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Dear all.
i 'm using ubuntu 12.04 ,turtlebot1 and hydro,created a catkin_ws workspace , installed sbpl through sudo apt-get install ros-hydro-sbplthanks to Johannes https://github.com/meyerj/sbpl_lattice_planner and ahendrix https://github.com/trainman419/sbpl_lattice_planner , i download Johannes's and catkin_makesuccessfuly,but when i
roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch
it came out two errors,ERROR: cannot launch node of type [stage/stageros]: can't locate node [stageros] in package [stage] ,ERROR: cannot launch node of type [nav_view/nav_view]: nav_view . when i rospack find stage and stage_ros in the path'/opt/ros/hydro/share/'
my questions are:
in the move_base_sbpl_fake_localization_2.5cm.launch,how to correct the line <node pkg="stage" type="stageros" name="stageros" args="$(find sbpl_lattice_planner)/worlds/willow.world" respawn="false" >to fix the first error?
in the sbpl_lattice_planner/launch/move_base/nav_view_sbpl.xml,how to correct the line node name="nav_view" pkg="nav_view" type="nav_view" respawn="false">to fix the second error(i want to use rviz to replace nav_view,but don't know how to do ),does the 'remap from ...to ...'lines also need to be changed ?
in the sbpl_lattice_planner/launch/move_base/move_base/move_base_sbpl.xml, does the line <param name="SBPLLatticePlanner/primitive_filename" value="$(find sbpl)/matlab/mprim/pr2.mprim"/> fit my turtlebot1 (it can only forward ,backward and rotation)?
thanks to your time and suggestions !!
Originally posted by jxl on ROS Answers with karma: 252 on 2014-09-21
Post score: 0
|
I am using an Odroid U3 with my robot, Ubuntu 14.04. I am using an external computer to launch the ROS node of the robot.
I was wondering if there is a way to start ROS in the robot after the Odroid starts up. Like if the robot were turned on with the ROS node running after the startup. That way I would not have to use the external computer. Right now I do not need to monitor the robot so it is OK if I do not have a roscore running externally.
Originally posted by Luis Ruiz on ROS Answers with karma: 114 on 2014-09-22
Post score: 3
|
I has frute then I remove it and I downloaded hydro. I followed the steps until I reached to this step:
sudo rosdep init
I got the following error:
Traceback (most recent call last):
File "/usr/bin/rosdep", line 3, in <module>
from rosdep2.main import rosdep_main
File "/usr/lib/pymodules/python2.7/rosdep2/__init__.py", line 40, in <module>
from .installers import InstallerContext, Installer, \
File "/usr/lib/pymodules/python2.7/rosdep2/installers.py", line 35, in <module>
from rospkg.os_detect import OsDetect
ImportError: No module named rospkg.os_detect
Then I looked for a solution and I did the following:
pip install -U rospkg
I got the following error :
Downloading/unpacking rospkg
Cannot fetch index base URL http://pypi.python.org/simple/
Could not find any downloads that satisfy the requirement rospkg
No distributions at all found for rospkg
Storing complete log in /home/asctec/.pip/pip.log
Traceback (most recent call last):
File "/usr/bin/pip", line 9, in <module>
load_entry_point('pip==1.0', 'console_scripts', 'pip')()
File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 116, in main
return command.main(initial_args, args[1:], options)
File "/usr/lib/python2.7/dist-packages/pip/basecommand.py", line 147, in main
log_fp = open_logfile(log_fn, 'w')
File "/usr/lib/python2.7/dist-packages/pip/basecommand.py", line 176, in open_logfile
log_fp = open(filename, mode)
IOError: [Errno 13] Permission denied: '/home/asctec/.pip/pip.log'
Also I tried:
sudo pip install --upgrade pip
and I got the following error:
Downloading/unpacking pip
Downloading pip-1.5.6.tar.gz (938Kb): 40Kb downloaded
Exception:
Traceback (most recent call last):
File "/usr/lib/python2.7/dist-packages/pip/basecommand.py", line 126, in main
self.run(options, args)
File "/usr/lib/python2.7/dist-packages/pip/commands/install.py", line 223, in run
requirement_set.prepare_files(finder, force_root_egg_info=self.bundle, bundle=self.bundle)
File "/usr/lib/python2.7/dist-packages/pip/req.py", line 955, in prepare_files
self.unpack_url(url, location, self.is_download)
File "/usr/lib/python2.7/dist-packages/pip/req.py", line 1072, in unpack_url
return unpack_http_url(link, location, self.download_cache, only_download)
File "/usr/lib/python2.7/dist-packages/pip/download.py", line 441, in unpack_http_url
download_hash = _download_url(resp, link, temp_location)
File "/usr/lib/python2.7/dist-packages/pip/download.py", line 366, in _download_url
chunk = resp.read(4096)
File "/usr/lib/python2.7/socket.py", line 380, in read
data = self._sock.recv(left)
File "/usr/lib/python2.7/httplib.py", line 561, in read
s = self.fp.read(amt)
File "/usr/lib/python2.7/socket.py", line 380, in read
data = self._sock.recv(left)
File "/usr/lib/python2.7/ssl.py", line 241, in recv
return self.read(buflen)
File "/usr/lib/python2.7/ssl.py", line 160, in read
return self._sslobj.read(len)
SSLError: The read operation timed out
Storing complete log in /home/asctec/.pip/pip.log
Traceback (most recent call last):
File "/usr/bin/pip", line 9, in <module>
load_entry_point('pip==1.0', 'console_scripts', 'pip')()
File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 116, in main
return command.main(initial_args, args[1:], options)
File "/usr/lib/python2.7/dist-packages/pip/basecommand.py", line 147, in main
log_fp = open_logfile(log_fn, 'w')
File "/usr/lib/python2.7/dist-packages/pip/basecommand.py", line 176, in open_logfile
log_fp = open(filename, mode)
IOError: [Errno 13] Permission denied: '/home/asctec/.pip/pip.log'
What should I do exactly to make roscore working because it is not working ??????????
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-22
Post score: 0
Original comments
Comment by bvbdort on 2014-09-22:
try sudo easy_install rospkg
Comment by Vova Niu on 2014-09-22:
what version of Ubuntu are you using?
Comment by RSA_kustar on 2014-10-09:
@Vova Niu
ubuntu 12.04
Comment by RSA_kustar on 2014-10-09:
@bvbdort I solve it using the command of re-install. I will post the answer
|
Hi all,
Based on some condition in node, I want to start and stop hector slam . (in parallel)
I had looked at different questions and rosspawn but couldn't figure it out.
if(start_node == true)
{
// start node in parallel
// Here my case is hector SLAM
}
if (stop_node == true)
{
// Stop the node
}
Any suggestions ?
thanks.
Edit ::
I found starting node in another package in python code from Roslaunch-API Usage. I am looking for similar way in C++ also starting nodes with params and arguments.
import roslaunch
package = 'rqt_gui'
executable = 'rqt_gui'
node = roslaunch.core.Node(package, executable)
launch = roslaunch.scriptapi.ROSLaunch()
launch.start()
process = launch.launch(node)
print process.is_alive()
process.stop()
Originally posted by bvbdort on ROS Answers with karma: 3034 on 2014-09-22
Post score: 2
|
Hi,
i have multiple launch files which are started from a shell script after the booting of the computer which is on the robot.
For some reason this creates multiple directories in $HOME/.ros/log. To find the correct logfiles if we have to debug something is kind of annoying as the files are in all of the directories and we have to check quite a few to find the file which has the newest data written into.
Is there a setting to set the log dir for all nodes? The ones started from roslaunch as well as the roscore which is started with the roscore command and the nodes with are running from rosrun.
thank you.
bajo
Originally posted by bajo on ROS Answers with karma: 206 on 2014-09-22
Post score: 1
Original comments
Comment by dornhege on 2014-09-22:
Can you maybe just include all launch files in a single launch file?
|
Hi all,
as stated here (http://arduino.cc/en/pmwiki.php?n=Tutorial/Memory) adruinos usually do not have much SRAM and it is easy to use it all up by using many constant strings
Notice that there's not much SRAM
available in the Uno. It's easy to use
it all up by having lots of strings in
your program.
<sarcasm warning> The nice feature of the arduino IDE in this cases is that it does not fail to compile or upload but only the arduino programm will run 'strangely' </sarcasm warning>
If you run out of SRAM, your program
may fail in unexpected ways; it will
appear to upload successfully, but not
run, or run strangely. To check if
this is happening, you can try
commenting out or shortening the
strings or other data structures in
your sketch (without changing the
code). If it then runs successfully,
you're probably running out of SRAM.
I have observed this behaviour with my arduino code that uses ros_lib. One of the causes is that ros_lib stores for each topic (publish/subscribe) 3 strings ( md5sum, message type name and topic name ). Particularly if I use topics with namespaces if have observed the problem on arduino uno after setting up only 3 or 4 topics.
How the question: Has anyone considered modifying the message generator for Ardunio such that it uses PROGMEM for storing md5sum, topic and stuff? (Or is it even possible?)
http://www.arduino.cc/en/Reference/PROGMEM
The data is static and I think this would significantly reduce the SRAM usage....
Thank you!
Edit 22.09.: anyone?
Originally posted by Wolf on ROS Answers with karma: 7555 on 2014-09-22
Post score: 2
Original comments
Comment by gvdhoorn on 2014-09-24:
You might want to try and just report this as an issue over at the ros-drivers/rosserial github repo. Do refer to this post in your issue.
|
I am trying to implement some TF under groovy, but ran into compilation errors quickly. I just installed a fresh Ubuntu 12.04 with ROS Groovy. To be sure, I tried to implement the tutorial (http://wiki.ros.org/tf/Tutorials/Introduction%20to%20tf) to see if the error also replicates there when compiled, and it does:
Built target
/home/ruud/Dropbox/ros/catkin_workspace/src/learning_tf/src/turtle_tf_broadcaster.cpp: In function ‘void poseCallback(const PoseConstPtr&)’:
/home/ruud/Dropbox/ros/catkin_workspace/src/learning_tf/src/turtle_tf_broadcaster.cpp:14:44: warning: ‘tf::Quaternion::Quaternion(const tfScalar&, const tfScalar&, const tfScalar&)’ is deprecated (declared at /opt/ros/groovy/include/tf/LinearMath/Quaternion.h:51) [-Wdeprecated-declarations]
/home/ruud/Dropbox/ros/catkin_workspace/src/learning_tf/src/turtle_tf_broadcaster.cpp:14:46: error: no matching function for call to ‘tf::Quaternion::setRPY(tf::Quaternion)’
/home/ruud/Dropbox/ros/catkin_workspace/src/learning_tf/src/turtle_tf_broadcaster.cpp:14:46: note: candidate is:
/opt/ros/groovy/include/tf/LinearMath/Quaternion.h:94:8: note: void tf::Quaternion::setRPY(const tfScalar&, const tfScalar&, const tfScalar&)
/opt/ros/groovy/include/tf/LinearMath/Quaternion.h:94:8: note: candidate expects 3 arguments, 1 provided
make[2]: *** [learning_tf/CMakeFiles/turtle_tf_broadcaster.dir/src/turtle_tf_broadcaster.cpp.o] Error 1
make[1]: *** [learning_tf/CMakeFiles/turtle_tf_broadcaster.dir/all] Error 2
make: *** [all] Error 2
Anyone had this issue before?
Thanks!
Ruud
EDIT SOLVED:
In the tutorial it says (see below) that you have to change line 14 of the code. I did that but then I get the error. If I switch back to the original code, then it compiles fine!
"Looks like Quaternion API has changed (sorry but not sure when it occurred...Here it's assumed at some point between electric and fuerte) so that the order of the arguments needs changed (Relevant QA thread). That said, if you're on a version prior to the API change, you need to change line 14 to:
q.setRPY( tf::Quaternion(msg->theta, 0, 0) );"
Please also take a look here if you have this error: http://answers.ros.org/question/45884/turtle-tf-tutorial-fails-to-work/?answer=47845#post-id-47845
Originally posted by Ruud on ROS Answers with karma: 212 on 2014-09-22
Post score: 0
|
There seems to be an error when using catkin_make to create the ROS workspace using groovy distribution. When i type the catkin_make command to do environment setup in ~/catkin_ws/src, this is the error message i see.
CMake Error at /home/shaurya/ros_ws/devel/share/baxter_sim_kinematics/cmake/baxter_sim_kinematicsConfig.cmake:165 (find_package):
Could not find module Findbaxter_core_msgs.cmake or a configuration file
for package baxter_core_msgs.
Adjust CMAKE_MODULE_PATH to find Findbaxter_core_msgs.cmake or set
baxter_core_msgs_DIR to the directory containing a CMake configuration file
for baxter_core_msgs. The file will have one of the following names:
baxter_core_msgsConfig.cmake
baxter_core_msgs-config.cmake
Call Stack (most recent call first):
/opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:75 (find_package)
baxter_simulator/baxter_sim_hardware/CMakeLists.txt:4 (find_package)
-- Eigen found (include: /usr/include/eigen3)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
Originally posted by GoBaxter on ROS Answers with karma: 15 on 2014-09-22
Post score: 0
|
I am trying to install Baxter on ROS groovy from catkin workspace where the SDK resides, and use wstool to install and update. This is waht i am supposed to do:-
$ cd ~/ros_ws/src
$ git clone [email protected]:RethinkRobotics/baxter_simulator.git
# IMPORTANT EARLY-DEV-RELEASE STEPS:
$ cd baxter_simulator
$ git checkout early_interface_dev
$ cd ..
$ wstool init # need to do this only if this is a new workspace where this command was not executed before.
$ wstool merge baxter_simulator/baxter_simulator.rosinstall
$ wstool update
But after i type in i get this error message. please explain the reason and solution.
sa@svs-FX6860:~/catkin_ws/src/baxter_simulator$ git checkout early_interface_dev
error: pathspec 'early_interface_dev' did not match any file(s) known to git.
Originally posted by GoBaxter on ROS Answers with karma: 15 on 2014-09-22
Post score: 0
|
So, I'm having an issue with compilation after moving to an indigo platform on ubuntu 14.04. As I understand it, from here, here, here, and here the FindEigen.cmake is now in /opt/indigo/share/cmake_modules/cmake/Modules/. I see this on my system, and I followed the instructions to add cmake_modules as a dependency in both the package.xml and CMakeLists.txt, however, I still get the same error.
The exact error message i get is:
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by "eigen" with any of
the following names:
eigenConfig.cmake
eigen-config.cmake
Add the installation prefix of "eigen" to CMAKE_PREFIX_PATH or set
"eigen_DIR" to a directory containing one of the above files. If "eigen"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
vigir_atlas_ros_control/vigir_atlas_controller/CMakeLists.txt:20 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/pachu/flor_repo/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/pachu/flor_repo/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
So... I'm not really sure what else to try. I was working with vigir_atlas_ros_control/vigir_atlas_controller/CMakeLists.txt to add the dependencies but nothing seemed to change. Do i have to change something in /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake? Any help would be greatly appreciated.
Originally posted by pachuc on ROS Answers with karma: 13 on 2014-09-22
Post score: 1
|
In the roslaunch tutorial, running turtlemimic.launch doesn't work, i get:
[turtlemimic.launch] is neither a launch file in package [beginner_tutorial] nor is [beginner_tutorial] a launch file name
Can anyone help me?
Thanks
Originally posted by DanielLSM on ROS Answers with karma: 26 on 2014-09-22
Post score: 0
Original comments
Comment by bvbdort on 2014-09-22:
can you post the command you are using; did you save the turtlemimic.launch file in launch folder ?
Comment by DanielLSM on 2014-09-22:
screenshot of the problem
Have roscore running, made the source of setup.bash, beginner_tutorials is recognized as a package and roslaunch gives that error, any help?
Comment by DanielLSM on 2014-09-22:
screenshot of the problem
Have roscore running, made the source of setup.bash, beginner_tutorials is recognized as a package and roslaunch gives that error, any help?
Comment by Andromeda on 2014-09-22:
see my edit above
Comment by Amer Al-Radaideh on 2017-01-28:
for those who have this problem ([beginner_tutorials] is not a package or launch file name)
please follow this tutorial:
http://wiki.ros.org/catkin/Tutorials/CreatingPackage
|
Hi All,
I have a two or more nodes publishing in the diagnostic topic.
roman@roman-virtual-machine1:~/nagios$ rostopic info diagnostics
Type: diagnostic_msgs/DiagnosticArray
Publishers:
* /mobile_base_nodelet_manager (http://roman-virtual-machine1:35669/)
* /play_1410810684593700345 (http://roman-virtual-machine1:40540/)
I am trying to read all Publishers information but when I use rospy I get only one Publisher at the time.
def listener():
#rospy.init_node('check_battery_kobuki', anonymous=True, disable_signals=True, log_level=rospy.DEBUG)
rospy.init_node('ros_diagnostics', anonymous=True, disable_signals=True)
rospy.Subscriber("diagnostics", DiagnosticArray , callback_kobuki)
rospy.spin()
Is there a way to get all Publishers in the same connection ?
Thanks in advance,
Felipe Roman
Originally posted by felipe.roman on ROS Answers with karma: 11 on 2014-09-22
Post score: 1
|
I have a turtlebot with a kinect and a hokuyo laser scanner, the goal is to use both scanners /scan topics for gmapping.
Is there a way to hack the laser_assembler to not convert laser scans into point clouds but merge both laser scan data and its tf anyway?
Running with ROS Hydro.
Originally posted by charkoteow on ROS Answers with karma: 121 on 2014-09-22
Post score: 0
|
Hi,
I am trying to adapt an existing complex java application using a rosjava node. I succesfully included my rosjava test class "Listener.java" into my other java project so I can access the class and create an instance of the rosjava object. The problem happens here :
public class Listener extends AbstractNodeMain {
...
@Override
public void onStart(ConnectedNode connectedNode) { ... }
...
}
This method is the onStart method of the auto-generated Listener.java class of my rosjava project.
How could I access the ConnectedNode object from a non-rosjava class or method and pass it to the rosjava object in order to correctly use it.
Or maybe there's another way around to adapt non rosjava projects ? Did you guys encounter the same problem as me ? I want to hear what you've done to solve this problem.
Thank you very much !
Originally posted by kritchie on ROS Answers with karma: 15 on 2014-09-22
Post score: 0
|
when i tried to compile a simple node of publish, it give me following error
chhonkar@CHHONKAR:~/Desktop/beginner_tutorials/src$ g++ hellop.cpp -o hellop -I/opt/ros/indigo/include -L/opt/ros/indigo/lib -Wl,-rpath,/opt/ros/indigo/lib -lroscpp -lrosconsole -lrostime
error :
/usr/bin/ld: /tmp/ccBLS7zj.o: undefined reference to symbol '_ZN3ros13serialization18throwStreamOverrunEv'
/opt/ros/indigo/lib/libroscpp_serialization.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
my code written in cpp is as follow
:
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sstream"
using namespace ros;
int main (int argc, char**argv)
{
init (argc,argv, "hellop");
NodeHandle n;
start();
Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss<<"hello oye londe"<<count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
Originally posted by ASHISH CHHONKAR on ROS Answers with karma: 41 on 2014-09-23
Post score: 0
Original comments
Comment by ahendrix on 2014-09-23:
you should really be using cmake to compile your nodes, as described in the tutorials.
|
Hi All,
I'm having an issue with Rviz whereby it is plotting my messages (such as odometry, particle arrays and tf) but rounding in discrete units. This is not a problem with graphics cards. The following picture shows what is happening.
The yellow lines are the odometry arrows which are spaced always 0.5m apart in the y direction. The actual odometry topic is publishing a smooth transition from one point to the next. The spacing between the y directions is always 0.50m, its as if the y value is truncated or rounded to the nearest 0.5m. This also occurs to the tf's and particle poses as a result the particle arrows are sometimes drawn incorrectly (not looking like arrows at all, which seems to be because of this restriction in the y direction).
The fixed frame is utm and there is a large number translating from the utm to the odom frame. However tf_echo of that frame does not show jumps in the values of y of 0.5m as shown in a small segment of the output below:
At time 13837.000
- Translation: [605245.313, 7898877.773, 2.823]
- Rotation: in Quaternion [-0.140, 0.024, -0.339, 0.930]
in RPY [-0.281, -0.051, -0.693]
At time 13838.000
- Translation: [605244.946, 7898877.852, 2.747]
- Rotation: in Quaternion [-0.139, 0.022, -0.345, 0.928]
in RPY [-0.277, -0.054, -0.705]
At time 13839.000
- Translation: [605245.021, 7898877.391, 1.007]
- Rotation: in Quaternion [-0.106, 0.006, -0.341, 0.934]
in RPY [-0.204, -0.062, -0.695]
At time 13840.000
- Translation: [605245.342, 7898877.190, 1.031]
- Rotation: in Quaternion [-0.107, 0.006, -0.334, 0.936]
in RPY [-0.205, -0.061, -0.679]
At time 13841.000
- Translation: [605244.806, 7898877.667, 2.324]
- Rotation: in Quaternion [-0.131, 0.020, -0.344, 0.930]
in RPY [-0.261, -0.052, -0.702]
I am working on a new localisation and the raw messages do not exhibit this jerkiness. The jerkiness in the tf and odom is removed when the fixed frame is taken as odom, not utm. The jerkiness remains in the pose array representing the particle cloud. But when echoing the pose array, it displays smooth transitions for all poses, so I think it must be an error in my settings for rviz.
Has anyone had a similar problem with rviz.
Originally posted by PeterMilani on ROS Answers with karma: 1493 on 2014-09-23
Post score: 0
|
Hello,
I have a bagfile of a drive with a vehicle around a building. Inside there is a visual odometry topic (nav_msgs/Odometry Message), an IMU topic (sensor_msgs/Imu Message), a GPS topic (sensor_msgs/NavSatFix Message and remapped via gps_common nav_msgs/Odometry Message ) and a Wheel Odometry topic (nav_msgs/Odometry Message).
I would like to fuse the data with the package robot_localization. After working with it for a while I encountered some
things which I am not sure about.
The Wheel Odometry topics frame_id is a local navigation frame which has no available transformation to my bodyframe (base_link) or my odom frame. Therefore linear and angular velocities are expressed in this local navigation frame rather than in body coordinates. (I don' t know why this is). Also there are no values given for
pose and twist covariance (zeros) and Z-position, z-velocity, velocity over roll and pitch remain zero the entire time.
Can I fuse this wheel odometry in "robot_localization" and how would that be done?
I think about remapping the topic to a new topic adding the covariance info. Do I have to set
<param name="odom0_differential" value="true" />
for the wheel odometry? What would be good values for the covariance matrix?
My visual odometry topic is computed via "viso2ros", there are static covariance matrices for pose and twist.
In the solution of the filter I can see (rviz displaying the odometry/filtered topic) that the computed solution follows rather strictly the visual odometry. I figure the covariance values should be increased. Could that be?
What would be the settings in the launch file for my configuration (as described above),
where odom0=wheelodometry, odom1=visual_odometry, odom2=gps (xsens, only x,y,z available plus covariances) and imu0=xsens.
Blockquote
<rosparam param="odom0_config">[false, false, true, false, false, true, false, false, true, false, false, true] </rosparam>
<rosparam param="odom1_config">[true, true, false, true, true, false, true, true, true, false, false, true]</rosparam>
<rosparam param="odom2_config">[true, true, false, false, false, false, false, false, false, false, false, false ]</rosparam>
<rosparam param="imu0_config">[false, false, false, true, true, false, false, false, false, true, true, false ]</rosparam>
<param name="odom0_differential" value="true"/>
<param name="odom1_differential" value="false"/>
<param name="odom2_differential" value="false">
<param name="imu0_differential" value="false"/>
The odom and world-frame are called "utm". I am glad for any help!
Update: I receive the warnings:
"Could not obtain transform from wheel_odometry to utm. Error was "wheel_odometry passed to lookupTransform argument source_frame doesnot exist."
"Could not obtain transform from gpsfix to utm. Error was " lookup would require extrapolation into the future."
Originally posted by mister_kay on ROS Answers with karma: 238 on 2014-09-23
Post score: 1
Original comments
Comment by Tom Moore on 2014-09-23:
My response to this is going to be lengthy, but I need a bit more info: is this robot meant to operate in 2D or 3D?
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Hello,
I'm looking for a precise definition of the roll-pitch-yaw attribute and how to compute change of reference with it.
I found these pages, but there is too much space for interpretation to my taste:
http://wiki.ros.org/urdf/XML/joint
http://answers.ros.org/question/58863/incorrect-rollpitch-yaw-values-using-getrpy/
http://answers.ros.org/question/58742/quaternion-to-roll-pitch-yaw/
http://wiki.ros.org/geometry/RotationMethods
Is there some other source I missed? If not, I'm planning to propose the following for inclusion in http://wiki.ros.org/urdf/XML/.
<origin> (optional: defaults to identity if not specified)
This is the transform from the parent link to the child link. The joint is located at the origin of the child link, as shown in the figure above.
xyz (optional: defaults to zero vector)
Represents the $$x,y,z$$ offset.
rpy (optional: defaults 'to zero vector 'if not specified)
Represents the rotation around fixed axis: first roll around x, then pitch around y and finally yaw around z. All angles are specified in radians.
combining the xyz and rpy attributes, here is how one can change the coordinates of a point "p" from the child frame to the parent frame:
p_parent = [x;y;z] + Rz(yaw)*Ry(pith)*Rx(roll)*p_child
Rx(a) = [1, 0, 0; 0, cos(a), -sin(a); 0, sin(a), cos(a)]
Ry(a) = [cos(a), 0, sin(a); 0, 1, 0; -sin(a), 0, cos(a)]
Rz(a) = [cos(a), -sin(a), 0; sin(a), cos(a) 0; 0, 0, 1]
thanks!
Originally posted by barthelemy on ROS Answers with karma: 56 on 2014-09-23
Post score: 4
Original comments
Comment by Dave Coleman on 2015-11-30:
hi @barthelemy, i like your idea to contribute those new details on URDF origin calculations - were they correct and could you still do that?
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Hello,
I am quite new to ROS and ubuntu but whatever i try i am keep getting the error so i hope someone can help me out!
I need to install 2 packages:
ardrone_autonomy
tum_ardrone
i followed these steps for both packages:
# cd into ros root dir
roscd
# clone repository
git clone git://github.com/tum-vision/tum_ardrone.git tum_ardrone
# add to ros path (if required)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:pwd/tum_ardrone
# build package (may take up to 10 minutes)
rosmake tum_ardrone
even though they are both in opt/ros/hydro i can only run ardrone_autonomy
whenever i try to run tum_ardrone i am getting the error.
leroy@leroy-pc:~$ env |grep ROS
ROS_ROOT=/opt/ros/hydro/share/ros
ROS_PACKAGE_PATH=/opt/ros/hydro/share:/opt/ros/hydro/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=hydro
ROS_ETC_DIR=/opt/ros/hydro/etc/ros
In my .bashrc file the source is: source /opt/ros/hydro/setup.bash
i am using ROS hydro and ubuntu 12.04.
thank you in advance!
Originally posted by leroyv13 on ROS Answers with karma: 1 on 2014-09-23
Post score: 0
|
Hello,
I am quite new to ROS and ubuntu but whatever i try i am keep getting the error so i hope someone can help me out! I need to install 2 packages:
ardrone_autonomy
tum_ardrone
i followed these steps for both packages:
# cd into ros root dir
roscd
# clone repository
git clone git://github.com/tum-vision/tum_ardrone.git tum_ardrone
# add to ros path (if required)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:pwd/tum_ardrone
# build package (may take up to 10 minutes)
rosmake tum_ardrone
even though they are both in opt/ros/hydro i can only run ardrone_autonomy whenever i try to run tum_ardrone i am getting the error.
leroy@leroy-pc:~$ env |grep ROS
ROS_ROOT=/opt/ros/hydro/share/ros
ROS_PACKAGE_PATH=/opt/ros/hydro/share:/opt/ros/hydro/stacks
ROS_MASTER_URI=http://localhost:11311
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=hydro
ROS_ETC_DIR=/opt/ros/hydro/etc/ros
and in my .bashrc it says : source /opt/ros/hydro/setup.bash
i am using ROS hydro and ubuntu 12.04.
thank you in advance!
Originally posted by leroyv13 on ROS Answers with karma: 1 on 2014-09-23
Post score: 0
|
Hello guys,
Quick question: My setup is Kinect => Depth Image => MoveIt =>Octomap
I want to record what's happening in the real world and to be able to replay it later on, so that the same octomap appears again. My idea was to record the depth image via rosbag and replay it later. Therefore I recorded /camera/depth/image_raw and /camera/depth/camera_info.
Now when I replay these topics to MoveIt, it complains like this:
[ WARN] [1411464286.696762717]: [image_transport] Topics '/camera_top/depth/image_raw' and '/camera_top/depth/camera_info' do not appear to be synchronized. In the last 10s:
Image messages received: 69
CameraInfo messages received: 237
Synchronized pairs: 0
How would I achieve such synchronisation?
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-09-23
Post score: 0
Original comments
Comment by lucasw on 2014-09-23:
It sounds like you problem might be different, but are you using use_sim_time and --clock with rosbag play? http://wiki.ros.org/Clock I think even if you aren't because CameraInfo and Image both have embedded timestamps they should still appear synchronized. Do the messages look good in rqt_bag?
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I want to add two robots in gazebo.
The first robot is a quadrotor from hector package
the second robot is husky
I used apt-get to download both of then except the husky_description. I used git clone "link"
I changed in the mesh file of the husky.
My launch file is the following:
<launch><!-- Start Gazebo with my world by changing the arg > running in (max) realtime -->
<include file="$(find haptic_teleoperation)/launch/box.launch"/>
<!-- Spawn simulated quadrotor uav -->
<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
<arg name="x" value="10.0"/>
<arg name="y" value="0.0"/>
<arg name="z" value="0.3"/>
<arg name="model" value="$(find hector_quadrotor_description)/urd/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>
</include>
<include file="$(find haptic_teleoperation)/launch/husky_spawn.launch"/>
</launch>
The husky_spwan.launch file is the following:
<launch>
<!-- Send the Husky A200 Robot URDF/XACRO to param server -->
<param name="husky_robot_description" command="$(find xacro)/xacro.py '$(find husky_description)/urdf/base.urdf.xacro'" />
<!-- Spawn robot in gazebo -->
<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param husky_robot_description -model mobile_base"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="husky_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
<!-- <remap from="robot_description" to="different_robot_description" />
<remap from="joint_states" to="different_joint_states" />-->
</node>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<rosparam>
freq: 10.0
sensor_timeout: 1.0
publish_tf: true
odom_used: true
vo_used: true
output_frame: /world
</rosparam>
</node>
</launch>
the box.launch file only launch the gazebo client and server.
first I faced a problem becasue both robots have two links with the smae names. Therefore, I changed in the urdf file of the husky from base_footprint to husky_foot_print and from base_link into husky_base link. ( I dont know if what I did it write or wrong)
Anyway, when I run the quad rotor alone and I check the tf I find all the tfs and links and joints that are specified in the urdf file for the quad rotor.
Also, when I run the husky alone I find all its links and joints.
but when I run them together as the shown in the launch file above the links that their parent is the "base_link" in the quadrotor disapear from the tf tree.
Also, I dont know what is the fixed frame for the husky or from where to spacey it ?? if I want it to be the world frame as for the quad rotor what should I do ??
Also, there is a node that is called robot_state_publisher >> should I call it twice for each robot or once for both ?? because it exist in the launch file of the hector_quadrotor and also you can see it in the launch file for the husky ??
Actually I could not run if the two robot_state_publisher nodes so I had the following:
This node I added it in the launch file of husky:
<node pkg="robot_state_publisher" type="robot_state_publisher" name="husky_state_publisher"></node>
this node exist in the launch file of the quadrotor:
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"></node>
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-23
Post score: 0
|
Hello,
I'm using moveit and rviz to move my robot.
Anyone knows how can I define a linear movement?
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-09-23
Post score: 0
|
I've been looking at http://vimeo.com/osrfoundation/videos and http://roscon.ros.org/2014/program/ for videos.
The composite split-screen with presenter and presentation videos side-by-side videos are nice, but if they are taking a long time to produce it would be great to have the source videos of just the presenter or just the slides with audio, especially where there is already a pdf of the slides.
Now available
https://vimeo.com/album/3053172
Edit made just to popup
Originally posted by lucasw on ROS Answers with karma: 8729 on 2014-09-23
Post score: 1
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I have the following launch file:
<?xml version="1.0"?>
<launch>
<!--<include file="$(find husky_gazebo)/launch/base.urdf.gazebo.launch"/>-->
<param name="use_sim_time" value="true" />
<!-- Send the Husky A200 Robot URDF/XACRO to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find husky_description)/urdf/base.urdf.xacro'" />
<!-- Spawn robot in gazebo -->
<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" ns="husky_ns">
<param name="publish_frequency" type="double" value="50.0" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch"/>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" ns="husky_ns" >
<rosparam>
freq: 10.0
sensor_timeout: 1.0
publish_tf: true
odom_used: true
vo_used: true
output_frame: odom
</rosparam>
</node>
</launch>
I want to add a name space to this node but I cant
<!-- Spawn robot in gazebo -->
<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base ns="husky_ns" />
Why I cant add ? and how can I add a name space for this node ?
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-23
Post score: 2
|
Hi,
I recently installed Indigo on a fresh 14.04 install after working in Hydro for a while, and xacro code that used to work no longer works. When I simply try to run xacro.py I get errors complaining about kobuki_description, which the internet doesn't seem to know much about. Any help?
’$:’rosrun xacro xacro.py neato.urdf.xacro > model.urdf
Traceback (most recent call last):
File "/opt/ros/indigo/share/xacro/xacro.py", line 60, in <module>
xacro.main()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 653, in main
process_includes(doc, os.path.dirname(args[0]))
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 245, in process_includes
filename_spec = eval_text(elt.getAttribute('filename'), {})
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 484, in eval_text
results.append(handle_extension(lex.next()[1][2:-1]))
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 472, in handle_extension
return eval_extension("$(%s)" % s)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/__init__.py", line 66, in eval_extension
return substitution_args.resolve_args(str, context=substitution_args_context, resolve_anon=False)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 145, in _find
pkg_path = rp.get_path(args[0])
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: kobuki_description
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/eon-alone/catkin_ws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks
Originally posted by Eric Schneider on ROS Answers with karma: 60 on 2014-09-23
Post score: 0
|
With our custom package, I used to be able to show ROS3D.Viewer object on Chrome last year but now I can't. So what can cause ROS3D.Viewer to not appear in general?
Sorry for sounding elementary; I'm still new to web app dev and I can't even think of what info I should provide, without advices from experts.
Live demos on http://robotwebtools.org/demos.html seem to be working for me, so my environment should be configured fine for RWT to work properly.
Environment:
Ubuntu 12.04. FF32.0, Chromium 37.0.2062.94
OSX 10.9.5 37.0.2062.122
If someone wants to run, there's a readme but the package is still under development and the way it installs is hacky for now.
It used to look like this:
image description http://wiki.ros.org/rtmros_nextage?action=AttachFile&do=get&target=nxo_rwt_moveit_1.png
Now. ROS3D.Viewer pane is not shown:
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-09-23
Post score: 0
|
Hey all,
There is an example in actionlib tutorial: wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionClient(Threaded). In this example the ros::spin() command is used in another thread.
Why should I create a ros::spin() command in a new thread? Why shouldn't I use this command in the end of the main like I see in the most of examples? What's the difference between these two cases?
Thanks in advance.
Originally posted by SHPOWER on ROS Answers with karma: 302 on 2014-09-23
Post score: 0
|
Hi,
This question is for experienced ROS users. First about My setup which involves, a raspberrypi (B+ model, wheezy OS, ROS groovy deb installation) and desktop PC (AMD dual core, Ubuntu 12.04.5, ROS groovy). I use a simple wifi-router to setup connection between the two machines. I also have followed the network setup very carefully, which are as follows:
Case 1: (Initial Setup)
machine A (Desktop-PC; ROS MASTER): ROS_HOSTNAME=desktop-PC; ROS_MASTER_URI=http://desktop-PC:11311;ROS_IP=192.168.xxx.5 (IP address of my PC)
machine B (raspberrypi): ROS_HOSTNAME=desktop-PC; ROS_MASTER_URI=http://desktop-PC:11311;ROS_IP=192.168.xxx.10 (IP address of my raspberrypi)
now having said that, I start roscore on machine A, and with the above network setup I am able to view rosnodes on my raspberrypi with $ rosnode list. following which, I setup the turtlesim_node on machine B after which I setup the turtle_teletop node on machine A . Now, when I issue command using the teletop node the turtle on machine B does not move. a quick check on rqt_graph, reveals that my turtlesim_node is in red color. (something is wrong!).
Case 2:(Slight Change in the Network setup)
machine A (Desktop-PC; ROS MASTER): ROS_HOSTNAME=desktop-PC; ROS_MASTER_URI=http://desktop-PC:11311;ROS_IP=192.168.xxx.5 (IP address of my PC)
machine B (raspberrypi): ROS_HOSTNAME=desktop-PC; ROS_MASTER_URI=http://desktop-PC:11311;ROS_IP=192.168.xxx.5 (IP address of my PC)
now the change is done only with ROS_IP. The remaining setup are similar to that in case 1 . Now, when I issue command using the teletop node on machine A to the turtle on machine B , it moves!.But, a quick refresh on rqt_graph, reveals that my turtlesim_node is still in red color. (I feel something is really wrong! or I am missing a point here!).
so, again I kindly request ROS users to clarify this issue.
Thanks,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2014-09-23
Post score: 0
Original comments
Comment by jarvisschultz on 2014-09-23:
Following the this note, note that ROS_HOSTNAME should take precedence over ROS_IP, and you really shouldn't need to set both. Try instead setting ROS_HOSTNAME on the RPi to the hostname of the RPi (not the desktop).
Comment by jarvisschultz on 2014-09-23:
and for completeness, try not setting ROS_IP at all. Alternatively, use ROS_IP as you have it in Case 1, and don't set ROS_HOSTNAME. Also note, that for some network configurations, adding a .local to the end of ROS_HOSTNAME can help with name resolution.
Comment by ahendrix on 2014-09-23:
For a more detailed explanation, watch my ROSCon talk from 2013 to get a better idea of how all of these environment variables interact and impact topic negotiation: https://vimeo.com/67806888
Comment by MKI on 2014-09-24:
Thank you, @jarvisschultz and @ahendrix , for the quick response. will try again with the above idea in mind.
|
Hello all,
Currently I am trying to use one of existing ROS packages with stereo camera. This package subscribes to <sensor_msgs::PointCloud2> data type of 3D point cloud and converts it into pcl::PointCloudpcl::PointXYZRGB data type using pcl::fromROSMsg function at the beginning of the source code. Stereo camera I am using publishes <sensor_msgs::PointCloud2> data type of point cloud and I tried to use it. But when I ran the package, this following message keeps popping up and results in not calling callback function properly. This point is where I am blocked.
Failed to find match for field 'rgb'.
I am pretty sure that rostopic publishing from stereo camera has rgb image unlike what message says. I was able to check that using rviz as well. I haven't used stereo camera before so I guess may be it could be the stereo camera's innate problem. Previously I had no problems using pcl::fromROSMsg function with kinect sensor.
I am using ubuntu 14.04 and ROS indigo, and I would say that solving this issue is the only way that I can use this package at this moment because if I change this beginning part for other sensor input data type, then I need to change the rest of the whole source code. By solving converting issue, it could work simply.
Is there any one who went through similar problem that I am facing either with or without stereo camera? Or for those who have any ideas on this, please let me know. Any advise would be really appreciable.
Thank you all in advance.
Originally posted by yoo00 on ROS Answers with karma: 25 on 2014-09-23
Post score: 0
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Hi, all! I am learning and trying to run people package on a real kobuki( i.e. turtlebot2) with a hokuyo laser under hydro of ROS. Because there is no tutorial on how to run and use it . I have to try to find out how to write a launch file to run it on a real kobuki. However, I encounter a problem which is same with this post.
I also can't launch the filter.launch from people_tracking_filter. The key parts for running people package is listed as follows
...............
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
<arg name="limit" default="0.2" />
<param name="/leg_detector/leg_reliability_limit" value="$(arg limit)" type="double"/>
<include file="$(find map_laser)/lfilter.launch"/>
<node pkg="leg_detector" type="leg_detector" name="leg_detector" args="scan:=scan_filtered $(find leg_detector)/config/trained_leg_detector.yaml"/>
<include file="$(find people_tracking_filter)/launch/filter.launch"/>
<node name="velocity_tracker" pkg="people_velocity_tracker" type="tracker.py" respawn="true" />
...............
Please note that the sub-package map_laser doesn't exist in the hydro branch of People package, I downloaded it from an unofficial site of it to use lfilter.launch as some launch files in People Package show.
I also check the cpp code of people_tracking_filter by Qtcreator. Some header file (.h) can't be traced.
Does anyone can give me guidance on how to run it succesfully? Thank you！
@David Lu
Originally posted by scopus on ROS Answers with karma: 279 on 2014-09-23
Post score: 1
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I am playing around with the navigation stack and turtlebot and trying to debug the errors I get. Especially the topic /tf where many nodes are publishing transformations. How to know from which node is which transformation? Is there something like rostopic echo that allows to echo nodes coming from a preselected node?
When I run rosrun tf tf_monitor all I get is :
Frame: pole_middle_3_link published by
unknown_publisher Average Delay: -0.5
Max Delay: 0
for all published transforms.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-09-24
Post score: 0
Original comments
Comment by BennyRe on 2014-09-24:
I remember that there's somewhere the information about the publisher in the message, but don't remember the exact name or position of it. This has been asked a several time here. All answers said that this information should only be used to debug. I don't think rostopic can do that.
Comment by Mehdi. on 2014-09-24:
any suggestion about keywords to search about old questions?
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I have two robots an AR. Drone and mobile robot. the aim is that the ardrone should see the mobile robot as an obstacle from its laser data. All of the work is in gazebo simulator.
Since the ardrone is flying, I changed the stl file for the mobile robot. I made the robot very long so it acts as a moving wall in order for the ardrone to sense it. now the problem is that the ardrone goes through the mobile robot and it cant sence it ??
how can I fix that??? also any suggestion of dynamic obstacles package ?? I want some thing like a wall moving ??
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-24
Post score: 0
|
Hi,
i am trying to run a prerealese test on our packages, but i am having some trouble. The links on http://wiki.ros.org/regression_tests
which lead you to the "release.yaml rosdistro file" do not work.
I am not sure, but is this the file where i have do upload my repo information https://github.com/ros/rosdistro/blob/master/hydro/distribution.yaml
?
Second question, after i added my repo information in that file, how long does it take until i can start the prerelease test on http://prerelease.ros.org/create_job/hydro ?
One last question, in the distribution.yaml file all packages/stacks contain that line:
release: release/hydro/{package}/{version}
What does this line mean ?
For now I want to test our packages for hydro.
Regards,
Peter
Originally posted by pkohout on ROS Answers with karma: 336 on 2014-09-24
Post score: 1
|
I have a mobile robot "husky"
I have the following things in a urdf file:
<!-- Size of the base-->
<property name="base_x_size" value="0.98740000" />
<property name="base_y_size" value="0.57090000" />
<property name="base_z_size" value="0.24750000" />
In the same urdf file I have this information related to the base link:
<link name="base_link">
<inertial>
<mass value="${base_mass}" />
<!--This is the pose of the inertial reference frame, relative to the link reference frame. The origin of the inertial reference frame needs to be at the center of gravity. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.-->
<origin xyz="${base_x_com} ${base_y_com} ${base_z_com}" />
<!--The 3x3 rotational inertia matrix. Because the rotational inertia matrix is symmetric, only 6 above-diagonal elements of this matrix are specified here, using the attributes ixx, ixy, ixz, iyy, iyz, izz.-->
<inertia ixx="${base_ixx_com_cs}" ixy="${base_ixy_com_cs}" ixz="${base_ixz_com_cs}"
iyy="${base_iyy_com_cs}" iyz="${base_iyz_com_cs}" izz="${base_izz_com_cs}" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/base_test.stl" />
</geometry>
<material name="Black" />
</visual>
<collision name="colloision">
<origin xyz="0 0 ${wheel_x_size/2 - base_z_origin_to_wheel_origin - 0.02}" rpy="0 0 0 " />
<geometry>
<box size = "${base_x_size+0.02} ${base_y_size} ${base_z_size + 0.02}"/>
<!--making it slightly bigger in x and z direction-->
</geometry>
<max_contacts>10</max_contacts>
</collision>
</link>
I changed in the stl file the dimension of the base_link there fore I have to change in the urdf file the following
<property name="base_z_size" value="1.24750000" />
The problem is that the mobile robot now is flying by 1 meter above the ground.
how can I change the dimension of the base_link and keep the mobile robot in the ground
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-24
Post score: 1
|
Hey guys,
I am still trying to get my gazebo and ros properly work together. But every time it fails because of urdf-spawning issues.
So what I am trying or tried is following:
Install ROS-Indigo with sudo apt-get install ros-indigo-dekstop-full
Install Gazebo 2.2.2 from source (I tried a lot of branches already) as described here (tried with SDF 1.4, 1.4.11, 1.5, 2.0) I am also aware of this issue but I can't find there the ultimate solution o.O
Install Gazebo_ros_pkgs from debian (sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control).
So every time (it doesnt matter if I try with hector or turtlebot or husky or smthelse) the spawn_model part of gazebo_ros will let my gazebo crash.
Am I missing something? Do I wont understand something? I know this question was asked a lot and i already found some 'solutions' but nothing helped me so far.
And it seems that not all people here have problems with this, can you explain me your procedure to install everything so it works?
Thanks in advance
Originally posted by schultza on ROS Answers with karma: 232 on 2014-09-24
Post score: 1
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Stage_ros publishes this, now I want to try simulating using STDR but it doesn't use the same nomenclature. How can I calculate this transform and what does it represent exactly in a real world scenario.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-09-24
Post score: 0
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Hi,
I'm trying to set a param using the launch file like so:
<node name="right_sensor" pkg="action" type="input_signal" output="screen" >
<param name="port" value="55551" />
<param name="signal_name" value="right" />
</node>
In my code I have this:
string port, signal_name;
ros::NodeHandle private_node_handle_("~");
private_node_handle_.param("signal_name", signal_name, string("signal"));
private_node_handle_.param("port", port, string("55555"));
ROS_INFO("PORT: %s", port.c_str());
ROS_INFO("Signal Name: %s", signal_name.c_str());
It appears that the "port" is not transferred correctly (I get "55555").
Only "signal_name" is correct.
BTW, if I add a letter before the value of the param in port (e.g. "a55551), it will be ok.
Can anyone assist?
Is this a bug or a feature?
Thanks,
Originally posted by MosheS on ROS Answers with karma: 5 on 2014-09-24
Post score: 0
Original comments
Comment by BennyRe on 2014-09-24:
Did you try setting the type in the launch file with type="string"?
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Hi all,
I'm using the prosilica_driver node to access images from my camera (AVT Manta G235B) in ROS indigo running under Ubuntu 14.04.
The problem I'm experiencing is twofold
First, a lower framerate (about 10 Hz
according to rostopic hz) than the
expected one (50 Hz from datasheet
and about 50 Hz tested on Windows
with the camera provider software).
Second, Rosbag (via rqt_bag) is
complaining like that when I try to log the camera frame
[INFO] [WallTime: 1411548138.205121] Recording to /home/ragingbit/test_2014-09-24-10-42-18.bag.
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_widget.py", line 235, in _handle_record_clicked
self._timeline.record_bag(record_filename)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_timeline.py", line 643, in record_bag
self.add_bag(self._recorder.bag)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/bag_timeline.py", line 167, in add_bag
self._timeline_frame.reset_timeline()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/timeline_frame.py", line 916, in reset_timeline
self.emit_play_region()
File "/opt/ros/indigo/lib/python2.7/dist-packages/rqt_bag/timeline_frame.py", line 256, in emit_play_region
self.scene().selected_region_changed.emit(*self.play_region)
TypeError: BagTimeline.selected_region_changed[Time, Time].emit(): argument 1 has unexpected type 'NoneType'
Any help is really appreciated! :)
Originally posted by RagingBit on ROS Answers with karma: 706 on 2014-09-24
Post score: 1
Original comments
Comment by RagingBit on 2014-09-24:
Thank you very much for the suggestions. Is there any documentation/user guide for that?
Comment by RagingBit on 2014-09-24:
Do I have to download the Vimba SDK form the official website?
I tried to launch the avt_vimba_node but I get the following error:
[ERROR] [1411557229.963177527]: [AVT_Vimba_ROS]: Could not start Vimba system: TL not loaded.
Error: API not started.
Comment by Miquel Massot on 2014-09-25:
Unfortunately yes, you'll have to install manually the SDK in your system. Just follow the instructions from the VIMBA SDK website.
Comment by RagingBit on 2014-09-25:
Hi Miquel,
thank you for your assistance! the node is kind of working also for my Manta G-235B. I'm only experiencing issues with the framerate (10 Hz instead of 50 Hz!). As on the VimbaViewer it is working, can you suggest me some settings I could try to modify for the avt_vimba_node?
Comment by Miquel Massot on 2014-09-25:
Check if the exposure is in automatic or in manual. Also check if the exposure time allows for 50 Hz, which has to be quite fast. Experience with extremely low exposure times and check "rostopic hz" even though the image will be dark.
Comment by RagingBit on 2014-09-26:
Exactly, that was the issue, thanks! The node is mostly working with my camera too, even though I guess some of the options available in VimbaViewer are still missing in the ROS counterpart. Anyway, great job!
Comment by Miquel Massot on 2014-09-26:
Thanks for the compliment. If you'd like to help please do so. Fork the repo and perform "pull requests" with any improvements you believe are worth.
Comment by Neil Traft on 2015-03-23:
Did you ever solve your rqt_bag error? I have the same problem.
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Hello everyone,
I would like to have advice on how to manage a family of packages in various robotics projects. I have already gathered information about alternatives, including: catkin + wstool, git-submodules, git-subtrees, and other software management options. I think that these links summarize the options:
git-submodules: http://blogs.atlassian.com/2013/05/alternatives-to-git-submodule-git-subtree/
git-subtrees: http://blogs.atlassian.com/2013/03/git-submodules-workflows-tips/
software build/dependency management tools: http://blogs.atlassian.com/2014/04/git-project-dependencies/
other possibilities: http://stackoverflow.com/questions/816619/managing-many-git-repositories
In my research group, we have worked on various ROS and non-ROS Robotics projects in the last few years, and naturally we have modules which are used in many of these projects at the same time. Until now, our code management approach was to have everything in a single git repository (there are 40+ ROS and non-ROS packages, as we try keep granularity/modularity in our libraries and executables). As we are updating our source structure to be catkin compliant, we are also thinking on separating our git repository into chunks (no necesarily at the package level). We hope that by managing our projects diferently we won't need to download our whole software repository in every platform.
I believe that catkin + vcstools/wstool are a very good solution since:
They are both independent of the ROS ecosystem: check section 2.2 here http://wiki.ros.org/catkin/conceptual_overview , and this http://wiki.ros.org/wstool
Catkin can manage build/compilation dependencies
wstool allows to set the git repository for modules/packages inside the workspace, including specifying a branch or a specific commit
also: wstool update, wstool diff, [...] are very useful
So, my questions are relating to the usage of catkin and wstool outside of the ROS ecosystem:
How can I create a catkin workspace outside of the ROS ecosystem? From what I understand, creating a workspace requires to load the setup.bash of a ROS dristro.
Any advice of a different set of tools which is suitable for working in ROS-like projects, where many modules are reused between projects?
As a side question regarding the use of catkin + wstool + rosdep : Is it possible to overlay rosdep's package lists with private repositories?
Thanks for your advice!
Originally posted by jespestana on ROS Answers with karma: 107 on 2014-09-24
Post score: 6
Original comments
Comment by William on 2014-09-24:
Just to add to @Dirk Thomas's answer, there is also a new effort to replace rosdep with a more ros agnostic tool called xylem: https://github.com/catkin/xylem @demmeln recently did a GSoC working on the project and it is in pretty good shape but needs some more work.
Comment by William on 2014-09-24:
The ultimate goal would be to have a complete set of ros agnostic tools like wstool, catkin, and xylem. The tools that are still ROS specific in some way are python-rosdistro (python api for interaction with ros/rosdistro), bloom, and rosinstall_generator.
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Hey guys, I was having some issues with the kinect on the pr2 and so I had to uninstall and reinstall openni. I now get the kinect working (roslaunch / ros commands in general work), but somehow I think I messed up the bash configuration on the Pr2 machine. Now all commands robot start/stop, robot users etc, are not found.
I tried source again /opt/ros/groovy/setup.bash but nothing seems to work.
Also, right when I ssh into the pr2 machine AND when I type /bin/bash, I get the following:
-bash: /usr/bin/check-ssh-keys: No such file or directory
Sourcing /etc/ros/setup.bash
-bash: /etc/ros/setup.bash: No such file or directory
Do you guys know any workaround for this issue?
Originally posted by Fred Eduardo on ROS Answers with karma: 31 on 2014-09-24
Post score: 0
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Hello,
I am trying to install the Explore package (http://wiki.ros.org/exploration) in Hydro. It seems that a lot of the functions used in explore refer to external packages which have since been updated, leading to error in the installation process.
Has anyone successfully gotten explore working in Hydro who is willing to share their installation process?
Thank you.
Originally posted by crzx5 on ROS Answers with karma: 31 on 2014-09-24
Post score: 1
|
Hi.
I have an anoying issue that I can't get solved...
To test debian building and releasing, I created two repos on github. One for source and the other for the release debians.
I commited two of our nodes for testing purpose before trying to use our internal git and build in local instead of on the ros buildfarm...
So I try to take it small steps after small steps to try to control all the aspects...
So, I'm compiling perfectly well the packages with catkin_make and catkin_make install in 'devel' overlay.
The install folder can be relocated anywhere and executes the nodes smoothly when I update the bashrc to source the correct folder as overlay etc...
So all seems pretty clean to me.
I do run catkin_generate_changelog and catkin_prepare_release still in the 'devel' overlay.
BUT.
When running bloom-release --rosdistro hydro --track hydro https://github.com/repo/repo.git --edit in the 'devel' overlay, I have the following error:
==> git-bloom-generate -y rosdebian --prefix release/hydro hydro -i 0
Generating source debs for the packages: ['deburring_riveting_demo', 'hironx_grippers']
Debian Incremental Version: 0
Debian Distributions: ['precise', 'quantal', 'raring']
Releasing for rosdistro: hydro
Placing debian template files into 'debian/hydro/deburring_riveting_demo' branch.
==> Placing templates files in the 'debian' folder.
Running 'rosdep update'...
####
#### Generating 'precise' debian for package 'deburring_riveting_demo' at version '0.0.2-0'
####
Generating debian for precise...
No homepage set, defaulting to ''
Could not resolve rosdep key 'rospkg'
Try to resolve the problem with rosdep and then continue.
So Yes, my python package 'deburring_riveting_demo' imports rospkg.
And in package.xml I added <run_depend>python-rospkg</run_depend>
Also tried to add it also in <build_depend>, but didn't change anything...
So as discussed on some other questions, I did clean my rosdep files and updated them.
And I also run rosdep resolve python-rospkg correctly since it answers
#apt
python-rospkg
I have to mention that at the beginning I did try in package.xml to < -depend> on rospkg instead of python-rospkg.
That might be one of the origins of bloom trying to rosdep rospkg??
So I have no clue about how to solve this issue...
I'm guessing that there might have a cache somewhere still pointing to <run_depend>rospkg</run_depend>
But I deleted my /devel, /build and /install; I deleted all temporary files in /src, I double checked the correctness of the upstream git repo...
Is there anywhere else I have to look for this??
Any idea of what is going wrong?
Thanks
Damien
Originally posted by Damien on ROS Answers with karma: 203 on 2014-09-24
Post score: 1
Original comments
Comment by 130s on 2014-09-24:
I had the same issue before. Double/Triple-check like this might help: $ grep -r ">rospkg" $YOUR_CATKIN_WS$
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Hello,
Does anyone know if there is a function that lets you read a specific tf frame such as:
.readFrame("/base_link" , time(latest info published), //frame reference);
I need to be able to read a specific frame. I know you can do:
tf::StampedTransform transform;
.lookUpTransform("target frame", "original frame" , time , transform);
The reason why I don't want a lookUpTransform is because I am actually not trying to take the transform of anything here.
Unless I am not understanding something here, I would appreciate some feed back here.
This is what I have so far. Please give me some feed back on the frames that I am using. Because to my understanding The "base_link" frame should be transformed to the "map" frame, If I have a .yaml map file running on top of the navigation stack right?
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_broadcaster.h>
using namespace std;
int main(int argc, char** argv) {
ros::init(argc, argv, "readTFframe");
ros::NodeHandle nh;
tf::Transform leader_base_link;
tf::Quaternion q;
tf::Vector3 v;
tf::TransformListener listener;
geometry_msgs::TransformStamped transformConverter;
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Publisher pub = nh.advertise<geometry_msgs::TransformStamped>("/leader/tf", 1);
static tf::TransformBroadcaster br;
double yaw;
ros::Rate loopRate(10);
while(ros::ok()){
tf::StampedTransform transform;
current_time = ros::Time::now();
try {
listener.waitForTransform("base_link", "base_footprint", ros::Time(0), ros::Duration(10.0));
listener.lookupTransform("base_link", "base_footprint", ros::Time(0), transform);
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
}
yaw = tf::getYaw(transform.getRotation());
v.setValue(transform.getOrigin().x() , transform.getOrigin().y() , transform.getOrigin().z());
leader_base_link.setOrigin(v);
q.setRPY(0.0, 0.0, yaw);
leader_base_link.setRotation(q );
br.sendTransform(tf::StampedTransform(leader_base_link, ros::Time::now(), "base_footprint", "leader_base_link"));
/*
ROS_INFO_STREAM("X pose " << transform.getOrigin().x() );
ROS_INFO_STREAM("Y pose " << transform.getOrigin().y() );
ROS_INFO_STREAM("Z pose " << transform.getOrigin().z() );
ROS_INFO_STREAM("Yaw "<< yaw );
*/
double th = yaw;
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
transformConverter.header.stamp = current_time;
transformConverter.header.frame_id = "base_footprint";
transformConverter.child_frame_id = "base_link";
transformConverter.transform.translation.x = transform.getOrigin().x();
transformConverter.transform.translation.y = transform.getOrigin().y();
transformConverter.transform.translation.z = transform.getOrigin().z();
transformConverter.transform.rotation = odom_quat;
ROS_INFO_STREAM("X pose " << transformConverter.transform.translation.x );
ROS_INFO_STREAM("Y pose " << transformConverter.transform.translation.y);
ROS_INFO_STREAM("Z pose " << transformConverter.transform.translation.z );
ROS_INFO_STREAM("Yaw "<< yaw );
loopRate.sleep();
}
return 0;
}
This is my current code when I run it I can see that the values are being passed to the transformConverter transform that is converting the desired transform from tf::StampedTransform to geometry_msgs::TransformStamped . This way it can be published on the topic /leader/tf. The only thing is I can see the values are passed through ROS_INFO. But they are not being published now on the topic.
Originally posted by choog on ROS Answers with karma: 101 on 2014-09-24
Post score: 0
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Hi,
I've been trying to connect to a Pixhawk quadcopter using the mavros library (http://wiki.ros.org/mavros) and I had some issues. We are using a pixhawk and a 3DR Iris quadcopter, and we launch the mavros code with
roslaunch mavros apm2_radio.launch
The code launches with no errors are we see a long list of topics being displayed:
/diagnostics
/mavlink/from
/mavlink/to
/mavros/battery
/mavros/fix
/mavros/gps_vel
/mavros/imu/atm_pressure
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/mag
/mavros/imu/temperature
/mavros/mission/waypoints
/mavros/radio_status
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/state
/mavros/time_reference
/rosout
/rosout_agg
The good news is that the /mavros/state, /diagnostics, and /mavros/radio_status seem to be publishing correctly
$:rostopic echo /mavros/state
header:
seq: 100
stamp:
secs: 1411583514
nsecs: 793784329
frame_id: ''
armed: False
guided: False
mode: ALT_HOLD
The bad news is that every other topic is empty. No GPS data, no battery data, no RC data, etc. Has anyone else run this code and knows how to get this data to publish?
The closest thing online I found is this online book: http://erlerobotics.gitbooks.io/erlerobot/en/mavlink/ros/mavros.html
The problem is, they experienced the same problem but gave no reason/fix for it.
Thanks!
EDIT: Adding information
On a fresh install of Ubuntu 14.04 and a newly installed mavros
sudo apt-get install mavros
I tried to get sensor data from a 3DR Iris Pixhawk. As per @vooon 's suggestion, I used rqt_logger_level to view the mavros.ros.mavconn debug messages.
# Changed the default fcu_url to ttyUSB0 instead of ttyACM0, because that's the port my 3DR modem was on.
<arg name="fcu_url" default="/dev/ttyUSB0:57600" />
Launched the file using px4.launch, enabled mavconn Debug messages, and watched the message ID's that showed up.
First, during the section where you get the heartbeat, there were a mixture of 0, 166, and 109 messages.
Then message ID 253 was published three times in a row, in conjunction with FCU lines for ArduCopter V3.1.2, PX4 and PX4v2:
[DEBUG] [1411862177.961715937]: serial0:recv: Message-Id: 253 [51 bytes] Sys-Id: 1 Comp-Id: 1
[ INFO] [1411862177.961821314]: FCU: ArduCopter V3.1.2 (e2ed3dd1)
After that, during bootup, there is a fast stream of 22 IDs split up by 0, 166, and 109
At the end of a long stream of 22's it gets 43, 44, 40, 39, and 47 in quick succession:
[DEBUG] [1411862299.848786274]: serial0:send: Message-Id: 43 [2 bytes]
[DEBUG] [1411862299.929775171]: serial0:recv: Message-Id: 44 [4 bytes] Sys-Id: 1 Comp-Id: 1
[DEBUG] [1411862299.929917816]: serial0:send: Message-Id: 40 [4 bytes]
[DEBUG] [1411862300.143771523]: serial0:recv: Message-Id: 39 [37 bytes] Sys-Id: 1 Comp-Id: 1
[ INFO] [1411862300.143899206]: WP: item #0 GAA WAYPOINT CUR params: 0, 0, 0, 0 x: 42.2936 y: -71.2638 z: 0
[DEBUG] [1411862300.143942143]: serial0:send: Message-Id: 47 [3 bytes]
[ INFO] [1411862300.143995581]: WP: mission received
[ WARN] [1411862300.673739713]: PR: request param #133 timeout, retries left 2, and 33 params still missing
At this point, over and over the computer warns of a param request timeout and sends/recieves messages 20, 22:
[ WARN] [1411862324.887729069]: PR: request param #161 timeout, retries left 2, and 13 params still missing
[DEBUG] [1411862324.887842121]: serial0:send: Message-Id: 20 [20 bytes]
[DEBUG] [1411862325.076784803]: serial0:recv: Message-Id: 22 [25 bytes] Sys-Id: 1 Comp-Id: 1
After all the parameters are missed:
[ INFO] [1411862558.949057993]: PR: parameters list received
the debug wessages settle into a 0-0-0-0-0-166-109 pattern.
Originally posted by Eric Schneider on ROS Answers with karma: 60 on 2014-09-24
Post score: 1
Original comments
Comment by tonybaltovski on 2014-09-24:
Are you using APM firmware on the PX4? If not, try using the PX4 launch file. There is a quirk for PX4. Do you get a heartbeat?
Comment by Eric Schneider on 2014-09-24:
I'll post the code I get upon launch in the answer below, it maxes out the comment length
Comment by vooon on 2014-09-24:
Try enable .mavconn debug output using rqt_logger_level. Also use rqt to view diagnostics and topic updates.
I tested with apm2_radio.launch with original APM 2.6, works. On pixhawk i only use PX4, but should no matter.
Comment by Eric Schneider on 2014-09-26:
@tony - I tried using the PX4 launch file and have the same problem, unfortunately. I do get the heartbeat message: CON: Got HEARTBEAT, connected.
Comment by Eric Schneider on 2014-09-26:
@vooon - I enabled the ros.mavros.mavconn Debug level and got a lot of messages like this: "serial0:recv: Message-Id: 22 [25 bytes] Sys-Id: 1 Comp-Id: 1" with a couple different message IDs. There weren't any obvious flags showing up in the debug stream.
Comment by Eric Schneider on 2014-09-26:
I could easily be doing something dumb where I have to arm the quadcopter or flip some switch before it starts publishing to the sensor data topics. Currently I just turn the copter on, hit the safety button, and check whether /mavors/imu/data, /mavros/battery, etc. are getting anything
Comment by vooon on 2014-09-27:
Check that following message ids are send: 30 (ATTITUDE), 27 (RAW_IMU), 24 (GPS_RAW_INT).
20-23 is parameter protocol messages.
Comment by vooon on 2014-09-27:
Also what version you use?
Comment by Eric Schneider on 2014-09-27:
I'm using ROS Indigo in Ubuntu 14.04, I got the mavros library using sudo apt-get install ros-indigo-mavros. I'll take a look at the message IDs later today. Thanks for the help!
Comment by Eric Schneider on 2014-09-27:
Hi @vooon, I probed the message IDs and put the results in an edit to the original question, too many debug messages for the comment field.
Comment by vooon on 2014-09-28:
Log says, that at least parameter and mission protocols works.
You can view params by calling rosrun mavros mavparam dump - (stdout, MissionPlanner format)
Also param mapped to ros parameters in /mavros/param/<PARAM_ID>.
Comment by vooon on 2014-09-28:
Also, because you use Pixhawk with APM fimware use apm2 launch files.
And seems that you use 3DR Radio module, so use apm2_radio.launch.
Also <arg> values can be overwrited, e.g. roslaunch mavros apm2_radio.launch fcu_url:=<my-non-default-url> gcs_url:=tcp-l://
Comment by Eric Schneider on 2014-09-28:
Hi @vooon, we tried using the apm2_radio.launch file and also ran the command
rosrun mavros mavparam dump -
We got a long series of param values, from ACRO_BAL_PITCH to WP_YAW_BEHAVIOR, but they were all constant. Rerunning dump or running "mavparam get" got static results.
Comment by Eric Schneider on 2014-09-28:
A note about parameters: when we roslaunch any of the launch files, we get a series of warnings about param timeouts.
[ WARN] [1411938394.128708084]: PR: request param #119 timeout, retries left 2, and 149 params still missing
This continues for all 149 parameters.
Comment by Eric Schneider on 2014-09-28:
Are there any settings on the RC controller that need to be flipped? Like moving from Loiter to Auto?
Alternatively, would not having GPS signal or any other physical circumstance cause it to not publish?
Thanks!
Comment by vooon on 2014-09-29:
Parameters should not be changed frequently. But should be updated after changing values through mavparam set or GCS. Current APM:Plane have near 300 params, and sometimes newer fw don't send some of that. If param missing mavros will rerequest it (with warning).
Comment by vooon on 2014-09-29:
You can enable param debugging messages for .param. But if there not error PR: messages thats ok.
Comment by vooon on 2014-09-29:
I think RC not affected at all.
Comment by vooon on 2014-09-29:
Next: check mission protocol. Use mavwp show -p (debugging .wp). It at least shows WP0 (home position in APM FW). But it updates at every FCU startup, when GPS fix is ok.
Comment by vooon on 2014-09-29:
Also you can connect GCS via internal bridge (gcs_url), i tested QGC & APM Planner 2.
Comment by Eric Schneider on 2014-09-29:
EDITED
Hi @vooon, something strange happened. We installed ros-indigo-mavros on a new computer and everything seemed to work except for
rosservice call /mavros/cmd/arming True #(or true or 1)
We got imu data, battery data, everything. After quitting and relaunching we get nothing again.
Comment by Eric Schneider on 2014-09-29:
@vooon - is there a chance we could follow up with you over email? I would be willing to post the full answer here once we have it. I think the long comment string is somewhat hard to keep track of and keeps us from being able to post longer shell outputs... email would be wonderful if it's alright.
Comment by vooon on 2014-09-29:
Ok, It is possible through email, or through the bug tracker at github.
It is very strange that at first worked, and then stopped.
Comment by Eric Schneider on 2014-09-30:
I'll do some more testing to try and confirm the issue (we'll uninstall/reinstall mavros on a couple computers) and get back to you... If you have any suggestions for tests to run we can try those. Thanks so much!
Comment by sergioma on 2019-06-07:
I am having a similar problem. I have created a new issue. Can somebody help me please? #1248
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I have been trying (unsuccessfully) to plot /diagnostics/status[0]/values[0]/value (a stringified floating point number).
Is such a topic string supported by rostopic or rqt_plot ? If so, how do I access the value of interest ?
Originally posted by john.novak on ROS Answers with karma: 11 on 2014-09-24
Post score: 1
|
Hi all,
I'm debugging a ROS application that intensively uses nodelets. However, I found that rqt_graph cannot visualize nodelets. Neither can other command line tools such as rostopic. I'm wondering whether I'm correct on this point, and if so, is there any other way around? Any suggestions will be appreciated.
Originally posted by Vova Niu on ROS Answers with karma: 56 on 2014-09-24
Post score: 2
|
After trying to simulate turtlebot navigation on STDR instead of Stage, I always run into missing transforms problems and navigation cant start. I ran view_frames and put a link to the resulting pdf.
pdf file of TF tree
The particularity of STDR is that it is publishing its own map and doesnt need map_server (from what I could understand). I also had to manually add some transforms to avoid a lot of remapping,
odom -> base_footprint which is just a
copy of map_static -> robot0
and
base_link -> base_laser_link which is
a copy of robot0 -> robot0_laser_0
When I run everything, I get the following error:
Waiting on transform from
base_footprint to map to become
available before running costmap, tf
error: Could not find a connection
between 'map' and 'base_footprint'
because they are not part of the same
tree.Tf has two or more unconnected
trees.
As you can see in the pdf map is also supposed to be connected to odom, which is actually the task of AMCL. But in my case it is not. And i couldnt find out the source of the problem.
I would be very thankful for your help.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-09-24
Post score: 0
Original comments
Comment by Mehdi. on 2014-09-24:
I could temporarily bypass this problem by publishing my own map -> odom as a identity transform but this would simulate a perfect odometry?
|
Hi All,
I am trying to get the robot_mechanism_controllers/JointTrajectoryActionController working as per the standard turtorial. However, when I try to run my RViz, the MoveIt! controller manager claims it cannot find such a controller:
[ INFO] [1411628617.460494704]: MoveitSimpleControllerManager: Added FollowJointTrajectory controller for arm_controller
[ERROR] [1411628617.460587145]: Unknown controller type: 'robot_mechanism_controllers/JointTrajectoryActionController'
What can be done about this?
Here is my controllers.yaml file. Note the FollowJointTrajectory controller works fine. Some of the parameters are out of tune but it doesn't make much sense to alter them yet until the actual controller plugin is working.
controller_list:
- name: arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- waist
- shoulder
- elbow
- name: r_arm_controller
action_ns: joint_trajectory_action_controller
type: "robot_mechanism_controllers/JointTrajectoryActionController"
joints:
- waist
- shoulder
- elbow
gains:
waist: {p: 1000.0, d: 6.0, i: 600.0, i_clamp: 4.0}
shoulder: {p: 700.0, d: 4.0, i: 450, i_clamp: 4.0}
elbow: {p: 300.0, d: 6.0, i: 300, i_clamp: 2.0}
joint_trajectory_action_node:
joints:
- waist
- shoulder
- elbow
constraints:
goal_time: 10.0
waist:
goal: 0.02
shoulder:
goal: 0.02
elbow:
goal: 0.02
How do I get MoveIt! to 'see' the package? I have the package ros-hydro-robot-mechanism-controllers installed already, do I need to install something else?
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-09-25
Post score: 1
|
Hey!
Is there any node/pkg that already implemented the mono camera perspective matrix calculation?
I have a mono camera mounted on a fixed place and I would like to get the projection matrix. I know the camera calibration node and I thought there is something similar for this task.
Originally posted by zweistein on ROS Answers with karma: 231 on 2014-09-25
Post score: 1
Original comments
Comment by Guido on 2014-09-25:
You will need some assumptions to compute the projection matrix from a mono camera, like some known calibration pattern. What are your assumptions ?
Comment by zweistein on 2014-09-25:
I'm going to do dhte calibration too. I know that I need the intrinsic parameters in order to get the correct perspective matrix. But is there any ready to use node for perspective matrix calculation if I supply the camera calibration files?
|
First of all, I'm running Ubuntu 12.04.5 LTS (using catkin hydro) on my workstation and at the beginning, I have these packets: beginner_tutorials, ps3joy and CMakelist.txt file ( ~/catkin_ws_ruben/src )
Im trying to follow Writing a Teleoperation Node for the PS3 Joystick from
http://wiki.ros.org/ps3joy/Tutorials/WritingTeleopNode
I created my new package learning_ps3joy on ~/catkin_ws_ruben/src
chmod +x turtle_teleop_ps3joy.cpp (to execute turtle_teleop_ps3joy.cpp I've created)
I suppose that this line is wrong on wiki:
rosbuild_add_executable(turtle_teleop_ps3joy src/turtle_teleop_ps3joy.cpp)
so I change for this
rosbuild_add_executable(learning_ps3joy src/turtle_teleop_ps3joy.cpp)
So in CMakeList.txt I have the following ( I suppose is correct):
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
rosbuild_add_executable(learning_ps3joy src/turtle_teleop_ps3joy.cpp)
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
I type rosmake and then following Setting up the PS3 Joystick without problems
Then I create launch folder, create inside turtle_ps3joy.launch
<launch>
<!-- Turtlesim Node-->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<!-- PS3 joy node -->
<node respawn="true" pkg="ps3joy"
type="ps3joy_node" name="PS3_turtle_joy" >
<param name="dev" type="string" value="/dev/input/js0" />
<param name="deadzone" value="0.12" />
</node>
<!-- Axes -->
<param name="axis_linear" value="1" type="int"/>
<param name="axis_angular" value="0" type="int"/>
<param name="scale_linear" value="2" type="double"/>
<param name="scale_angular" value="2" type="double"/>
<node pkg="turtle_teleop" type="turtle_teleop_joy" name="teleop"/>
</launch>
and run on termimal roslaunch learning_ps3joy turtle_ps3joy.launch
Output:
... logging to /home/robin/.ros/log/ba129752-4582-11e4-b0c4-0024e808a46a/roslaunch-rchiesa-8582.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://rchiesa:33145/
SUMMARY
========
PARAMETERS
* /PS3_turtle_joy/deadzone
* /PS3_turtle_joy/dev
* /axis_angular
* /axis_linear
* /rosdistro
* /rosversion
* /scale_angular
* /scale_linear
NODES
/
PS3_turtle_joy (ps3joy/ps3joy_node)
sim (turtlesim/turtlesim_node)
teleop (turtle_teleop/turtle_teleop_joy)
auto-starting new master
process[master]: started with pid [8596]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ba129752-4582-11e4-b0c4-0024e808a46a
process[rosout-1]: started with pid [8609]
started core service [/rosout]
process[sim-2]: started with pid [8621]
ERROR: cannot launch node of type [ps3joy/ps3joy_node]: can't locate node [ps3joy_node] in package [ps3joy]
ERROR: cannot launch node of type [turtle_teleop/turtle_teleop_joy]: can't locate node [turtle_teleop_joy] in package [turtle_teleop]
So , How can I solve this?
Thanks for your time
Originally posted by astur on ROS Answers with karma: 31 on 2014-09-25
Post score: 0
|
Hi, I've tried both today and yesterday incase it was a temporary thing, however I constantly recieve this error when trying to initialise rosdep:
ERROR: cannot download default sources list from:
https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
The other solutions I've seen assume that it's a proxy that is causing this but I am not using a proxy and I am able to ping github successfully as well as view the actual link it returns. I apologise if I have missed something simple here but I've been banging my head trying everything so far. Any help you could give would be greatly appreciated.
I'm running Ubuntu 14.04 LTS and using the Indigo Igloo version of ROS and my rosdep version is 0.10.30. If there is any further information you need just let me know.
Originally posted by Aracanid on ROS Answers with karma: 51 on 2014-09-25
Post score: 0
|
I am trying to display my laserscan on rviz but its status flickers between Status:Ok and Status:Error because of Transform.
Transform [sender=/depthimage_to_laserscan]
For frame [camera_depth_frame]: No transform to fixed frame [base_footprint].
TF error: [The tf tree is invalid because it contains a loop.
Frame camera_rgb_optical_frame exists with parent camera_rgb_frame.
Frame camera_rgb_frame exists with parent base_link.
Frame base_footprint exists with parent odom.
Frame base_link exists with parent base_footprint.
Frame left_cliff_sensor_link exists with parent base_link.
Frame leftfront_cliff_sensor_link exists with parent base_link.
Frame right_cliff_sensor_link exists with parent base_link.
Frame rightfront_cliff_sensor_link exists with parent base_link.
Frame wall_sensor_link exists with parent base_link.
Frame camera_depth_frame exists with parent camera_rgb_frame.
Frame camera_depth_optical_frame exists with parent camera_depth_frame.
Frame camera_link exists with parent camera_rgb_frame.
Frame front_wheel_link exists with parent base_link.
Frame gyro_link exists with parent base_link.
Frame base_laser_link exists with parent base_link.
Frame laser exists with parent base_link.
Frame plate_0_link exists with parent base_link.
Frame plate_1_link exists with parent plate_0_link.
Frame plate_2_link exists with parent plate_1_link.
Frame plate_3_link exists with parent plate_2_link.
Frame rear_wheel_link exists with parent base_link.
Frame spacer_0_link exists with parent base_link.
Frame spacer_1_link exists with parent base_link.
Frame spacer_2_link exists with parent base_link.
Frame spacer_3_link exists with parent base_link.
Frame standoff_2in_0_link exists with parent base_link.
Frame standoff_2in_1_link exists with parent base_link.
Frame standoff_2in_2_link exists with parent base_link.
Frame standoff_2in_3_link exists with parent base_link.
Frame standoff_2in_4_link exists with parent standoff_2in_0_link.
Frame standoff_2in_5_link exists with parent standoff_2in_1_link.
Frame standoff_2in_6_link exists with parent standoff_2in_2_link.
Frame standoff_2in_7_link exists with parent standoff_2in_3_link.
Frame standoff_8in_0_link exists with parent standoff_2in_4_link.
Frame standoff_8in_1_link exists with parent standoff_2in_5_link.
Frame standoff_8in_2_link exists with parent standoff_2in_6_link.
Frame standoff_8in_3_link exists with parent standoff_2in_7_link.
Frame standoff_kinect_0_link exists with parent plate_2_link.
Frame standoff_kinect_1_link exists with parent plate_2_link.
Frame left_wheel_link exists with parent base_link.
Frame right_wheel_link exists with parent base_link.
Frame scan1 exists with parent cart_frame.
Frame scan2 exists with parent cart_frame. ]
How do I get rid of the error?
EDIT:
tf frames
Originally posted by charkoteow on ROS Answers with karma: 121 on 2014-09-25
Post score: 1
Original comments
Comment by bvbdort on 2014-09-25:
Please share frame.pdf screenshot from rosrun tf view_frames
Comment by charkoteow on 2014-09-26:
I've updated the question with my frames.
Ignore the cart_frame, that's something else that I'm trying to figure out.
|
I am working with a 3d camera that provides a depthimage which is encoded in 32FC1
I need the image in OpenCV format (Mat) in order to access each component as a matrix
The problem is that when I have done the transformation, I try to access the Matrix data with Mat::at but I can not see real values. I don't know where the problem is.
EDIT
I have discovered that the problem is the ros encoding of the image. I have simulated a depth camera and I don't know the equivalence between each pixel value and the distance it represents. My camera code is the following:
<gazebo reference="kinect_depth_frame">
<sensor type="depth" name="fotonic">
<update_rate>30.0</update_rate>
<camera name="fotonic">
<horizontal_fov>1.221730476</horizontal_fov> <!-- 70 deg -->
<image>
<width>800</width> <!-- 160 -->
<height>600</height> <!-- 120 -->
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>7.0</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="kinect_depth_optical_frame_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>fotonic_3dcamera</cameraName>
<imageTopicName>/fotonic_3dcamera/image_raw</imageTopicName>
<cameraInfoTopicName>/fotonic/depth/camera_info</cameraInfoTopicName>
<depthImageTopicName>/fotonic/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/fotonic_3dcamera/depth/camera_info</depthImageInfoTopicName>
<depthImageCameraInfoTopicName>/fotonic_3dcamera/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>/fotonic_3dcamera/depth/points</pointCloudTopicName>
<frameName>kinect_depth_optical_frame</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<distortionK1>0</distortionK1>
<distortionK2>0</distortionK2>
<distortionK3>0</distortionK3>
<distortionT1>0</distortionT1>
<distortionT2>0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
Originally posted by arenillas on ROS Answers with karma: 223 on 2014-09-25
Post score: 0
Original comments
Comment by Wolf on 2014-09-30:
Can you please add your code for retreiving your cv::Mat from the image message and the cv::Mat::at statement?
|
Hello,
I want to move the husky robot using a code that publishes the command velocities. the movement should be like zigzag. here is the code that I am trying but it is not working.. I did not knew how to do it. Any help please ?
//const double M_PI=3.14159265359 ;
const double deg_to_rad = M_PI / 180.0 ;
class test_pf
{
public:
test_pf(ros::NodeHandle & n_) : n(n_)
{
vel_pub = n.advertise<geometry_msgs::Twist>("/husky_ns/husky/cmd_vel", 100);
};
void move(double val)
{
geometry_msgs::Twist msg;
msg.linear.x = val;
msg.linear.y = 0.0 ;
msg.linear.z = 0.0;
msg.angular.x = 0 ;
msg.angular.y = 0 ;
msg.angular.z = 0 ;
vel_pub.publish(msg);
}
void turn(double val)
{
geometry_msgs::Twist msg;
msg.linear.x = 0.0;
msg.linear.y = 0.0 ;
msg.linear.z = 0.0;
msg.angular.x = 0.0 ;
msg.angular.y = 0.0 ;
msg.angular.z = val ;
vel_pub.publish(msg);
}
private:
// ROS
ros::NodeHandle n;
ros::Publisher vel_pub ;
} ;
int main(int argc, char **argv)
{
// ROS node
std:: cout << " MAIN " << std::endl ;
ros::init(argc, argv, "move_robot");
ros::NodeHandle n;
ros::NodeHandle n_priv("~");
ros::Rate loop_rate(50);
// create an object
test_pf move_robot_obj(n);
while(ros::ok())
{
move_robot_obj.move(1.0);
loop_rate.sleep();
move_robot_obj.turn(4.0);
loop_rate.sleep();
move_robot_obj.move(1.0);
loop_rate.sleep();
move_robot_obj.turn(-4.0);
loop_rate.sleep();
}
return 0;
}
Originally posted by RSA_kustar on ROS Answers with karma: 275 on 2014-09-25
Post score: 0
Original comments
Comment by Morgan on 2014-09-25:
What behavior do you see when you try it? Does anything interesting (e.g., a warning or error) show up in the console?
Comment by RSA_kustar on 2014-09-25:
no error in console.. it keeps moving forward and I cant notice the turns but eventually the track is changing slowly downward in un-noticable way
|
I have a new ubuntu 64 bit 14.04 upgrade and a project which used to build successfully with catkin_make. Now I'm getting
make[2]: *** No rule to make target `/usr/lib/libboost_regex-mt.so', needed by ... < one of my source files>
I've re-installed ros/indigo
Any ideas? (thanks in advance)
Originally posted by blakeh on ROS Answers with karma: 17 on 2014-09-25
Post score: 0
Original comments
Comment by Mago Nick on 2014-09-26:
I know it may sounds obvious did you try to install the library
libboost-regex-dev
and its dependencies? Or alternatively:
libboost-all-dev
to install everything
Comment by blakeh on 2014-09-26:
Thanks - obvious is OK! However : apt-get install returned:
libboost-all-dev is already the newest version.
Comment by Mago Nick on 2014-09-27:
@blanke, I have various ideas
remove build and devel and try to recompile
check if you are including boost libraries properly in the cmake file of your project
|
hi everyone
I want to use ros_arduino_bridge stack by Patrick Goebel for my mobile robot base controller. There are two hardwares that patrick has used in it. Pololu VNH5019 dual motor controller shield (http://www.pololu.com/catalog/product/2502) or Pololu MC33926 dual motor shield (http://www.pololu.com/catalog/product/2503) for drive the motors and Robogaia Mega Encoder shield (http://www.robogaia.com/two-axis-encoder-counter-mega-shield-version-2.html) for encoders.
Unfortunately the encoder shield is out of stock and both two shields are so expensive from my country because i need to import them.
Is it possible to use other shields for this stack??? I am a new learner in robotics and ROS and some more practical advice can help me because now i am so confused about how to do for my work without these two hardwares :((((((
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-09-25
Post score: 0
|
Due to some nomenclature difference between some packages and some simulator (especially considering tf transforms) I am looking for a nice way to change the frame_id and child_frame_id of some tf transforms and republish them directly, without having to touch the source code of any package. I thought about subscribing to /tf and then checking frame_id of each incoming transform. If it is the frame_id i need then create a new transform with the same translation and rotation data but with different frames and broadcast it.
For example I have a transform being published by STDR (new 2d simulator)
map_static-> robot0
I want to rebroadcast it to
odom->base_footprint
Is there something already implemented in ROS to do this?
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-09-25
Post score: 0
Original comments
Comment by ahendrix on 2014-09-25:
You'll probably have to write that yourself, or reconfigure the frame names in the navigation stack.
|
Hello everybody.
I am trying to write a package for storing some information in a file in order to plot them later (usually in matlab).
I need it in order to check if the things will work properly. Follows a more detailed description of the problem.
What I would like to do is a simple logger class that would be initialized using the full path to the desired "log" file.
A part from standard constructor and destructor i would like to have a function, lets say something like
void logMsg(<generic_msg> m);
That takes any ros msg as parameter and writes it to a file in matlab friendly format.
Now I can think of multiple ways of doing it for example:
Use overloading. I will define multiple versions of logMsg with different parameters and code. Example:
void logMsg(nav_msg::Odometry o);
void logMsg(geometry_msg::Point p);
PROS: easy to implement
CONS: huge file, code repetition, poor flexibility
Taking a string as input. I will handle the messages as a string and print them to file as a string. However this requires the user to convert the string himself/herself, and this is not what I have in mind. Providing a function that formats the message in a string would end up in the problems above. Example:
void logMsg(std::string s);
std::string toString(<various_types_of_msgs>);
????
I cannot think anything proper for the purpose, does anyone have any suggestions?
Thank you very much
Andrea
Originally posted by Mago Nick on ROS Answers with karma: 385 on 2014-09-26
Post score: 0
Original comments
Comment by bvbdort on 2014-09-26:
First method looks good, 2nd method output is similar to rostopic echo to text file.
Comment by Mago Nick on 2014-09-26:
I know, but the first method requires implementing each function for each file. I am trying to understand if there is a better way of doing it
|
Ubuntu 14.04
ROS Indigo Igloo
Bumblebee2
Hello!
I am using a lookup table to rectify the images extracted with camera1394stereo generated outside ROS with triclops. Now I have the "perfect" rectification but I want to bypass the stereo image proc to avoid the process of rectification, normalization and rotation.
I just want to generate the disparity image and the PointCloud2 image to use it in viso2_ros. The problem is that I don't have the correct parameters to fill the camera_info msg left and right cameras. As long I understand, viso2_ros use image_proc to do all the process to generate rectified images.
Is there some way to use image_proc, stereo_image_proc or depth_image_proc to get the disparity image and the pointCloud without do the rectification?
Thanks in advance.
Originally posted by pmarinplaza on ROS Answers with karma: 330 on 2014-09-26
Post score: 0
|
I have extracted an object of interest using Euclidean Cluster Extraction in PCL. I would now like to extract the corresponding object in a 2D image that has been saved simultaneously. Are there any tools available in ros/pcl that can be used to do this?
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-09-26
Post score: 1
|
Hey guys,
i am developing a Plugin for rviz, and I want to have the last message that was sent on a topic when i subscribe to this topic.
The idea is, that I am in rosbag replay and i want to evaluate the values of my sensors when the replay is stopped.
The way to achieve this is - in my eyes - to request the last message that has been sent on the topic.
Is there any way to do that?
BTW, i am using c++
Happy Coding,
Johannes
Originally posted by JW on ROS Answers with karma: 11 on 2014-09-26
Post score: 1
|
i want to navigate P3AT robot spawned in usarsim through teleop_twist_keyboard package (in ROS).
I have connected ros to usarsim using executive_usarsim package and spawned the P3AT robot in usarsim, but when i run teleop_twist_keyboard and presses keys to move the robot, nothing happens. please help me out.
I have tried to run $rosrun rqt_graph rqt_graph, the following rqt graph appears: Click to view rqt_graph
then i have run $ rostopic echo /executive_usarsim/status, following graph appeared: Click to view graph
then i observed the cmd_vel is not present. what to do next. please help.
NOTE: i am using ROS-fuerte on UBUNTU 12.04 LTS. [with USARSim simulator]
see full description: click here
Originally posted by sumant on ROS Answers with karma: 77 on 2014-09-26
Post score: 0
Original comments
Comment by bvbdort on 2014-09-27:
cmd_vel is not published so its not on rqt_graph. try rostopic info cmd_vel to see topic publishers and subcribers
Comment by sumant on 2014-10-10:
hello, @bvbdort . from rostopic info cmd_vel.
publisher: teleop_twist_keyboard
subscriber: None
since no one is subscriber.
i want executive_usarsim to be a subscriber.
here is the rqt graph obtained.
https://tucrlab.files.wordpress.com/2014/09/executive.png
Comment by ajain on 2014-10-17:
Are you sure that executive_usarsim is subscribing to cmd_vel topic? You may wanna view "All Nodes and Topics" in rqt_graph (Upper left drop down menu) or check it using rostopic list. Also, check your launch file if you are using remap to change topic names.
Comment by sumant on 2014-10-23:
i am using usarsim_inf & it works fine.
|
Hello,
I am getting this error:
In function ‘int main(int, char**)’:
/home/turtlebot/catkin_ws/src/turtlebot_formation/src/readTFframe.cpp:70:24: error: no match for call to ‘(ros::Publisher) (geometry_msgs::TransformStamped&)’
I can clear see that the two types are compatible but for some reason cmake is telling me that no match all to (geometry_msgs::TransformStamped&) exists. If anyone can help me solve this issue it would be greatly appreciated.
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_broadcaster.h>
using namespace std;
int main(int argc, char** argv) {
ros::init(argc, argv, "readTFframe");
ros::NodeHandle nh;
tf::Transform leader_base_link;
tf::Quaternion q;
tf::Vector3 v;
tf::TransformListener listener;
geometry_msgs::TransformStamped transformConverter;
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Publisher pub = nh.advertise<geometry_msgs::TransformStamped>("/leader/tf", 1000); //error because of this
static tf::TransformBroadcaster br;
double yaw;
ros::Rate loopRate(10);
while(ros::ok()){
tf::StampedTransform transform;
current_time = ros::Time::now();
try {
listener.waitForTransform("base_link", "base_footprint", ros::Time(0), ros::Duration(10.0));
listener.lookupTransform("base_link", "base_footprint", ros::Time(0), transform);
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
}
yaw = tf::getYaw(transform.getRotation());
v.setValue(transform.getOrigin().x() , transform.getOrigin().y() , transform.getOrigin().z());
leader_base_link.setOrigin(v);
q.setRPY(0.0, 0.0, yaw);
leader_base_link.setRotation(q );
br.sendTransform(tf::StampedTransform(leader_base_link, ros::Time::now(), "base_footprint", "leader_base_link"));
double th = yaw;
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
transformConverter.header.stamp = current_time;
transformConverter.header.frame_id = "base_footprint";
transformConverter.child_frame_id = "base_link";
transformConverter.transform.translation.x = transform.getOrigin().x();
transformConverter.transform.translation.y = transform.getOrigin().y();
transformConverter.transform.translation.z = transform.getOrigin().z();
transformConverter.transform.rotation = odom_quat;
ROS_INFO_STREAM("X pose " << transformConverter.transform.translation.x );
ROS_INFO_STREAM("Y pose " << transformConverter.transform.translation.y);
ROS_INFO_STREAM("Z pose " << transformConverter.transform.translation.z );
ROS_INFO_STREAM("Yaw "<< yaw );
pub(transformConverter); //error here
loopRate.sleep();
}
return 0;
}
Originally posted by choog on ROS Answers with karma: 101 on 2014-09-26
Post score: 0
|
I'm following these tutorials to stream images to OpenCV format from the /ardrone/image_raw topic.
http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages
However, even though I've been able to successfully compile the driver, when i run it, I don't see any images on screen.
My code is this -
#include "ros/ros.h"
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "ardrone_autonomy/Navdata.h"
static const std::string OPENCV_WINDOW = "Image window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_; //ImageTransport object "it_" under the namespace 'image_transport'
image_transport::Subscriber image_sub_; //Subscriber object "image_sub_"
image_transport::Publisher image_pub_; // Publisher object "image_pub_"
public:
ImageConverter(): it_(nh_)
{
// Subscribe 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, "see_image");
ImageConverter ic;
ros::spin();
return 0;
}
After executing this, rosrun [package_name] [driver_node] along with a recorded .bag file, it is supposed to produce image stream with a circle on it.
I can see when I run rqt_graph both the bag file and the driver node. However, I don't see any image. What am I missing? I've lost about a week in looking at this.
Originally posted by voladoddi on ROS Answers with karma: 87 on 2014-09-26
Post score: 0
|
We've run into a debian packages conflict on Ubuntu 14.04 with Indigo the past week, concerning libopenni-sensor-primesense0 package and the libopenni-sensor-pointclouds0 package. We worked around it by forcing the install of the /etc/openni/GlobalDefaults.ini from libopenni-sensor-primesense0, but there's definitely an upstream conflict between libopenni-sensor-primesense0 package and the libopenni-sensor-pointclouds0 package that needs to be resolved.
We did some digging and it looks like the /etc/openni/GlobalDefaults.ini file one of those packages installs has windows-based line endings while the other has the correct Unix line endings. Thus they conflict when you try to install both. Getting ROS setup on 14.04 is going to cause pain for anyone until that gets resolved.
(reposted from an email by Andy Sayler)
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-09-26
Post score: 0
|
I have gotten fairly far along in building a Ubuntu 14.04 Indigo on a beaglebone Black and the install went through the 'robot' rosdep install http://wiki.ros.org/indigo/Installation/Source.
As a matter of fact I see this:
ubuntu@arm:~/ros_catkin_ws/src/common_msgs/sensor_msgs/msg$ ls
CameraInfo.msg JoyFeedback.msg PointCloud.msg
ChannelFloat32.msg JoyFeedbackArray.msg PointCloud2.msg
CompressedImage.msg LaserEcho.msg PointField.msg
FluidPressure.msg LaserScan.msg Range.msg
Illuminance.msg MagneticField.msg RegionOfInterest.msg
Image.msg MultiDOFJointState.msg RelativeHumidity.msg
Imu.msg MultiEchoLaserScan.msg Temperature.msg
JointState.msg NavSatFix.msg TimeReference.msg
Joy.msg NavSatStatus.msg
I see this after installing ros_arduino_bridge and rebuilding via rosdep.
ubuntu@arm:~$ locate sensor_msgs|grep Range
/home/ubuntu/ros_catkin_ws/src/common_msgs/sensor_msgs/msg/Range.msg
/home/ubuntu/ros_catkin_ws/src/genmsg/test/files/sensor_msgs/msg/Range.msg
so it isn't anywhere in the executable path.
Here is where it complains during launch:
/ros_arduino_python/arduino_sensors.py", line 24, in
from sensor_msgs.msg import Range
ImportError: No module named sensor_msgs.msg
so
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
gives one error message:
Reading state information... Done
E: Unable to locate package collada-dom-dev
ERROR: the following rosdeps failed to install
apt: command [sudo apt-get install -y collada-dom-dev] failed
after a apt-get and rosdep update the same error occurs.
Not a major or urgent issue for me, just trying to learn how things work by kicking the tires.
Originally posted by DrBot on ROS Answers with karma: 147 on 2014-09-26
Post score: 0
|
I am currently working on a robot with several subsystems. For simplicity, let's say it has a robotic arm and a drive system. These things need to be modular, so if we removed the arm (for example), the robot can still drive. If we're testing the arm, we'd like not to send drive commands.
We have written a separate library for interacting with our electronics. In particular, we have a single chip for getting and setting PWM / GPIO signals.
I'm trying to integrate this robot with the ros_control framework, and I'm somewhat in a dilemma as to how to divide up responsibility such that we have modular software. My main confusion stems from the fact that I am not sure how RobotHW is supposed to be used. To be honest, I'm still partially confused about what controller_managers are for, too, and that could be feeding into my confusion as well, since we do have the built-in ROS controllers controlling both the arm and drive.
Which pattern is preferred?
Have a single RobotHW class, called "MyRobotHW"
Have a single controller manager associated with MyRobotHW,
read() and write() directly interact with our PWM libraries.
OR
Have a RobotHW class for each subsystem, i.e., "ArmHW" and "DriveHW"
Each class interacts with the same PWM library
Each class gets its own controller manager
Each class runs in its own node, so we'd need to make the PWM library thread safe
OR
Same as above, but have a single controller manager, and just have a single node in which we call read() and write() for each HW class (in sequence), so that we don't need to worry about thread safety.
OR
something else entirely?
Is this really just a design choice? Or am I misunderstanding the design of ros_control? I've read the documentation several times but I am still confused. I would greatly benefit from the help of someone who's successfully used ros_control in practice.
Originally posted by duffany1 on ROS Answers with karma: 173 on 2014-09-26
Post score: 6
|
hi
Does anyone know a package for base controller for differential mobile robot which subscribes twist messages and publishes odom to ardunio board??
I know ros_arduino_bridge and a package named ardros but because i dont have their hardtware like motor and encoder shields i need to change them in deep. thanks:))
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-09-27
Post score: 0
|
do I have to provide them myself:
namespace std_msgs {
bool operator== (const Header &h1, const Header &h2)
{
return h1.frame_id==h2.frame_id && h1.stamp==h2.stamp && h1.seq==h2.seq;
}
}
namespace geometry_msgs {
bool operator== (const Point &p1, const Point &p2)
{
return p1.x==p2.x && p1.y==p2.y && p1.z==p2.z;
}
bool operator== (const Quaternion &q1, const Quaternion &q2)
{
return q1.x==q2.x && q1.y==q2.y && q1.z==q2.z && q1.w==q2.w;
}
bool operator== (const Pose &p1, const Pose &p2)
{
return p1.position==p2.position && p1.orientation==p2.orientation;
}
}
etc...
that's seems dumb. I checked the generated header files and no comparison operator is provided. The default constructor initializes things to 0, there is a serialization mechanism, etc. but not comparison operator. Am I missing a point? Is there a good reason to not provide these operators?
Originally posted by brice rebsamen on ROS Answers with karma: 1001 on 2014-09-27
Post score: 1
|
When i tried to initialize rosdep,
(xubuntu 14.04 is installed.)
sudo rosdep init
It gives following error
ERROR: cannot download default sources list from: https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list. Website may be down.
My proxies are correct. Any idea what is wrong?
Originally posted by ama on ROS Answers with karma: 51 on 2014-09-27
Post score: 0
Original comments
Comment by marcobecerrap on 2016-05-18:
What do you mean by "My proxies are correct" ?
|
Hi, I have updated our ros client message generation package (geneus : https://github.com/k-okada/jsk_roseus/tree/new_geneus/geneu)s, which depends on only python and genmsg.
I'd like to ask add this message generation on ros buildfirm and could you instruct me how to proceed
should I create a repository that only contains geneus ?
should I post somthing to somewhere ?
Thanks in advance
Originally posted by Kei Okada on ROS Answers with karma: 1186 on 2014-09-27
Post score: 1
Original comments
Comment by Dirk Thomas on 2014-09-27:
What is your expectation? To be applied for your message packages depending on it or to be used as a standard generator beside gencpp, genpy and genlisp?
Comment by Kei Okada on 2014-09-28:
yes, exactory
|
I want to use xenomai.I try to install on my pc.I read this page and did these steps->http://www.stanley.gatech.edu/skelly/uncategorized/installing-xenomai-on-ubuntu-12-04/#comment-3379
But I didn't change configuration options.I use ubuntu 12.04 and xenomai 2.5.5.2.When I run "sudo ./trivial-periodic", I get a message via "Xenomai: /dev/rtheap is missing" . Is it a problem,what should I do?
Originally posted by jossy on ROS Answers with karma: 83 on 2014-09-27
Post score: 0
Original comments
Comment by jbohren on 2014-09-27:
When you say you didn't change the options, do you mean that you used exactly the options on that page?
Comment by jbohren on 2014-09-27:
Also, is there a reason you're using Xenomai 2.5.5.2 instead of one of the newer versions?
Comment by jossy on 2014-09-27:
I handled this problem. There are some spelling mistakes in the documentation. Thanks your commend.
|
I created a CMakeLists.txt to compile pointcloud_to_laserscan for groovy.
cmake_minimum_required(VERSION 2.4.6)
project(pointcloud_to_laserscan)
find_package(catkin REQUIRED COMPONENTS
roscpp nodelet sensor_msgs pcl_ros
dynamic_reconfigure)
# PCL (do NOT use 1.7)
find_package(PCL 1.6 EXACT REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
#generate cfg
generate_dynamic_reconfigure_options(cfg/CloudScan.cfg)
# Use this to define what the package will export (e.g. libs, headers).
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES pointcloud_to_laserscan
LIBRARIES cloud_to_scan
CATKIN_DEPENDS nodelet roscpp pluginlib)
##############################################################################
# Binaries
##############################################################################
add_library(cloud_to_scan
src/cloud_to_scan.cpp src/cloud_throttle.cpp
)
target_link_libraries(cloud_to_scan
${catkin_LIBRARIES} ${PCL_LIBRARIES} )
install(TARGETS cloud_to_scan
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
I installed it with this command
catkin_make_isolated --pkg pointcloud_to_laserscan -DCMAKE_VERBOSE_MAKEFILE=true --install --install-space /opt/ros/groovy
When I use the associated launch file, the following message appears:
[ERROR] [1411833572.330693140]: Skipping XML Document "/opt/ros/groovy/share/pointcloud_to_laserscan/nodelets.xml" which had no Root Element. This likely means the XML is malformed or missing.
Does it mean that I have to copy the file ?
Originally posted by Fabien R on ROS Answers with karma: 90 on 2014-09-27
Post score: 0
|
Hi,
I wrote a node that subscribes to amcl particlecloud. I would like to write a callback function that process all the Pose array elements.
How can i get the size of the particlecloud or specifically the number of poses in the PoseArray Message?
Originally posted by Anas Alhashimi on ROS Answers with karma: 179 on 2014-09-27
Post score: 1
|
First, please don't get me wrong, I don't mean I want to open a custom domain.
MoveIt! project uses moveit.ros.org for their wiki contents (that are stored on github according to @Dave Coleman) instead of wiki.ros.org.
Question-1. How is it possible to open a custom sub domain (again I have no interest in doing that. This question has just lingered in mind for a long time)?
Question-2. It looks like running the own server to generate the own html format from .rst files. Maybe I like to ask the maintainers @Sachin Chitta @hersh @acorn about its experience, especially the downside, since ROS wiki as I'll mention below has a lot of advantages.
Background of this question: While I like ROS wiki with lots of useful macros that are specific to ROS world. I'm also a fan of aethetics aspect of ROS wiki. And using ROS wiki for all documentation gives a sense that all information regarding ROS is centralized under ros.org, which is a huge plus for both beginners and advanced users IMO. On the other hand, we have a kind of strong motivation to keep all resources including document files in our repositories for the maintainability and portability (I assume that's the same with the decision MoveIt! team?). Currently I can't think of any easy way to synchronize raw text documents on ROS wiki to the external sites.
Originally posted by 130s on ROS Answers with karma: 10937 on 2014-09-27
Post score: 1
|
I am trying to write a converter from rgb to gray image
and here comes the code :
cv_bridge::CvImagePtr cv_ptr;
cv_ptr = cv_bridge::toCvCopy(img_ , enc::MONO8);
sensor_msgs::Image img2_ = cv_ptr->toImageMsg();
image_pub_.publish(img2_, *ci);
But the compiler says
/root/catkin_ws/src/usb_cam/nodes/usb_cam_node.cpp:178:51: error: conversion from ‘sensor_msgs::ImagePtr {aka boost::shared_ptr<sensor_msgs::Image_std::allocator<void > >}’ to non-scalar type ‘sensor_msgs::Image’ requested
which maybe means it cannot access the function toImageMsg() from cv_ptr
Hope anyone could help me out of this !
Originally posted by fromandto on ROS Answers with karma: 27 on 2014-09-28
Post score: 0
Original comments
Comment by fromandto on 2014-09-28:
hi administrator, I wonder if there's anything wrong with my question so it's has not been made public
|
Hello,
I'm working with a physical robot with a physical controller, but I can not always be in front of it.
Is there a way to connect me to a virtual controller(in my case, FS100) to test my programs?
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-09-28
Post score: 0
|
hello, I am trying to navigate a robot(P3AT) spawned in usarsim environment using keyboard from another computer where ros is installed, but its not working, please help me out, i tried a lot but can't figure out the mistake.
I am following these steps given below:-
In one terminal Run $roscore
Spawn a Robot in usarsim, for this i am following these steps:-
A. Start usarsim, which is in another windows machine.
B. In another ros terminal Run the the following command:
$roslaunch usarsim_inf usarsim.launch
This spawns a P3AT robot in usarsim environment. and following output appears:-
... logging to /home/cr-lab-tu/.ros/log/e3f28b38-4729-11e4-959a-2c27d7efa01b/roslaunch-crlabtu-HP-Z800-Workstation-3277.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://crlabtu-HP-Z800-Workstation:39055/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
* /usarsim/hostname
* /usarsim/odomSensor
* /usarsim/port
* /usarsim/robotType
* /usarsim/startPosition
NODES
/
RosSim (usarsim_inf/usarsim_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[RosSim-1]: started with pid [3297]
[ERROR] [1411920693.631497443]: Unknown conf type Camera
Then i run teleop_twist_keyboard using the following command:-
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Run the slam_gmapping node, using the following command:-
$ rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom
Now i can press the keyboard keys to navigate the Robot in usarsim environment, but when i do it nothing happens and following error gets added each time when i press the keyboard keys to navigate the robot, on the terminal where i launch the usarsim.launch file. errors are given below:-
[ERROR] [1411920792.568087748]: usarsimInf::peerMsg: not handling type SW_SEN_ENCODER
I have run $rosrun rqt_graph rqt_graph and i found the following rqt_graph-click to view
Then i've run the follownig command:
$ rostopic echo /cmd_vel
This generated following graph click to view
Please help me to figure out the error if any or correct way to navigate through Keyboard.
Note: I am using ROS-Fuerte on UBUNTU 10.04 LTS
Originally posted by Aarif on ROS Answers with karma: 351 on 2014-09-28
Post score: 0
Original comments
Comment by ahendrix on 2014-10-06:
You've already asked this before. Please update your old question instead of asking a new question.
Comment by Aarif on 2014-10-06:
hello @ahendrix, in the old question i asked regarding teleop_twist_keyboard's issue with executive_usarsim package,
but in this question i asked that usarsim_inf not working with teleop_twist_keyboard.
so they are not the same question because they are dealing with different package.
|
Hi Guys,
the question is not so easy as it could sound.
In my program I have a class which has the following member function:
/* class #1 */
void Waypoint::updateWaypoints( const ros::TimerEvent& event ) {
/* publish the markers */
marker_pub.publish( marker_array );
ros::spinOnce();
}
where marker_array is a defined Array of markers and is going to be published at a given frequency (to make them visible on RViz), repeatedly.
In a separate class I have defined another function (see next function) which should read the same published array from the first element to the last only ONCE!!!.
Now: since both classes are started in the main routine I cannot control how to PC will run them. So it could happen that the function defined in the second class could take, for istance, the 2nd value, read until the last and then read it again. This must not happen.)
/* class #2: different from #1 */
...
ros::Subscriber array_sub = subscribe ("marker_topic", 5, &function, this );
...
visualization_msgs::MarkerArray incoming_array;
...
void classname::function( const visualization_msgs::MarkerArray& msg ) {
if( !done ) {
incoming_array = msg; // <= ?!?!?!?!? Here I am not really sure
done = true; // Do it only once
}
}
EDIT:
Here is the main routine.
It calls both classes and let the them to run the code above:
#include "include/header_class1.h"
#include "include/header_class2.h"
int main( int argc, char **argv ) {
ros::init( argc, argv, "main_routine" );
ros::NodeHandle nh;
ros::NodeHandle nh_private( "~" );
/* publish the waypoints */
class1( nh, nh_private );
/* should read the wayoints from the previous class */
class2( nh, nh_private );
ros::spin();
return 0;
}
The problem is that I can do it whit normal vectors or other array but with not with markers.
At last I am not really happy with the flag variable done that is going to be set once it has all data from the array. Im sure there are much better implementation of such a function.
Any idea?!?
Regards
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-28
Post score: 0
Original comments
Comment by mateus03 on 2014-09-29:
Can you edit your question to add the main function?
|
Hi everyone
I have three different versions of ROS installed on my system and i want to unistall Hydro. I can not do it with
sudo apt-get remove ros-hydro
I think it is a wrong command. Does anyone know how should i do it??? thanks:))
I could unistall it successfully and I tried to reinstall hydro because it had some problems. When i try again i see:
The following packages have unmet
dependencies: ros-hydro-desktop-full
: Depends: ros-hydro-simulators but it
is not going to be installed E: Unable
to correct problems, you have held
broken packages.
Does anyone know what is the problem??
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-09-29
Post score: 0
|
Hi all,
I'm working with some fisheye cameras mounted on the ceiling. What I want to do it them is to track people, get their position in the ground plane and an estimate on their speed. I've never worked with this kind of cameras before, does anyone have any idea on how to tackle this issue?
Thanks
Originally posted by mateus03 on ROS Answers with karma: 73 on 2014-09-29
Post score: 1
|
The code is:
ros::NodeHandle nh_private("~");
bool state=false;
nh_private.param<bool>("state", state, "false");
It turns out the "state" is "true". Why???
Originally posted by GuoliangLiu on ROS Answers with karma: 36 on 2014-09-29
Post score: 1
Original comments
Comment by gvdhoorn on 2014-09-29:
Following the answer from @kmhallen, this would seem to be expected (and correct) behaviour (you're just using the wrong type for your default value). Perhaps change your topic title to reflect this?
|
Hello
when i try to run " ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release"
the install failed with the following error "library not found for -ltinyxml".
i already install tinyxml using brew and tried to reinstall but with same result.
Thank
Originally posted by borisbr on ROS Answers with karma: 1 on 2014-09-29
Post score: 0
|
Hi!
Is there a way to run ROS between two machines but not on the same network ?
Basically i want to access my nodes in a Virtual Machine created on Azure.
For future work, i'll run a node there that receives an image from my node here to process and send me the result. Is that possible ? And how can i do that ?
Thanks!
Originally posted by Thiagopj on ROS Answers with karma: 23 on 2014-09-29
Post score: 0
|
Hi, I would like to make a listener/talker in python. I already looked at the tutorials. However, these examples implement two separated codes, a listener and a talker, and I would like to implement them on the same node:
Some external node (TalkerA) shouts some mesagges through a topic TopicA (NO PROBLEM, it's a simple talker).
A second node (ListenerTalker) subscribes to TopicA and shouts something in TopicB.
For example, TalkerA shouts "Hello", and ListenerTalker listens TopicA and shouts "HelloWorld"...
How can I do this? It's a simple question, but it's not clear for me.
Cheers!
Originally posted by diegomex on ROS Answers with karma: 13 on 2014-09-29
Post score: 0
Original comments
Comment by BennyRe on 2014-09-30:
Do you want to do something else with your TopicA? Or is this data useful for another node? I'm asking because this looks a little bit like a bad design.
|
Hey, i am looking for a possibility to install Rosbridge on Gentoo. Do you know maybe the easiest way to do this?
Is there any possibility to emerge any ros-rosbridge package? Or there is just the only way ... download files from
https://github.com/RobotWebTools/rosbridge_suite
Thanks a lot for your help!
Originally posted by Maksym Figat on ROS Answers with karma: 11 on 2014-09-29
Post score: 0
|
Hi,
we are trying to run the prerealese test on our package. Locall all builds fine, but the jenkins server gehts the following error:
> Could not find module
> FindOpenCV.cmake or a configuration
> file for package OpenCV.
>
> Adjust CMAKE_MODULE_PATH to find
> FindOpenCV.cmake or set OpenCV_DIR to
> the directory containing a CMake
> configuration file for OpenCV. The
> file will have one of the following
> names:
>
> OpenCVConfig.cmake
> opencv-config.cmake
OpenCV2 is listenes as a dependency in the package.xml:
> <build_depend>opencv2</build_depend>
> <run_depend>opencv2</run_depend>
And in the CMakeList.txt:
> find_package(OpenCV REQUIRED)
> include_directories(${OpenCV_INCLUDE_DIRS})
> target_link_libraries(map_merger
> ${OpenCV_LIBS} ${catkin_LIBRARIES} )
Local the OpenCVConfig.cmake file (which is missing on the jenkins) is located at:
ls /opt/ros/hydro/share/OpenCV/ -l
total 48
drwxr-xr-x 2 root root 4096 Sep 29 14:41 haarcascades
drwxr-xr-x 2 root root 4096 Sep 29 14:41 lbpcascades
-rw-r--r-- 1 root root 13500 Aug 19 19:45 OpenCVConfig.cmake
-rw-r--r-- 1 root root 376 Aug 19 19:45 OpenCVConfig-version.cmake
-rw-r--r-- 1 root root 2425 Aug 19 19:45 OpenCVModules.cmake
-rw-r--r-- 1 root root 13649 Aug 19 19:45 OpenCVModules-relwithdebinfo.cmake
Does somebody know how i link OpenCV correct ? Or how i could reproduce the Error on my local maschine ?
regards,
Peter
EDIT 1:
After changing the dependencies i get the follwoing error:
> Traceback (most recent call last):
> File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/prerelease",
> line 43, in <module>
> main() File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/prerelease",
> line 37, in main
> build_in_workspace=options.build_in_workspace, sudo=options.sudo,
> no_chroot=options.no_chroot) File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/test_repositories.py",
> line 69, in test_repositories
> sudo, no_chroot) File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/test_repositories.py",
> line 134, in _test_repositories
> apt_get_install(repo_build_dependencies,
> rosdep_resolver, sudo) File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/common.py",
> line 28, in apt_get_install
> pkgs = rosdep.to_aptlist(pkgs) File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/rosdep.py",
> line 44, in to_aptlist
> for a in self.to_apt(r): File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/rosdep.py",
> line 57, in to_apt
> return self.r2a[ros_entry] KeyError: 'libopencv-dev' I: Copying
> back the cached apt archive contents
> I: unmounting
> /var/cache/pbuilder/ccache filesystem
> I: unmounting
> /home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease
> filesystem I: unmounting
> /home/rosbuild filesystem I:
> unmounting dev/pts filesystem I:
> unmounting proc filesystem I: cleaning
> the build env I: removing directory
> /var/cache/pbuilder/build//26131 and
> its subdirectories Build step 'Execute
> shell' marked build as failure
Originally posted by pkohout on ROS Answers with karma: 336 on 2014-09-29
Post score: 0
|
I want to use the camera_calibration package to calibrate (both cameras of) the bumblebee 2 camera.
The images are being published correctly with topic names /camera/0/intensity and /camera/1/intensity.
I can view the images in the viewer and I can see the values with rostopic echo.
When I run this command, nothing seems to happen:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/0/intensity camera:=/camera/0 --no-service-check
I also tried to calibrate just one camera:
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/0/intensity camera:=/camera/0 --no-service-check
But in the case of one camera I get the following error:
Exception in thread Thread-5:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner self.run()
File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 93, in run self.function(m)
File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 175, in handle_monocular drawable = self.c.handle_msg(msg)
File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 691, in handle_msg gray = self.mkgray(msg)
File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 255, in mkgray return self.br.imgmsg_to_cv2(msg, "mono8")
File "/opt/ros/indigo/lib/python2.7/dist-packages/cv_bridge/core.py", line 121, in imgmsg_to_cv2 dtype=dtype, buffer=img_msg.data)
TypeError: buffer is too small for requested array
I am using Ubuntu 14.04 with ROS Indigo and the calibration does work with other cameras. Does anyone have a clue how to solve this?
Originally posted by Ronald on ROS Answers with karma: 103 on 2014-09-29
Post score: 0
Original comments
Comment by l0g1x on 2014-09-29:
Did you install all of the dependencies for camera calibration? Try rosdep install camera_calibration
Comment by Ronald on 2014-09-30:
All dependencies were installed with rosdep install camera_calibration, but unfortunately that did not solve it. I got exactly the same error.
|
Hi all!
Is there any way to reset the value of odometry sensor node in ROS turtlebot, because when I restart my app the turtlebot still turn on the odometry data is still display the value of the previous running
Originally posted by domikilo on ROS Answers with karma: 89 on 2014-09-29
Post score: 1
|
Hi All,
I am very new to ROS, raspberry pi and linux. I already install Hydro into my raspberry pi. I can run roscore.
Next I want to run freenect_launch. I can'y sudo apt-get install freenect_stack. It say Unable to locate package freenect_stack. I check with apt-cache search freenect. It didn't have anything about freenect_stack/freenect_launch
When I apt-cache search openni there is nothing. Should I add source.list? how do i do that?
How to i apt-get freenect_stack and use roslaunch freenect_launch freenect.launch ?
Sorry I am very new to all this. Do please link me if already have answered.
Originally posted by qlouis76 on ROS Answers with karma: 13 on 2014-09-29
Post score: 1
Original comments
Comment by balakumar-s on 2014-09-29:
Are you trying to connect a Microsoft Kinect to a raspberry pi? What linux are you using in rpi?
Comment by qlouis76 on 2014-09-29:
Debian. Thanks for your reply. I follow this tutorial to install hydro. http://wiki.ros.org/ROSberryPi/Setting%20up%20Hydro%20on%20RaspberryPi
Comment by balakumar-s on 2014-09-29:
If you are trying to connect Microsoft kinect to raspberry pi, it is not possible due to limitations in bandwidth on the rpi.
Comment by qlouis76 on 2014-09-29:
Are you sure? I search the net, there are some successful project on kinect and raspberry pi
Comment by jacksonkr_ on 2016-03-28:
I've got indigo running on a rpi2B (raspbian:jessie) and the kinect works with the freenect drivers. I've read that you can compile openni from github and that works too.
|
I have been using the Segbot Navigation package to navigate our robot through office work spaces with cubicles and rooms. It sometimes has problem navigating through narrow aisles and doorways (not always very consistent). I have attached a file with some of the error/warning messages I am getting.
After going through navigation stack literature, I feel 'obstacle range' in the Costmap configuration is one of the parameters I could change. Please let me know if you have suggestions/recommendations regarding any other parameters that I could modify to improve the performance.
I feel the map we are getting is pretty good . Will manually modifying it improve the performance ?
WARN] [1411756064.480605628]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 5 in collision. Plan invalid
[ WARN] [1411756064.480653208]: Failed to add frames to existing band
[ WARN] [1411756064.824642032]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2956 seconds
[ WARN] [1411756064.880660273]: Calculation of Distance between bubble and nearest obstacle failed. Frame 105 of 130 in collision. Plan invalid
[ WARN] [1411756064.880743612]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization
[ERROR] [1411756064.880786228]: Setting plan to Elastic Band method failed!
[ERROR] [1411756064.880828885]: Failed to pass global plan to the controller, aborting.
[ WARN] [1411756064.480605628]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 5 in collision. Plan invalid
[ WARN] [1411756064.480653208]: Failed to add frames to existing band
[ WARN] [1411756064.824642032]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2956 seconds
[ WARN] [1411756064.880660273]: Calculation of Distance between bubble and nearest obstacle failed. Frame 105 of 130 in collision. Plan invalid
[ WARN] [1411756064.880743612]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization
[ERROR] [1411756064.880786228]: Setting plan to Elastic Band method failed!
[ERROR] [1411756064.880828885]: Failed to pass global plan to the controller, aborting.
[ INFO] [1411756192.792013719]: Global plan set to elastic band for optimization
[ WARN] [1411756201.242162218]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid
[ WARN] [1411756201.242268942]: Failed to add frames to existing band
[ INFO] [1411756201.291943229]: Global plan set to elastic band for optimization
[ WARN] [1411756202.241923475]: Optimization failed - Band invalid - No controls availlable
[ INFO] [1411756202.292122263]: Global plan set to elastic band for optimization
[ WARN] [1411756217.241859529]: Optimization failed - Band invalid - No controls availlable
[ INFO] [1411756217.291952232]: Global plan set to elastic band for optimization
[ WARN] [1411756218.641859635]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid
[ WARN] [1411756218.641931723]: Failed to add frames to existing band
[ INFO] [1411756218.691938193]: Global plan set to elastic band for optimization
[ WARN] [1411756219.591840715]: Calculation of Distance between bubble and nearest obstacle failed. Frame 0 of 1 in collision. Plan invalid
[ WARN] [1411756219.591897692]: Failed to add frames to existing band
[ INFO] [1411756219.641959228]: Global plan set to elastic band for optimization
[ WARN] [1411756223.841820722]: Optimization failed - Band invalid - No controls availlable
[ WARN] [1411756223.891952513]: Calculation of Distance between bubble and nearest obstacle failed. Frame 79 of 96 in collision. Plan invalid
[ WARN] [1411756223.892017305]: Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization
[ERROR] [1411756223.892063528]: Setting plan to Elastic Band method failed!
[ERROR] [1411756223.892101993]: Failed to pass global plan to the controller, aborting.
Originally posted by pnambiar on ROS Answers with karma: 120 on 2014-09-29
Post score: 1
Original comments
Comment by pnambiar on 2014-09-29:
Conversion from plan to elastic band failed. Plan probably not collision free. Plan not set for optimization
Setting plan to Elastic Band method failed!
Failed to pass global plan to the controller, aborting.
Comment by anonymous60874 on 2022-03-15:
Hi, I have the same problem but couldn't solve it. Can someone help me.
|
Hi,
I'm using a Turtlebot 2 on ROS Hydro on Ubuntu 12.04 64-bit. Recently I replaced my bot's Kinect with a Hokuyo URG-04LX. Since then, I've been getting much better maps of my office building in terms of where hallways and cubicles should be. However, there is a weird new phenomenon I haven't been able to isolate the cause of.
Namely, walls that should be straight are a series of short parallel line segments that are all off by some angle. This happens for even a simple test where I drove the robot in a straight line down a hallway:
I had thought maybe there was something wrong with the numbers on the transform from the base to the Hokuyo that I was manually publishing, but now I'm not sure; if I run RViz while playing the same bagfile, set the global fixed frame to /odom, turn off the map, and set the LaserScan decay to 300, I can get a "map" that actually looks very good, like so:
Note that, in this image, the map has a perfectly straight hallway. This is the result of using the same arguments to the static transform publisher (shown in the script window). So if I'm correct (am I...?), the fact that this map looks good rules out bad transform arguments as well as bad odometry.
Watching the GMapping process in RViz, I can see that as the robot drives forward, every few seconds, its pose seems to consistently jump to the left, which is why the output gets that skewed map. It doesn't look like I'm allowed to post videos here, but if it helps, I can go create a YouTube account and share a recording of what this looks like.
I've tried several things, including slowing the bagfile down 10x, changing the map resolution (delta), and throttling the scans in GMapping. Nothing really changes the consistent jumping. My GMapping launch file is as follows (currently using the default arguments):
<launch>
<arg name="scan_topic" default="scan" />
<arg name="srr" default="0.01"/>
<arg name="srt" default="0.02"/>
<arg name="str" default="0.01"/>
<arg name="stt" default="0.02"/>
<arg name="lU" default="0.5"/>
<arg name="aU" default="0.436"/>
<arg name="mU" default="20"/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="base_frame" value="base_footprint"/>
<param name="odom_frame" value="odom"/>
<param name="map_update_interval" value="$(arg mU)"/>
<param name="maxUrange" value="3.5"/>
<param name="maxRange" value="8"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="srr" value="$(arg srr)"/>
<param name="srt" value="$(arg srt)"/>
<param name="str" value="$(arg str)"/>
<param name="stt" value="$(arg stt)"/>
<param name="linearUpdate" value="$(arg lU)"/>
<param name="angularUpdate" value="$(arg aU)"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="130"/>
<param name="xmin" value="-30.0"/>
<param name="ymin" value="-30.0"/>
<param name="xmax" value="30.0"/>
<param name="ymax" value="30.0"/>
<!--
<param name="xmin" value="-1.0"/>
<param name="ymin" value="-1.0"/>
<param name="xmax" value="1.0"/>
<param name="ymax" value="1.0"/>
-->
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<param name="throttle_scans" value="1"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
</launch>
Can anyone please offer suggestions as to what may be causing this? Thanks in advance.
Originally posted by BlitherPants on ROS Answers with karma: 504 on 2014-09-29
Post score: 0
|
Hey there,
I tried to write some pretty simple code with tf2 and I'm stuck already.
How does one transform a pcl::PointCloud<...> when using tf2 (and, less importantly, how about transforming a sensor_msgs/PointCloud2)?
With tf there is the pcl_ros package which can transform pcl-PointClouds with tf::Transform.
There's also pcl's own transformation interface pcl::transformPointCloud which takes Transforms as Eigen matrices.
However, tf2_ros::Buffer::lookupTransform, which seems to be the right interface to use, only returns geometry_msgs::TransformStamped and I can't find a one-liner to convert these (or, well, more likely the wrapped geometry_msgs::Transform to Eigen::Matrix4f or similar.
Originally posted by v4hn on ROS Answers with karma: 2950 on 2014-09-29
Post score: 2
|
I am using Hydro on Ubuntu 12.04. When I spawn create base turtlebot, turtlebot begins to navigate on its own. I suspect that in file create_gazebo.urdf.xacro under create_description package like in this code snippet alwaysOn parameter is causing this. Is there any way to change value of this parameter in launch file or only way is changing this file ?
....
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot_gazebo">
<xacro:macro name="sim_create">
<gazebo>
<plugin name="create_controller" filename="libgazebo_ros_create.so">
<alwaysOn>true</alwaysOn>
<node_namespace>turtlebot_node</node_namespace>
<left_wheel_joint>left_wheel_joint</left_wheel_joint>
<right_wheel_joint>right_wheel_joint</right_wheel_joint>
<front_castor_joint>front_castor_joint</front_castor_joint>
<rear_castor_joint>rear_castor_joint</rear_castor_joint>
<wheel_separation>.260</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>
<base_geom>base_footprint_collision_base_link</base_geom>
<updateRate>40</updateRate>
<torque>1.0</torque>
</plugin>
</gazebo>
.....
Originally posted by serdar on ROS Answers with karma: 3 on 2014-09-29
Post score: 0
|
Trying to learn ROS while designing a generic software architecture to be used in various autonomous surface vehicles. If we use the navigation stack and the move_base package configured to our robots, my understanding is move_base will publish to a topic called "cmd_vel" that our base controllers should subscribe to. However we would like to be able to have a hiereachy control of who base_controller receives velocity inputs from for example using teleop or autonomous nagivation. Going through the tutorials it seems that all the turtlesim stuff like teleopkey the tf transform tutorial and standard rostopic pub msgs all publish to one topic that the "base controller" reads from. How should you handle conflicts in messages published to cmd_vel topics and/or use a hierachy controller that for example if teleopkey is active do not listen to messages from move_base or other navigation stacks.
Originally posted by thomaswatters on ROS Answers with karma: 11 on 2014-09-29
Post score: 1
|
Hello,
I was wondering what the parameters below are exactly doing in the global planner (Reference Tutorial). The description is not very clear to me. I tried different values for the parameters in my yaml file, but it didn't seem to be affecting the global planner:
~<name>/planner_window_x (double, default: 0.0)
Specifies the x size of an optional window to restrict the planner to. This can be useful for restricting NavFn to work in a small window of a large costmap.
~<name>/planner_window_y (double, default: 0.0)
Specifies the y size of an optional window to restrict the planner to. This can be useful for restricting NavFn to work in a small window of a large costmap.
and I was wondering if they are visualizable in RViz?
Here is my yaml file
NavfnROS:
allow_unknown: false
planner_window_x: 0.0
planner_window_y: 0.0
default_tolerance: 0.05
visualize_potential: true # false
planner_costmap_publish_frequency: 0.2
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-09-29
Post score: 0
|
I am trying to build the AR tag detector package ar_track_alavar on Odroid U3 running ROS hydro on Lubuntu 13.04
Running catkin_make after cloning the package gives me the following error :
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by "tf" with any of
the following names:
tfConfig.cmake
tf-config.cmake
Add the installation prefix of "tf" to CMAKE_PREFIX_PATH or set "tf_DIR" to
a directory containing one of the above files. If "tf" provides a separate
development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
ar_track_alvar/CMakeLists.txt:10 (find_package)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
Can someone please explain how to resolve this error?
Originally posted by rookie on ROS Answers with karma: 15 on 2014-09-30
Post score: 0
|
Hi,
I am trying to use cmake for some source files that I have which I then need to launch as ros nodes. I have src folder for my source code of the ros packages and a build-prefix folder which is my cmake_install_prefix ( in this case /root/openrobots is my cmake_install_prefix ). When I run ccmake .. in the build folder which is inside my src/ros_package folder, this is what I get:
CMake Error at
/root/openrobots/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/root/src/ranger_ros/build/catkin_generated/env_cached.sh
"/usr/bin/empy" "--raw-errors" "-F"
"/root/src/ranger_ros/build/catkin_generated/pkg.develspace.context.pc.py"
"-o" "/root/src/ranger_ros/build/devel/lib/pkgconfig/ranger_ros.pc"
"/root/openrobots/share/catkin/cmake/em/pkg.pc.em") returned error code 2
Call Stack (most recent call first):
/root/openrobots/share/catkin/cmake/em_expand.cmake:23
(safe_execute_process)
/root/openrobots/share/catkin/cmake/catkin_package.cmake:355 (em_expand)
/root/openrobots/share/catkin/cmake/catkin_package.cmake:98
(_catkin_package)
CMakeLists.txt:15 (catkin_package)
Any idea on how I can solve this issue?
Thanks a lot
Originally posted by zeinab on ROS Answers with karma: 88 on 2014-09-30
Post score: 0
Original comments
Comment by Dirk Thomas on 2014-09-30:
Try running the command printed in execute_process() manually. May be that gives you more information than just error code 2.
|
If I create a service server node and then, for whatever reason, the node crashes, what happens to all of the clients which were connected to the server?
If the server node respawns at some point, can the clients continue to use the service server automatically?
Originally posted by trianta2 on ROS Answers with karma: 293 on 2014-09-30
Post score: 1
|
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