in the goal-determination process and then manually move the vehicle to the goal I select. Does anyone have any recommendations for ros packages that determine and publish all frontiers, or alternatively, information on how to use hector_exploration_explorer to publish this information?
Much appreciated! Please let me know if any additional information would be useful.
Originally posted by crzx5 on ROS Answers with karma: 31 on 2014-09-19
Post score: 0
|
Hi,
I can see 2 different catkin hidden files in workspace.
.catkin_workspace and .catkin.
As far as I know ros uses .catkin file to mark folder containing packages and executable.
All setup files should be kept in folder having .catkin and .rosinstall. This is the folder which will have "lib" and "share"
directory which gets searched during rosrun or roslaunch.
Actually, I am trying to understand catkin working.
I have some requirements to append to the variables imported by catkin setup.sh.
Originally posted by Jarvis on ROS Answers with karma: 67 on 2014-09-19
Post score: 0
|
Hi,
I'm wondering what is the minimum hardware requirement for ROS? We are trying to build a rover with least power consumption. So we need to select the hardware which is energy efficient and can have ROS run on it.
Originally posted by qiusha on ROS Answers with karma: 1 on 2014-09-19
Post score: 0
|
I am trying to get the Oculus Rift DK2 working with rviz using oculus_rviz_plugins but, on Rviz, I always get the message '' No Oculus device found! ".
I am running Ubuntu 12.04, ROS Groovy, Oculus DK2.
After some googling, I suspect this issue happens because of the resolution. I am using DK2 so the only resolutions available are 1080x1920 and 1080x948. Should I be using 1280x800 (DK1) for the Oculus to work with rviz? manually setting it with xrandr does not seem to work...
This is the output I get when I try to run the Oculus Display Plugin on Rviz
OVR::DeviceManagerThread - running (ThreadId=0x7ff9b811c700).
OVR::DeviceManager - initialized.
OVR::DeviceManager - shutting down.
OVR::DeviceManagerThread - exiting (ThreadId=0x7ff9b811c700).
and on Rviz it just says:
'' No Oculus device found! ".
The OculusWorldDemo.sh example from the SDK works fine with video and perfect head tracking, only Rviz cant find it.
Originally posted by Fred Eduardo on ROS Answers with karma: 31 on 2014-09-19
Post score: 1
Original comments
Comment by jalfonso on 2014-09-23:
I get same message "No Oculus device found!" with Oculus Rift DK2 , Ubuntu 12.04 and ROS Hydro.
Comment by Fred Eduardo on 2014-09-24:
Yeah I am pretty sure rviz_plugins simply does not support DK2. I am new to ros and rviz so I don't have the expertise, but I really want develop these patches for the dk2 to work on rviz. Anybody else willing to work on it? You guys think simply porting it to use the new oculus sdk might be enough?
|
I have Ubuntu 14.04, and installed ROS Indigo using the steps documented here, but auto-completion using for $ roscd <package_name> gives the following error:
rospack: error while loading shared libraries: libboost_filesystem.so.1.46.1: cannot open shared object file: No such file or directory
rosstack: error while loading shared libraries: libboost_filesystem.so.1.46.1: cannot open shared object file: No such file or directory
So, I purged everything (boost and ROS) and re-installed ROS, with the exactly same results as above
Installed Boost version: 1.54.0-4ubuntu3.1 (via dpkg)
Installed rospack version: 2.2.5-0trusty-20140904-1937-+0000 (via dpkg)
Any ideas why?
Originally posted by kunaltyagi on ROS Answers with karma: 105 on 2014-09-19
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-09-19:
Can you check which version of rospack you are calling (which rospack)? And which version of rospack and boost you have installed (dpkg -l | grep rospack, dpkg -l | grep boost)?
Comment by Dirk Thomas on 2014-09-19:
which rospack?
Comment by kunaltyagi on 2014-09-19:
/opt/ros/indigo/bin/rospack
Comment by Dirk Thomas on 2014-09-20:
Please run ldd /opt/ros/indigo/bin/rospack and post the line listing the boost filesystem library. Please run ll /PATH/TO/libboost_filesystem.so.VERSION to double check that it is not a symlink to an older version.
|
Hi all,
This looks like a problem of contacts simulation parameters... Let me give more details:
I am currently trying to emulate mecanum wheels using ros indigo and gazebo 2.2 thanks to a trick I found in the VREP implementation of the youbot (see here). They actually use the hierarchy shown below for a single wheel and update the direction of the axis of revolute joint 2 at each frame:
Hierarchy for a wheel:
mobile platform base link
continuous / revolute joint 1 (its axis is the axis of the wheel – or motor, this is the joint which is actuated)
visual representation of the wheel (this is the mesh of the mecanum wheel)
dummy collision and inertia
continuous / revolute joint 2 (its axis is oriented at 45°, along the direction of the contacting roller and crosses the COM of the wheel)
collision geometry (this is a collision sphere)
I implemented this hierarchy for each wheel (urdf file here) and coded a gazebo plugin which performs the axis alignment computation (plugin code here). The system turns out to work ok when moving in the principal direction of the mobile robot (all mecanum wheels turn in the same direction), but when attempting to move sideways (2 opposite mecanum wheels rotating in one direction the two others in the opposite direction), the mobile robot moves as expected for a few frames but then goes back and forth in a way which is not realistic. It looks like a problem with contacts so I played a bit with the mu, kp and kd values of the link in contact with the floor but that did not help.
I have put some videos illustrating the working case when going frontwards (video here) and the problematic case when going sideways (video here). The simulations are stepped by hand to better show the problem.
On the second video (problematic case), the torque applied to the wheels is constant during the whole course of the simulation, hence the mobile movement should be sideways in the up direction. But we observe the wheels accelerate / slide before the mobile platform changes direction back and forth (up and down on the screen). This is very unintuitive.
If I replace the mecanum wheels with normal wheels, all is as expected. The orientation of wheel axes realigned at each step look fine from the printfs.
I am not sure what to do and feel a bit lost... Anyone has an idea of what I could change to improve things?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-19
Post score: 0
|
Hi All,
I would like to synchronise two sensor inputs with a tf::messageFilter. How would I go about connecting both message_filters::subscribers to a single tf::messageFilter.
I have tried to sync both the subscribers via a synchroniser using an approximate time policy. I would like to connect this to the tf::messageFilter
In the header file I have:
tf::TransformListener m_tfListener;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::NavSatFix, sensor_msgs::Imu> MySyncPolicy;
message_filters::Subscriber< sensor_msgs::NavSatFix > *m_gpsSub;
message_filters::Subscriber<sensor_msgs::Imu> *m_imuSub;
message_filters::Synchronizer<MySyncPolicy>* sync;
tf::MessageFilter< sensor_msgs::NavSatFix, sensor_msgs::Imu>* m_gpsFilter;
in the .cpp file I have
m_gpsSub= new message_filters::Subscriber<sensor_msgs::NavSatFix>(private_nh, "fix", 5);
m_imuSub = new message_filters::Subscriber<sensor_msgs::Imu>(private_nh, "imu", 5)
m_gpsFilter = new tf::MessageFilter<sensor_msgs::NavSatFix, sensor_msgs::Imu>(m_tfListener, odomFrameId, 10)
sync= new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(20), *m_gpsSub, *m_imuSub);
m_gpsFilter->connectInput(sync);
m_gpsFilter->registerCallback(boost::bind(&SwarmbotMCL::gpsCallback, this, _1, _2));
however It complains that tf::MessageFilter can only take one input:
error: wrong number of template arguments (2, should be 1)
/opt/ros/hydro/include/tf/message_filter.h:106:7: error: provided for ‘template<class M> class tf::MessageFilter’
does anyone know of the correct way to do this?
Originally posted by PeterMilani on ROS Answers with karma: 1493 on 2014-09-20
Post score: 2
|
I want to use webcamera to test images in ROS. I am programming using OPENCV and want to see the live video stream from my laptop in a window on ROS. When I try to launch a file whose contents are given below, I get an error that "ERROR: cannot launch node of type [uvc_cam/uvc_cam_node]: can't locate node [uvc_cam_node] in package [uvc_cam]
No processes to monitor :".
I launch the file using the command : roslaunch ishan_vision uvc_cam.launch device:=/dev/video0
uvc_cam.launch file :
<node name="uvc_cam_node" pkg="uvc_cam" type="uvc_cam_node" output="screen">
<remap from="camera/image_raw" to="camera/rgb/image_color" />
<param name="device" value="$(arg device)" />
<param name="width" value="320" />
<param name="height" value="240" />
<param name="frame_rate" value="20" />
<param name="exposure" value="0" />
<param name="gain" value="100" />
</node>
Can anybody please help?
Thanks
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-09-20
Post score: 1
|
Hello,
I'm using Hydro, Ubuntu 12.04 and I installed Moveit from the source.
When I try to load my .urdf with the setup_assistant, moveit prints that:
[ INFO] [1411283688.252217911]: Loaded motoman_mh5 robot model.
[ INFO] [1411283688.252495879]: Setting Param Server with Robot Description
[ INFO] [1411283688.258372674]: Robot semantic model successfully loaded.
[ INFO] [1411283688.258451525]: Setting Param Server with Robot Semantic Description
[ INFO] [1411283688.290750255]: Loading robot model 'motoman_mh5'...
[ INFO] [1411283688.290813881]: No root joint specified. Assuming fixed joint
================================================================================
REQUIRED process [moveit_setup_assistant-1] has died!
process has died [pid 14258, exit code -11, cmd /home/lower/moveit/devel/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/lower/.ros/log/e5208dd8-415d-11e4-a760-00216a36b28c/moveit_setup_assistant-1.log].
log file: /home/lower/.ros/log/e5208dd8-415d-11e4-a760-00216a36b28c/moveit_setup_assistant-1*.log
Initiating shutdown!
In other computer with the same system, it works. So I assume that the .urdf is ok.
Thanks!
Running it with GDB, that is what I get:
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /home/lower/catkin_workspace/devel/lib/moveit_setup_assistant/moveit_setup_assistant...(no debugging symbols found)...done.
Starting program: /home/lower/catkin_workspace/devel/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/lower/.ros/log/18c0b614-417b-11e4-a388-00216a36b28c/moveit_setup_assistant-1.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffddf64700 (LWP 771)]
[New Thread 0x7fffdd763700 (LWP 772)]
[New Thread 0x7fffdcf62700 (LWP 773)]
[New Thread 0x7fffcffff700 (LWP 778)]
[New Thread 0x7fffcf7fe700 (LWP 779)]
[New Thread 0x7fffbffff700 (LWP 780)]
[New Thread 0x7fffbf7fe700 (LWP 781)]
[New Thread 0x7fffbe38d700 (LWP 782)]
[New Thread 0x7fffad724700 (LWP 783)]
[New Thread 0x7fffacf23700 (LWP 784)]
[New Thread 0x7fffa7fff700 (LWP 785)]
[New Thread 0x7fffa77fe700 (LWP 786)]
[Thread 0x7fffad724700 (LWP 783) exited]
[Thread 0x7fffbe38d700 (LWP 782) exited]
[Thread 0x7fffa7fff700 (LWP 785) exited]
[Thread 0x7fffa77fe700 (LWP 786) exited]
[New Thread 0x7fffa77fe700 (LWP 787)]
[New Thread 0x7fffa7fff700 (LWP 788)]
[New Thread 0x7fffbe38d700 (LWP 789)]
[Thread 0x7fffa77fe700 (LWP 787) exited]
[Thread 0x7fffa7fff700 (LWP 788) exited]
[Thread 0x7fffacf23700 (LWP 784) exited]
[New Thread 0x7fffacf23700 (LWP 790)]
[New Thread 0x7fffa7fff700 (LWP 791)]
[New Thread 0x7fffa77fe700 (LWP 792)]
[Thread 0x7fffbe38d700 (LWP 789) exited]
[Thread 0x7fffacf23700 (LWP 790) exited]
[Thread 0x7fffa77fe700 (LWP 792) exited]
[New Thread 0x7fffa77fe700 (LWP 793)]
[Thread 0x7fffa77fe700 (LWP 793) exited]
[New Thread 0x7fffa77fe700 (LWP 794)]
[New Thread 0x7fffacf23700 (LWP 795)]
[New Thread 0x7fffbe38d700 (LWP 796)]
[New Thread 0x7fffad724700 (LWP 797)]
[New Thread 0x7fffa6ffd700 (LWP 798)]
[New Thread 0x7fffa67fc700 (LWP 799)]
[New Thread 0x7fffa5ffb700 (LWP 800)]
[New Thread 0x7fffa57fa700 (LWP 801)]
[New Thread 0x7fffa4ff9700 (LWP 802)]
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Program received signal SIGSEGV, Segmentation fault.
0x00007fffecfdb24e in glXCreateContext ()
from /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1
(gdb)
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-09-21
Post score: 0
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I have installed rosserial_arduino on my RasPi and my Arduino code for Push Button has been uploaded successfully.
To run the code, I am following the following steps as mentioned in the tutorial:
Startup roscore using roscore
Run the run the rosserial_python serial_node.py using rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0
Watch button status on rostopic echo pushed
Now, the issue here is that when I try step 2 using rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 (my Arduino is on ACM0), the error message I receive is
[ERROR] [WallTime: 1411295710.119812] Error opening serial: could not open port /dev/ttyUSB0: [Errno 2] No such file or directory: '/dev/ttyUSB0'
For some reason, it keeps taking USB0 as the input even if I specify ACM0 as the port. This error does not occur on my Ubuntu 14.04 distro running Indigo. My RasPi is running Groovy.
I have also added the necessary group permissions (adding user to dialout, etc.) but to no avail. Please suggest methods to solve this issue.
Thanks to ahendrix for having found out the problem. But there is a follow up issue here. Please check.
Originally posted by Nightstalker on ROS Answers with karma: 35 on 2014-09-21
Post score: 0
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CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package pr2_msgs.
Set pr2_msgs_DIR to the directory containing a CMake configuration file for
pr2_msgs. The file will have one of the following names:
pr2_msgsConfig.cmake
pr2_msgs-config.cmake
Call Stack (most recent call first):
youbot_driver_ros_interface/CMakeLists.txt:5 (find_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
Originally posted by seggs on ROS Answers with karma: 1 on 2014-09-21
Post score: 0
|
I use following launch file to run hector mapping on turtlebot. It don't gives any error also don't create any map. When I enter rosrun map_server map_saver -f ~/mymap mymap.pgm is light gray image.
Original launch file
<launch>
<include file="$(find turtlebot_gazebo)/launch/turtlebot_empty_world.launch" />
<include file="$(find hector_mapping)/launch/mapping_default.launch">
<arg name="pub_map_odom_transform" value="true" />
<arg name="base_frame" value="base_footprint" />
<arg name="odom_frame" value="odom" />
</include>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_publish_rate" value="4" />
</include>
<node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" output="screen" />
<include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch" />
</launch>
Graph of this launch file is like this. I couldn't find the problem.
rqt_graph
tf view_frames
Latest launch file
<launch>
<include file="$(find turtlebot_gazebo)/launch/turtlebot_empty_world.launch" />
<include file="$(find turtlebot_rviz_launchers)/launch/view_robot.launch" />
<include file="$(find hector_mapping)/launch/mapping_default.launch">
<arg name="pub_map_odom_transform" value="false" />
</include>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_publish_rate" value="4" />
</include>
<node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 0 0 /map /odom 100"/>
</launch>
Bag file with /scan and /tf topics
All of the sollutions are merged as a package at Github
Originally posted by serdar on ROS Answers with karma: 3 on 2014-09-21
Post score: 0
Original comments
Comment by bvbdort on 2014-09-21:
cross check laser is published in base_footprint frame.
Comment by serdar on 2014-09-22:
@bvbdort Is it wrong that laserscan_nodelet_manager is publishing scan? In rviz I can see laser scan in /scan topic.
Comment by bvbdort on 2014-09-22:
check the frame id of laser scan it should be base_footprint or any other frame which has tf with base_footprint. Can you share your rosrun tf view_frames output.
Comment by serdar on 2014-09-22:
@bvbdort I added rosrun tf view_frames output to question body.
Comment by bvbdort on 2014-09-22:
what is the frame id of laser; you can view it from rostopic echo /scan
Comment by bvbdort on 2014-09-22:
Also use
Comment by serdar on 2014-09-22:
@bvbdort frame id of scan is /camera_depth_frame.
Comment by bvbdort on 2014-09-22:
use <arg name="pub_map_odom_transform" value="false"/> , hope it works
Comment by serdar on 2014-09-22:
@bvbdort When I pass false to pub_map_odom_transform, in rviz Transform status section it prints No transform from [map] to [base_footprint].
Comment by bvbdort on 2014-09-22:
Change frame in rviz to map to view map
Comment by serdar on 2014-09-22:
I always change but it always shows light gray square, never draws map.
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How can I install tum_simulator on ROS Hydro? The instructions are written for fuerte
Originally posted by Pa El on ROS Answers with karma: 13 on 2014-09-21
Post score: 0
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