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Hi,
I've been using ROS_INFO instead of printf, and wonder which time is being printed. The time being printed at start is 5.339. I can't imagine this is system time, so what is it and which standard is it in? (seconds, milliseconds).
Thanks.
Originally posted by hvn on ROS Answers with karma: 72 on 2014-09-30
Post score: 0
|
I was trying to set up my environment variables and typed in the following code:
echo "source /opt/ros/electric/setup.bash" >> ~/.bashrc
source ~/.bashrc
Later i realised i only had groovy, so i changed electric in above to groovy but whenever i try to run ros or baxter, always this message gets displayed that
bash: /opt/ros/electric/setup.bash: No such file or directory
My question is how to get the wrong environment set-up command disabled so that the irritating message is not displayed again and again? Thanks in advance.
Originally posted by GoBaxter on ROS Answers with karma: 15 on 2014-09-30
Post score: 0
|
Hi,
I am thinking about a possibility to install rosbridge on NAO robot. I've got an idea but im not sure if its correct idea.
I am downloading (rosbridge) source files and put it into a VM where i've got a virtual NAO system.
I've installed there a ROS system. But what i do next.
I move download files to a directory my_workspace/src (this is a folder that was created during a tutorial "compilation From Virtual Nao": http://wiki.ros.org/nao/Installation/compileFromVirtualNao)
and then i just run a command: src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
after a compilation i have to find dependencies and send them on the robot, where i've already installed ros system.
Do you think it would be right approach?
Originally posted by Maksym Figat on ROS Answers with karma: 11 on 2014-09-30
Post score: 1
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For my package 'moveit_simple_grasps' the ROS wiki seems to have the wrong website on the right side toolbox...
On: http://wiki.ros.org/moveit_simple_grasps
There is a link that says "moveit_simple_grasps website" but it links to
https://github.com/davetcoleman/simple_grasps/
When it should link to
https://github.com/davetcoleman/MOVEIT_simple_grasps/
According to ros / rosdistro / indigo / distribution.yaml
moveit_simple_grasps:
doc:
type: git
url: https://github.com/davetcoleman/moveit_simple_grasps.git
version: indigo-devel
release:
tags:
release: release/indigo/{package}/{version}
url: https://github.com/davetcoleman/moveit_simple_grasps-release.git
version: 1.2.0-1
source:
type: git
url: https://github.com/davetcoleman/moveit_simple_grasps.git
version: indigo-devel
status: developed
So where is it getting this incorrect information? Is there some hidden filter for the moveit keyword I don't know about?
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-09-30
Post score: 0
|
Background + Objective!:
I am a MATLAB/Computer Vision guy and I want to start to write a some piece of useful code in ROS. I have a basic understanding of ROS (topic, node, message ...). What I want to do is to write a 3D version of local occupancy grid map in 5-6 months (It will be as a part of my PhD thesis). Result of 2d version of local occupancy grid map that I have done in MATLAB is available in here: Link
Problems!:
The problem is ROS is a bit confusing for me. Maybe because of the lack of my skills in ROS and CPP. In my view MATLAB is a small body with huge amount of muscles (lots of codes, toolboxes and a great source of helps for writing small project) and ROS has a just big skeleton (very good structured for making big/real projects) and building every chunk of muscle for filling this skeleton will needs a lots of time and efforts... . Most of my questions are regarding programming skills in CPP and ROS. Some one please give me a big picture of what should I do:
Is it possible to directly write/implement a medium size cpp project in ROS or should I use an ide? e.g. Qt creator, Eclipse ...
how can I debug my codes in ROS?
how can I visualize 3D grids in ROS/CPP?
P.S. I will add more questions later.
Originally posted by AliAs on ROS Answers with karma: 63 on 2014-09-30
Post score: 0
|
Hey Guys,
I am trying to use pr2_surrogate with oculus dk1. I get the oculus working with rviz and the kinect rendering to it, but I can't get the robot head to follow the head tracking. After I initialize robot.launch I get the following:
ERROR: cannot launch node of type [pr2_surrogate/head_pointer]: can't locate node [head_pointer] in package [pr2_surrogate]
ERROR: cannot launch node of type [pr2_surrogate/arm_mover]: can't locate node [arm_mover] in package [pr2_surrogate]
ERROR: cannot launch node of type [pr2_surrogate/arm_mover]: can't locate node [arm_mover] in package [pr2_surrogate]
Any ideias on what it could be?
Originally posted by Fred Eduardo on ROS Answers with karma: 31 on 2014-09-30
Post score: 0
Original comments
Comment by ahendrix on 2014-09-30:
Have you built the pr2_surrogate package?
Comment by Fred Eduardo on 2014-09-30:
I was using catkin_make on top of ws, figured I had to do make on pr2_surrogate folder for some reason. Sorry, newbie here :)
Comment by dido_yf on 2014-12-18:
hello, I have the same problem with you. Did you solve this problem? Could you tell me how?
|
Hi, I have a crucial question about the realization of a navigation for my robot model. The robot is already moving very well and as expected in a simulative environment (RViz). Given a target point, it is able to calculate the desired trajectory and moves to the point autonomously.
One drawback in my design is: I have implemented everything on my own and since the dynamic model was really difficult to realize and I never did use the move_base package or something like that. In my code reads the controller points and not velocities commands (like the output of move_base, which is /cmd_vel )
Now I want to implement a navigation stack for my robot but I m a little bit confused about which way should I consider:
Option: I could take inspiration from the tutorials about move_base and leave it putting out velocities commands which I ll later feed into my robot's model.
Pro: exaustive tutorials about move_base on this website and lot of explanations. Contra: my robot reads goals defined as points and moves accordingly to reach them. Feeding velocities commands instead of positions will not work.
Option: I feed the goal's position into the model and write an actionlib (server + client) to track the progress to the goals. At the goal it will trigger to the next goal. Pro: it sounds much easier and logic than the above idea. Contra: no idea on how to start developing such a server/client application and mostly important I could not use implement something like the base_local_planner if I need to generate a simple map to avoid obstacles (till now not necessary).
UPDATE #1:
The controller reads the published points (goals) respect to the /odom frame and the controller drive the robot there. Since fthe only transformation is between /odom and /frame_link I made the assumption that goals are "fixed" respect to the world (in RViz). Later I m going to publish them respect to /map.
I hoe my question is clear enough. It not I will update it!
Thanks in advance
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-09-30
Post score: 2
Original comments
Comment by David Lu on 2014-09-30:
So the robot controller takes in points? In what reference frame?
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Hi all,
I was wondering if anyone is aware of a ROS/gazebo consulting service currently in place. I had a look at the consultants-network page and it looks like my initial best candidate for some gazebo support service (hiDof) is at rest as the webpage seems to indicate. Meanwhile I recently received a poll from ClearPath about a support service they are aiming at putting in place - not sure where they are at...
Anyone has an idea of who could best provide gazebo support?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-09-30
Post score: 0
|
Hi,
I'm trying to display a simple video stream using camera1394 and image_view on Indigo and Ubuntu 14.04. I start camera1394 with this command:
rosrun camera1394 camera1394_node _guid:=b09d01008f706od:=640x480_mono8 _iso_speed:=400 _frame_rate:=30
and then I start image_view with this:
rosrun image_view image_view image:=camera/image_raw
I can see the correct stream for about 3 seconds and then the image stream freeze, but I can still use 'q' to close the image_view, so image_view is not completely crashing. The problem is, there is no error message or anything so I don't know where the problem is. If I restart image_view, it display a new image and then stop immediately.
Does anyone ran into the same problem?
Originally posted by Alex1602 on ROS Answers with karma: 23 on 2014-09-30
Post score: 2
Original comments
Comment by benabruzzo on 2014-10-14:
Similar: http://answers.ros.org/question/194741/image_proc-causes-images-to-hang/
|
Hello,
I just tried installing ros-indigo-desktop-full on my 64-bit Ubuntu 14.04 system, and the installation of libopenni-sensor-pointclouds0 failed with:
Setting up libopenni-sensor-pointclouds0 (5.1.0.41.1-1) ...
Installing new version of config file /etc/openni/GlobalDefaults.ini ...
niReg: error while loading shared libraries: libudev.so.0: cannot open shared object file: No such file or directory
dpkg: error processing package libopenni-sensor-pointclouds0 (--configure):
subprocess installed post-installation script returned error exit status 127
It seems that this issue is not unheard of, and this random web page page suggested that I
sudo ln -s /lib/x86_64-linux-gnu/libudev.so.1.3.5 /usr/lib/libudev.so.0
which I did, and which solved (for the moment) my installation problem. Needless to say, this feels like the worst way I could make this problem go away. As the libopenni-sensor-pointclouds0 package is maintained by Ubuntu folks (as opposed to ROS folks), I went ahead and opened this bug report to see what they would say.
I guess I should get to my question... :-)
Has anybody else had this problem?
In the mean time, if somebody else has this same problem and stumbles across this question, that person will have as much to go on as I do right now.
In the spirit of full disclosure, I just upgraded my 12.04 Ubuntu to 14.04. Perhaps something went a little flakey in that upgrade. I dunno.
Originally posted by wpd on ROS Answers with karma: 249 on 2014-09-30
Post score: 0
|
I just upgraded my VM from Ubuntu 12.04 to 14.04, and my ROS installation from Hydro to Indigo.
Now that I've done that, I wonder if there is anything special I need to do to migrate my catkin workspace (which was created initially with Hydro) to Indigo.
I just tried the obvious (I guess I could have tried this before I asked my question, but the end result was about what I expected):
$ source catkin_ws/devel/setup.bash
$ cd catkin_ws/
$ catkin_make
catkin_make: command not found
Originally posted by wpd on ROS Answers with karma: 249 on 2014-09-30
Post score: 3
|
Hi,
I have ROSbridge installed in fuerte. Now, since I have another package that needs to be run in Hydro,
I installed Hydro alongside with Fuerte.
The problem is, I used Labview-ROS toolkit by Clearpath and I know that it is not compatible with the
second version of ROSbridge in Hydro. So, how could I solve this with minimal effort. Redeveloping the program that
talks to the Rosbridge could take massive time, so I prefer to avoid this. =(
Would it be possible to rosbuild the ROSbridge version 1 in Hydro and keep on using Labview-ROS toolkit?
Worst case, I need to modify the client side to talk to the ROSbridge v2, but is it allow socket connection?
Thanks very much for any input.
Originally posted by clonzz on ROS Answers with karma: 60 on 2014-09-30
Post score: 0
Original comments
Comment by rtoris288 on 2014-10-01:
Too keep the threads clean this seemed to be a duplicate of http://answers.ros.org/question/193909/rosbridge-v2-accept-socket-connection/. In terms of TCP, yes, rosbridge v2 does have a TCP version.
Comment by clonzz on 2014-10-01:
Sorry for the duplicate. I should have just editted the question. =)
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When I ran a simple publisher in the tutorial (http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29). I got a problem that if I ran it through launch file, the node will sleep forever. But if I ran it through rosrun [packagename] talker, it works fine. My launch file looks like this, can anyone help me?
<master auto="start"/>
<param name="use_sim_time" value="true"/>
<node pkg="hybridAstar" type="talker" name="talker" output="screen"/>
Originally posted by Min on ROS Answers with karma: 3 on 2014-09-30
Post score: 0
|
Hi,
I was trying to run ROS on multiple machines as described in this tutorial http://wiki.ros.org/ROS/Tutorials/MultipleMachines
One of the machines is my ROS Hydro VM while the other is a beaglebone black with beagle-ros installed. However the beagle doesnt have the necessary packages installed like rospy_tutorials or turtlesim.
How do I install these packages so that I can experiment with ROS' distributed computing features?
Originally posted by vreg on ROS Answers with karma: 3 on 2014-10-01
Post score: 0
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I have a bag file containing lots of sensor messages, including compressed camera images. I would like to use this stream of camera images in MATLAB.
I know of two possible approaches: either by exporting all images to JPG and load those into MATLAB, or by using ROSMATLAB.
I think that the first approach would involve creating a Python script to collect the camera images form the image_transport node republish. This seems to involve an awful lot of decompressing and compressing (when saving back to JPG), so I'm looking for a way to directly collect the images from the bag file and save those. I believe that the compressed images in the bag file are JPG compressed, so it should be possible to directly map them.
The second approach would also involve the republish node, I think, since ROSMATLAB does not yet seem to support image transport. Also, I've run into problems collecting the images on the subscriber. I've seen this great tutorial on creating an image publisher, but I found it hard to reverse it. I've also seen this question on ROS answers, which does a good job showing some of the basics, but I couldn't replicate it.
Long story short: can anyone provide a best practice to manage images from a rosbag in MATLAB?
Originally posted by RafBerkvens on ROS Answers with karma: 386 on 2014-10-01
Post score: 3
|
Hi All,
I am trying to compute the forward kinematics for a Phantom Omni haptic feedback arm.
I am following the MoveIt! kinematics API instructions, but the forward kinematics instructions seem to have been added as an afterthought. In particular, I do not wish to compute forward kinematics for random joint positions. The API documentation isn't very detailed and some of the functions don't seem documented at all.
My question is: given a URDF and an SRDF of the robot, and a set of joint angles, how do I use the forward kinematics API of MoveIt! to take a set of joint angles and compute an end effector position in Cartesian coordinates? What I really want is the transform from the waist joint to the wrist1 joint in cylindrical coordinates. At present it only seems to give direction sines and cosines. How do I fix this? I thought doing it this way would be cleaner than using /tf but am I wrong?
I can confirm the correct joint states are getting into the robot model.
/*
* phantom_forward_kinematics.cpp
*
* Created on: 30/09/2014
* Author: mech801
*/
// Forward kinematics for the Phantom Omni arm.
// BJEM 30th September 2014.
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/robot_state/robot_state.h>
#include "phantom_omni/OmniFeedback.h"
#include <eigen3/Eigen/Geometry>
// Forward kinematics for the Phantom Omni.
class PhantomFK
{
public:
PhantomFK(): nh_(ros::NodeHandle()) {}
~PhantomFK() {}
bool init()
{
using namespace robot_model_loader;
// Subscribers and publishers.
joint_states_sub_ = nh_.subscribe("joint_states", 10, &PhantomFK::jointStatesCallBack, this);
phantom_pub_ = nh_.advertise<phantom_omni::OmniFeedback>("omni_feedback", 10);
robot_model_loader = RobotModelLoader("robot_description");
kinematic_model = robot_model_loader.getModel();
ROS_INFO("Model frame: %s", kinematic_model->getModelFrame().c_str());
kinematic_state.reset(new robot_state::RobotState(kinematic_model));
kinematic_state->setToDefaultValues();
return true;
}
void jointStatesCallBack(const sensor_msgs::JointStateConstPtr &jsc)
{
js_ = *jsc;
issuePhantomCommand();
}
void issuePhantomCommand()
{
std::map<std::string, double> joint_map;
joint_map["waist"] = js_.position[0];
joint_map["shoulder"] = js_.position[1];
joint_map["elbow"] = js_.position[2];
/* Compute FK for a set of random joint values*/
kinematic_state->setVariablePositions(joint_map);
kinematic_state->update();
const Eigen::Affine3d &end_effector_state = kinematic_state->getGlobalLinkTransform("upper_arm");
phantom_omni::OmniFeedback pof;
// ROS_INFO_STREAM(" waist: " << kinematic_state->getVariablePosition("waist"));
// ROS_INFO_STREAM("shoulder: " << kinematic_state->getVariablePosition("shoulder"));
// ROS_INFO_STREAM(" elbow: " << kinematic_state->getVariablePosition("elbow"));
// ROS_INFO_STREAM("");
//
// ROS_INFO_STREAM(" waist: " << kinematic_state->getVariablePosition("waist"));
// ROS_INFO_STREAM("shoulder: " << kinematic_state->getVariablePosition("shoulder"));
// ROS_INFO_STREAM(" elbow: " << kinematic_state->getVariablePosition("elbow"));
// ROS_INFO_STREAM("");
pof.position.x = end_effector_state.data()[0];
pof.position.y = end_effector_state.data()[1];
pof.position.z = end_effector_state.data()[2];
phantom_pub_.publish(pof);
}
private:
ros::NodeHandle nh_;
ros::Subscriber joint_states_sub_;
ros::Publisher phantom_pub_;
sensor_msgs::JointState js_;
moveit::core::RobotStatePtr kinematic_state;
robot_model_loader::RobotModelLoader robot_model_loader;
moveit::core::RobotModelPtr kinematic_model;
const moveit::core::JointModelGroup *joint_model_group;
};
int main(int argc, char *argv[])
{
ros::init(argc, argv, "phantom_forward_kinematics");
PhantomFK pfk;
pfk.init();
ros::spin();
return 0;
}
Here is the URDF of the Phantom:
<?xml version="1.0" encoding="utf-8"?>
<robot
xmlns="http://www.ros.org/wiki/urdf"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation=
"https://raw.github.com/laas/urdf_validator/master/urdf.xsd"
name="omni">
<link name="base" >
<visual>
<origin xyz="0 0 0.045" />
<geometry>
<cylinder radius="0.06" length="0.09" />
</geometry>
</visual>
</link>
<link name="torso" >
<visual>
<origin xyz="0 0 0.04" />
<geometry>
<sphere radius=".06" />
</geometry>
</visual>
</link>
<link name="upper_arm" >
<visual>
<origin xyz="0.0655 0 0" />
<geometry>
<box size="0.131 0.02 0.035" />
</geometry>
</visual>
</link>
<link name="lower_arm" >
<visual>
<origin xyz="0.0685 0 0" />
<geometry>
<box size="0.137 0.02 0.025" />
</geometry>
</visual>
</link>
<link name="wrist1" />
<link name="wrist2" />
<link name="stylus" >
<visual>
<origin xyz="0.025 0 0" rpy="0 1.57 0" />
<geometry>
<cylinder radius="0.01" length="0.135" />
</geometry>
</visual>
</link>
<joint name="waist" type="continuous" >
<parent link="base" />
<child link="torso" />
<origin xyz="0 0 0.09" rpy="0 0 0" />
<axis xyz="0 0 1" />
</joint>
<joint name="shoulder" type="continuous" >
<parent link="torso" />
<child link="upper_arm" />
<origin xyz="0 0 0.04" rpy="0 0 0" />
<axis xyz="0 -1 0" />
</joint>
<joint name="elbow" type="continuous" >
<parent link="upper_arm" />
<child link="lower_arm" />
<origin xyz="0.131 0 0" rpy="0 1.5 0" />
<axis xyz="0 -1 0" />
</joint>
<joint name="wrist1" type="continuous" >
<parent link="lower_arm" />
<child link="wrist1" />
<origin xyz="0.137 0 0" />
<axis xyz="1 0 0" />
</joint>
<joint name="wrist2" type="continuous" >
<parent link="wrist1" />
<child link="wrist2" />
<origin xyz="0.05 0 0" rpy="0 -0.5 0" />
<axis xyz="0 -1 0" />
</joint>
<joint name="wrist3" type="continuous" >
<parent link="wrist2" />
<child link="stylus" />
<origin xyz="0.01 0 0" />
<axis xyz="1 0 0" />
</joint>
</robot>
Any help appreciated.
Thanks,
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-10-01
Post score: 2
|
I am trying something with the simulation of navigation with Turtlebot but with different frame_id's and topics. I checked that the laser data is being relayed to /scan and that my TF tree is consistent and that amcl and move_base are using the right frame_id's and subscribing to the right topics. Even with those conditions and with the laser detecting obstacles, my local costmap is empty (full of zeros) but the global costmap is just fine. Is there some other parameters I should consider that could influence the local costmap?
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-10-01
Post score: 2
|
Hey all,
I've got a problem concerning the standard raspberry libraries. I'm trying to receive sensor data via a sensor shield specialized for raspberry pi and for that purpose the already succesfully included header-files are depending on +20 preinstalled raspberry libraries:
#include <errno.h>
#include <fcntl.h>
#include <netinet/in.h>
#include <signal.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/ipc.h>
#include <sys/sem.h>
#include <sys/socket.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <sys/mman.h>
#include <string.h>
#include <time.h>
#include <termios.h>
#include <ctype.h>
#include <sys/ioctl.h>
#include <limits.h>
#include <algorithm>
#include <limits.h>
#include <pthread.h>
#include <poll.h>
So my question is now: Is there a fast and easy way to link/use these libraries or do I really have to wrap them all seperately?
Best Regards
Originally posted by bluhub on ROS Answers with karma: 1 on 2014-10-01
Post score: 0
|
Message filters are handy when you want to only fire callbacks if a transform is available for the data contained therein. The user sets the target frame_id, and presumably the source frame_id is derived from the message's header.
However, nav_msgs/Odometry messages contain both pose and twist data, with the former being in the message header's frame_id, and the latter being in the message's child_frame_id. Even if no transform exists for the pose data, there may be a transform for the twist data. I can't just set up another filter with the target child_frame_id, as the message filter will then look for a transform from the odometry message's frame_id (i.e., pose data frame) to the target child_frame_id, which will probably not make any sense.
Do I have any recourse here? Clearly, I can just fire all the callbacks and check for the transform availability myself, but I'm guessing I'm going to lose some efficiency that way.
Originally posted by Tom Moore on ROS Answers with karma: 13689 on 2014-10-01
Post score: 0
Original comments
Comment by Tom Moore on 2014-10-01:
I already break each odometry message into a pose message and a twist message and then manually call their callbacks; I suppose I can manually add those sub-messages to their respective message filters instead. Still, if there's a cleaner way, I'd like to hear it.
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I have one urdf file. where I have decleared all the links joints actuatorts etc.. I have import the model in gazebo simulator. Now I want to control the motors or joint. I have tried with pr2_controller_manager pr2_interface.. but nothing is working..
Originally posted by Robot on ROS Answers with karma: 180 on 2014-10-01
Post score: 0
|
Hey everyone. A newcomer to ROS here.
How can I setup a simulation in indigo distribution. I want the result to look something like this:
http://www.youtube.com/watch?v=ezor8R3JEOM
I wanted to use turtlebot simultaion, but apparently it is not supported in indigo yet. What is the easiest way to setup a simulation with the vizualization process (in rviz, possibly)? How can I load the custom map? Do I have to use Gazebo?
I appreciate the answers very much.
Originally posted by vd77 on ROS Answers with karma: 38 on 2014-10-01
Post score: 0
Original comments
Comment by gustavo.velascoh on 2014-10-01:
Do you need 2D or 3D simulation? You can use Stage or gazebo.
Comment by vd77 on 2014-10-02:
2D would be enough.
|
Hello,
I am using a turtlebot 2 with ros-groovy. I have successfully wrote a publisher that takes the base_link and broadcasts that info. I am working on writing a broadcaster for the base_footprint. Also my base_link broadcaster works perfect. That is why I just followed the same format for that. But I don't understand why this logic is happening.
The base_foot print broadcaster seems to be messing up though. The broadcaster is able to keep the correct distance but when I start turning the robot things go bad. What goes wrong is that as the robot starts turning the base_footprint frame starts revolving around the fixed map frame (0,0,0). What I would expect is that whenever the turtlebot turns in the z direction that the base_footprint stays with the robot model on rviz like it is suppose to. If anyone could help it would be appreciated.
I have 2 examples there of what Is going on so you can get an idea.
while(ros::ok()){
tf::StampedTransform transform; //for the base_link
tf::StampedTransform transformFP; //for the base_footprint
current_time = ros::Time::now();
//This is for the base_link frame which works great this block of code just gets the transform and that transform is
//broadcasted as leader_base_link to the tf tree.
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;
/*This is where the base_footprint is being created I also believe this is where the code is messing up.
As the robot turns in the yaw angle the position of the base_footprint starts translating into a + or - direction but the distance is kept . As you can see in the picture that is what happens when the robot turns in a 180 degrees. The base_footprint gets shifted in 180 degrees This is following the same exact code as the base_link that works fine as well*/
try {
listener.waitForTransform("base_footprint", "odom", ros::Time(0), ros::Duration(10.0));
listener.lookupTransform("base_footprint", "odom", ros::Time(0), transformFP);
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
}
*/ double tryYaw = atan2( (2*transformFP.getRotation().w()*transformFP.getRotation().z() ), (transformFP.getRotation().w()*transformFP.getRotation().w() - transformFP.getRotation().z()*transformFP.getRotation().z())); This is another equation I tried but it basically does the same exact stuff. */
//this is where the yaw angle gets calculated.
yaw2 = tf::getYaw(transformFP.getRotation());
v.setValue(transformFP.getOrigin().x() , transformFP.getOrigin().y() , transformFP.getOrigin().z());
leader_footprint.setOrigin(v);
q.setRPY(0.0, 0.0, yaw2);
leader_footprint.setRotation(q );
//this is where the leader_footprint gets added to the transform tree
br.sendTransform(tf::StampedTransform(leader_footprint, ros::Time::now(), "odom", "leader_base_footprint"));
//The rest of the code just used to be able to send the StampedTransform over a topic Don't worry too much about this part
double th2 = yaw2;
geometry_msgs::Quaternion odom2_quat = tf::createQuaternionMsgFromYaw(th2);
transformConverterFP.header.stamp = current_time;
transformConverterFP.header.frame_id = "odom";
transformConverterFP.child_frame_id = "base_footprint";
transformConverterFP.transform.translation.x = transformFP.getOrigin().x();
transformConverterFP.transform.translation.y = transformFP.getOrigin().y();
transformConverterFP.transform.translation.z = transformFP.getOrigin().z();
transformConverterFP.transform.rotation = odom2_quat;
ROS_INFO_STREAM("X pose " << transformConverterFP.transform.translation.x );
ROS_INFO_STREAM("Y pose " << transformConverterFP.transform.translation.y);
ROS_INFO_STREAM("Z pose " << transformConverterFP.transform.translation.z );
ROS_INFO_STREAM("Yaw Interposed : "<< yaw2 );
ROS_INFO_STREAM("Yaw Z "<< transformFP.getRotation().w() );
ROS_INFO_STREAM("Yaw Z "<< transformFP.getRotation().z() );
pub.publish(transformConverter);
pubFoot.publish(transformConverterFP);
loopRate.sleep();
}
Originally posted by choog on ROS Answers with karma: 101 on 2014-10-01
Post score: 0
Original comments
Comment by tfoote on 2014-10-01:
Please descrive what "go bad" means. What you expect to see and what you are actually seeing. Also documentation in your code as to what you want to happen would be helpful.
Comment by choog on 2014-10-01:
I have edited my post hopefully it's a little more clear. Thanks Mr. tfoote creator of the tf universe.
Comment by choog on 2014-10-01:
Also I put a description on the pictures but the are not coming up. The top picture is showing the turtlebot and the broadcasted base_footprint. The bottom picture is showing what happens when the turtlebot is going in positive direction on the y axis the distance of the broadcasted frame is kept
Comment by choog on 2014-10-01:
and so is the orientation. The top picture is what goes wrong when the robot turns.
|
So, currently I have packages that install their binaries to catkin_ws/install/lib/package_name
I made a metapackage to contain these directories. Now I would like them to install like this: install/lib/meta_package_name/package_name
Is there any good way of achieving this?
Originally posted by pachuc on ROS Answers with karma: 13 on 2014-10-01
Post score: 0
|
Hello,
I'm using ROS Navigation Stack on my robot. How can I get the robot to stop during navigation for example because of safety issues and after the safety issue was resolved the robot moves again towards the goal.
So basically I don't want to cancel the goal as mentioned in this thread
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-10-01
Post score: 2
|
I am new to ROS and what I want to do is create maps for my robot with hokuyo lidar range sensors.
I installed urg_node and hokuyo_node on my precise Hydro distribution of ROS.
I dont understand what the difference between these 2 nodes is and which one should I use. Is it true that urg_node is simply a new version of hokuyo_node and I shouldn't have installed hokuyo_node?
Also, some of the tutorials that explain how to use hokuyos only use hokuyo_node, so I'm a bit lost.
My hokuyo device keeps being assigned a device name /ttyACM1 instead of /ttyACM0 which is why urg_node no longer works and I can't get laser data in rviz.
Can anyone please HELP!!??
Originally posted by kost9 on ROS Answers with karma: 97 on 2014-10-02
Post score: 2
|
I have one urdf file for an car look robot . I would like to move the robot in the gazebo simulator. the car have 4 links for 4 wheel. 4 joints attached with the 4 wheel link. I also add actuator and transmission in the robot. I would like to know which method will be the best to move the robot. Should I deal with the joints or is there any other way out to do it. I really stuck in here. please help me.....
Originally posted by Robot on ROS Answers with karma: 180 on 2014-10-02
Post score: 2
|
I have been following the wiki tutorial regarding setting up openni_kinect on electric ubuntu 10.04
I am up to step 2.2 with the ubuntu installation and have tried
hg clone https://kforge.ros.org/openni/drivers
and I get the error
abort: error: Connection timed out
Does anyone know why this is happening?
Originally posted by zemark on ROS Answers with karma: 18 on 2014-10-02
Post score: 0
Original comments
Comment by gvdhoorn on 2014-10-02:
kforge.ros.org has been down for a long time now. Also, Fuerte is EOL.
Do you have any particular reason for choosing those versions specifically?
|
Recently, I follow the tf tutorial and try to understand the frame transformation in ROS. But I'm confusing about the API Transformer::lookupTransform and tf_echo
First, the usage of tf_echo is shown below.
Usage: tf_echo source_frame target_frame
This will echo the transform from the coordinate frame of the source_frame to the coordinate frame of the target_frame.
So it is clear, I will get the transform that from source_frame to target_frame. I also confirmed it in turtlesim. However, when I saw the tutorial for tf_echo. They say the tf_echo will return "the transform of the turtle2 frame with respect to turtle1 frame". In other words, I should get the transform from target frame to source frame. It is not correct since I verified from the turtlesim.
I wen to see how to get transform. It is clear that in tf_echo.cpp. Everything is fine except this line.
echoListener.tf.lookupTransform(source_frameid, target_frameid, ros::Time(), echo_transform);
I compare this line with the API document.
void Transformer::lookupTransform ( const std::string & target_frame, const std::string & source_frame, const ros::Time & time, StampedTransform & transform )
With my inspection, Transformer::lookupTransform will get the transform that from target_frame to source_frame(API naming). However, for some reason, tf_echo swap the these frames. My questions are:
1)What is the meaning of source frame and target frame?
2)Why the usage of tf_echo is different from tutorial
3)Why tf_echo swap the arguments?
Originally posted by fboris on ROS Answers with karma: 71 on 2014-10-02
Post score: 7
|
Hi, I'm using Hydro.
I've been working on and off with this code to control a servo using rosserial with an Arduino, using a PS3 controller and the Joy node.
I wrote my code based off of this tutorial. Here is my code
#include <ros/ros.h>
#include <std_msgs/UInt16.h>
#include <sensor_msgs/Joy.h>
class Servo
{
public:
Servo();
private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
ros::NodeHandle nh_;
// Joystick tuning params
int linear_, angular_;
double l_scale_, a_scale_;
// Joystick dev to listen to
ros::Subscriber joy_sub;
// Robot bits to control
ros::ServiceClient create_client;
ros::ServiceClient servo_client;
ros::Publisher deg_pub_; // I want to publish an angle as std_msgs/UInt16
ros::Subscriber joy_sub_;
};
Servo::Servo():
linear_(1),
angular_(2)
{
nh_.param("axis_linear", linear_, linear_);
nh_.param("axis_angular", angular_, angular_);
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
deg_pub_ = nh_.advertise<std_msgs::UInt16>("servo", 1);
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 10, &Servo::joyCallback, this);
}
void Servo::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
std_msgs::UInt16 deg;
deg = l_scale_*joy->axes[linear_];
deg_pub_.publish(deg);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "servo_joy");
Servo servo_joy;
ros::spin();
}
I get some errors when I try to build it.
One is
/home/donni/catkin_ws/src/rosberry_pichoptor/src/servo.cpp:55:35: error: no match for ‘operator=’ in ‘deg = (((Servo*)this)->Servo::l_scale_ * ((double)(& joy)->boost::shared_ptr<T>::operator-> [with T = const sensor_msgs::Joy_<std::allocator<void> >]()->sensor_msgs::Joy_<std::allocator<void> >::axes.std::vector<_Tp, _Alloc>::operator[] [with _Tp = float, _Alloc = std::allocator<float>, std::vector<_Tp, _Alloc>::const_reference = const float&, std::vector<_Tp, _Alloc>::size_type = unsigned int](((unsigned int)((Servo*)this)->Servo::linear_))))’
I guess this means you can't use = with UInt16?
The second error is
/opt/ros/hydro/include/std_msgs/UInt16.h:55:8: note: no known conversion for argument 1 from ‘double’ to ‘const std_msgs::UInt16_<std::allocator<void> >&’
This is also about UInt. I think my code is using UInt and float interchangeably. I don’t know how to get around this. I'm also unclear on how the Arduino node will read the Joy values. Is there a way to do the calculations with doubles and change them to UInt?
Originally posted by dshimano on ROS Answers with karma: 129 on 2014-10-02
Post score: 1
|
Dear Ros users,
I'm trying to user the hydro-rostwitter package (get using sudo apt-get install ros-hydro-rostwitter), but when running get_access_token.py, it asks me a consumer key (not a twitter login).
But I wouldn't like to develop my own twitter app, I just would like to post a tweet from a rostopic :)
Thank you for your support!
Originally posted by Rahndall on ROS Answers with karma: 133 on 2014-10-02
Post score: 1
|
Hello everyone,
I am pretty sure that it is possible to use the navigation stack (http://wiki.ros.org/navigation) with another localization method than AMCL (http://wiki.ros.org/amcl) since I have seen that people already tried to use hector SLAM. However, I was not able to understand how they realized this "switch". Does anyone have an idea where I should start? I have been using the navigation stack with some success but wanted to try out another localization technique.
Cheers
Marcus
Originally posted by Marcus on ROS Answers with karma: 164 on 2014-10-02
Post score: 2
Original comments
Comment by ingcavh on 2014-10-03:
I'm the same question about how to fusion or use AMCL and Hector_mapping
|
Hi guys,
I am currently working on the package of tum_simulator, I would like to spawn multiple ardrones in gazebo and control them seperately.
I managed to fix all the topics, tf and two ardrones were spawned correctly. And the first ardrone can take off, land and be controlled correctly. But when I tried to send a take-off command to the second ardrone, the first one just flew away. (The first ardrone's velocity along z axis just kept rising and the altitude of its navdata finally rise to 3000.)
Do you have any idea about how can I fix that problem? Thanks in advance!
Originally posted by Kent on ROS Answers with karma: 140 on 2014-10-02
Post score: 0
|
It may be best to look at this example: https://github.com/PR2/linux_networking/tree/hydro-devel/wpa_supplicant_node
I'm trying to get the code here to compile but it can't find
"/home/marco/pr2_hydro_packages/src/linux_networking/wpa_supplicant_node/wpa_supplicant/wpa_supplicant/wpa_supplicant_i.h:18:24: fatal error: utils/list.h: No such file or directory."
My question is, how do I set up the CMakeLists in catkin so that the wpa_supplicant_i.h can find the utils/list.h file which exists in another subdirectory? I've tried including all of the paths, and no avail.
Suggestions?
Originally posted by DevonW on ROS Answers with karma: 644 on 2014-10-02
Post score: 1
|
I've got Gazebo 2.2.3 and ROS Indigo set up, and I have a plugin that allows a stereo camera to publish images from Gazebo to ROS. I've run rosbag with the image topics, and it has no problems recording or playing them. The issue now is that I need to somehow either save the images themselves or have access to the pointers for the camera images. Can someone give me some pointers on how to do so, preferably via C++ code?
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-10-02
Post score: 0
|
what pack/do i use to create workspace in ros electric ?
Originally posted by nicoly on ROS Answers with karma: 1 on 2014-10-02
Post score: 0
|
From https://github.com/PR2/linux_networking/blob/master/wpa_supplicant_node/CMakeLists.txt as the CMakeLists used to compile this program. Was wondering if anyone has experience with these sorts of errors. I understand the undefined reference is a missing link between a library.. my major concern would be: how to convert this https://github.com/PR2/linux_networking/blob/master/wpa_supplicant_node/CMakeLists.txt to the Hydro one presented prior. Any suggestions/advice would be appreciated.
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 0 has invalid symbol index 10
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 1 has invalid symbol index 11
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 2 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 3 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 4 has invalid symbol index 10
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 5 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 6 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 7 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 8 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 9 has invalid symbol index 2
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 10 has invalid symbol index 11
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 11 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 12 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 13 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 14 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 15 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 16 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 17 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 18 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 19 has invalid symbol index 12
/usr/bin/ld: /usr/lib/debug/usr/lib/x86_64-linux-gnu/crt1.o(.debug_info): relocation 20 has invalid symbol index 19
/usr/lib/gcc/x86_64-linux-gnu/4.6/../../../x86_64-linux-gnu/crt1.o: In function _start': (.text+0x20): undefined reference to main'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function RosApi::init2()': wpa_supplicant_node.cpp:(.text._ZN6RosApi5init2Ev[RosApi::init2()]+0x119): undefined reference to eloop_register_read_sock'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function RosApi::uninit()': wpa_supplicant_node.cpp:(.text._ZN6RosApi6uninitEv[RosApi::uninit()]+0x29c): undefined reference to eloop_unregister_read_sock'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::ros_interface(ros::NodeHandle const&, wpa_supplicant*)': wpa_supplicant_node.cpp:(.text._ZN13ros_interfaceC2ERKN3ros10NodeHandleEP14wpa_supplicant[_ZN13ros_interfaceC5ERKN3ros10NodeHandleEP14wpa_supplicant]+0xc52): undefined reference to eloop_register_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::setCountryCode(char const*)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface14setCountryCodeEPKc[ros_interface::setCountryCode(char const*)]+0x1b8): undefined reference to eloop_register_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::scanCompleted(wpa_scan_results*)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface13scanCompletedEP16wpa_scan_results[ros_interface::scanCompleted(wpa_scan_results*)]+0x142): undefined reference to eloop_cancel_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::assocFailed(unsigned char const*, char const*)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface11assocFailedEPKhPKc[ros_interface::assocFailed(unsigned char const*, char const*)]+0x148): undefined reference to eloop_cancel_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::assocSucceeded()': wpa_supplicant_node.cpp:(.text._ZN13ros_interface14assocSucceededEv[ros_interface::assocSucceeded()]+0x162): undefined reference to eloop_cancel_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::publishNetworkList()': wpa_supplicant_node.cpp:(.text._ZN13ros_interface18publishNetworkListEv[ros_interface::publishNetworkList()]+0x7a): undefined reference to wpa_config_get_all'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::setDriverCountry()': wpa_supplicant_node.cpp:(.text._ZN13ros_interface16setDriverCountryEv[ros_interface::setDriverCountry()]+0x1c7): undefined reference to eloop_register_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::delayedPublishFrequencyList(void*, void*)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface27delayedPublishFrequencyListEPvS0_[ros_interface::delayedPublishFrequencyList(void*, void*)]+0x48): undefined reference to eloop_register_timeout'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::stopActiveAssociation()': wpa_supplicant_node.cpp:(.text._ZN13ros_interface21stopActiveAssociationEv[ros_interface::stopActiveAssociation()]+0x21c): undefined reference to wpa_supplicant_disassociate'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::startActiveAssociation(actionlib::ServerGoalHandle<wpa_supplicant_node::AssociateAction_<std::allocator<void> > >&)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface22startActiveAssociationERN9actionlib16ServerGoalHandleIN19wpa_supplicant_node16AssociateAction_ISaIvEEEEE[ros_interface::startActiveAssociation(actionlib::ServerGoalHandle<wpa_supplicant_node::AssociateAction_<std::allocator<void> > >&)]+0x2fd): undefined reference to wpa_bss_get'
wpa_supplicant_node.cpp:(.text.ZN13ros_interface22startActiveAssociationERN9actionlib16ServerGoalHandleIN19wpa_supplicant_node16AssociateAction_ISaIvEEEEE[ros_interface::startActiveAssociation(actionlib::ServerGoalHandle<wpa_supplicant_node::AssociateActionstd::allocator<void > >&)]+0x4ab): undefined reference to eloop_register_timeout' wpa_supplicant_node.cpp:(.text._ZN13ros_interface22startActiveAssociationERN9actionlib16ServerGoalHandleIN19wpa_supplicant_node16AssociateAction_ISaIvEEEEE[ros_interface::startActiveAssociation(actionlib::ServerGoalHandle<wpa_supplicant_node::AssociateAction_<std::allocator<void> > >&)]+0x4ce): undefined reference to wpa_supplicant_associate'
CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::fillRosBss(wpa_supplicant_node::Bss_<std::allocator<void> >&, wpa_bss&)': wpa_supplicant_node.cpp:(.text._ZN13ros_interface10fillRosBssERN19wpa_supplicant_node4Bss_ISaIvEEER7wpa_bss[ros_interface::fillRosBss(wpa_supplicant_node::Bss_<std::allocator<void> >&, wpa_bss&)]+0x137): undefined reference to wpa_bss_get_vendor_ie'
wpa_supplicant_node.cpp:(.text.ZN13ros_interface10fillRosBssERN19wpa_supplicant_node4Bss_ISaIvEEER7wpa_bss[ros_interface::fillRosBss(wpa_supplicant_node::Bssstd::allocator<void >&, wpa_bss&)]+0x169): undefined reference to wpa_parse_wpa_ie' wpa_supplicant_node.cpp:(.text._ZN13ros_interface10fillRosBssERN19wpa_supplicant_node4Bss_ISaIvEEER7wpa_bss[ros_interface::fillRosBss(wpa_supplicant_node::Bss_<std::allocator<void> >&, wpa_bss&)]+0x1ab): undefined reference to wpa_bss_get_ie'
wpa_supplicant_node.cpp:(.text.ZN13ros_interface10fillRosBssERN19wpa_supplicant_node4Bss_ISaIvEEER7wpa_bss[ros_interface::fillRosBss(wpa_supplicant_node::Bssstd::allocator<void >&, wpa_bss&)]+0x1dd): undefined reference to wpa_parse_wpa_ie' CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::fillRosResp(wpa_supplicant_node::ScanResult_std::allocator<void >&, wpa_scan_results&)':
wpa_supplicant_node.cpp:(.text.ZN13ros_interface11fillRosRespERN19wpa_supplicant_node11ScanResult_ISaIvEEER16wpa_scan_results[ros_interface::fillRosResp(wpa_supplicant_node::ScanResultstd::allocator<void >&, wpa_scan_results&)]+0x9e): undefined reference to wpa_scan_get_ie' wpa_supplicant_node.cpp:(.text._ZN13ros_interface11fillRosRespERN19wpa_supplicant_node11ScanResult_ISaIvEEER16wpa_scan_results[ros_interface::fillRosResp(wpa_supplicant_node::ScanResult_<std::allocator<void> >&, wpa_scan_results&)]+0x28c): undefined reference to wpa_scan_get_vendor_ie'
wpa_supplicant_node.cpp:(.text.ZN13ros_interface11fillRosRespERN19wpa_supplicant_node11ScanResult_ISaIvEEER16wpa_scan_results[ros_interface::fillRosResp(wpa_supplicant_node::ScanResultstd::allocator<void >&, wpa_scan_results&)]+0x2cd): undefined reference to wpa_parse_wpa_ie' wpa_supplicant_node.cpp:(.text._ZN13ros_interface11fillRosRespERN19wpa_supplicant_node11ScanResult_ISaIvEEER16wpa_scan_results[ros_interface::fillRosResp(wpa_supplicant_node::ScanResult_<std::allocator<void> >&, wpa_scan_results&)]+0x31e): undefined reference to wpa_scan_get_ie'
wpa_supplicant_node.cpp:(.text.ZN13ros_interface11fillRosRespERN19wpa_supplicant_node11ScanResult_ISaIvEEER16wpa_scan_results[ros_interface::fillRosResp(wpa_supplicant_node::ScanResultstd::allocator<void >&, wpa_scan_results&)]+0x35f): undefined reference to wpa_parse_wpa_ie' CMakeFiles/wpa_supplicant_node.dir/src/nodes/wpa_supplicant_node.cpp.o: In function ros_interface::lockedScanTryActivate()':
wpa_supplicant_node.cpp:(.text._ZN13ros_interface21lockedScanTryActivateEv[ros_interface::lockedScanTryActivate()]+0x4fe): undefined reference to eloop_register_timeout' wpa_supplicant_node.cpp:(.text._ZN13ros_interface21lockedScanTryActivateEv[ros_interface::lockedScanTryActivate()]+0x51a): undefined reference to wpa_supplicant_trigger_scan'
collect2: ld returned 1 exit status
make[2]: *** [/home/marco/pr2_hydro_packages/devel/lib/wpa_supplicant_node/wpa_supplicant_node] Error 1
make[1]: *** [linux_networking/wpa_supplicant_node/CMakeFiles/wpa_supplicant_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed
Originally posted by DevonW on ROS Answers with karma: 644 on 2014-10-02
Post score: 0
|
Hi! I've been using an android app to pipe the camera image into ROS.
This works moderately well, even though there is some lag to get the image.
The problem is that the published /camera/camera_info is all empty. (see below)
Is there a way I can override the camera_info topic with the calibration data I've gathered, and bypass what the AndroidCameraViewer driver reports ?
Thank you
Output of :
$ rostopic echo /camera/camera_info
header:
seq: 7485
stamp:
secs: 1412290798
nsecs: 453000000
frame_id: camera
height: 960
width: 1280
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
Originally posted by mtourne on ROS Answers with karma: 36 on 2014-10-02
Post score: 0
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I am trying to run the ASUS Xtion pro on eletric Ubuntu 10.04. Long story short, it was working initially and then all my openni drivers got wiped, so reinstalled the drivers using the wiki.
Now when I try to run rosrun openni_launch openni.launch the device can be detected but says it is not a matching device as below. There is also no camera feed when using rosrun image_view image_view image:=/camera/rgb/image_color
[ INFO] [1412296948.638187940]: Number devices connected: 1
[ INFO] [1412296948.640244380]: 1. device on bus 001:08 is a Xtion Pro (601) from ASUS (1d27) with serial id ''
[ INFO] [1412296948.645037848]: Searching for device with index = 1
[ INFO] [1412296952.665433343]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/buildd/ros-electric-openni-kinect-0.3.6/debian/ros-electric-openni-kinect/opt/ros/electric/stacks/openni_kinect/openni_camera/src/openni_device.cpp @ 99 : creating depth generator failed. Reason: Got a timeout while waiting for a network command to complete!
Does anyone know why this is occurring or what the error reason is?
Originally posted by zemark on ROS Answers with karma: 18 on 2014-10-02
Post score: 0
|
Hey everyone!
I am using a node that was developed using a 32 bit closed source library. I only have access to a 64bit computer, and there is no 64 bit version of the library. I would like to build my node which depends on the 32 bit library as a 32 bit application in order to make this work.
I found this website which shows how to do it using rosbuild: https://code.ros.org/gf/project/ros/mailman/?_forum_action=ForumMessageBrowse&thread_id=26204&action=ListThreads&mailman_id=20
but I need a solution for catkin. Any ideas?
Originally posted by Robocop87 on ROS Answers with karma: 255 on 2014-10-02
Post score: 0
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I know ROS Hydro Medusa has a pre-installed virtual machine file with Ubuntu 12.04.1 LTS .
This link said: http://wiki.ros.org/hydro/Installation
Alternatively, you can use a virtual machine with Ubuntu 12.04.1 LTS and ROS Hydro Medusa pre-installed. It is packaged in an .ova file of approx. 3.7GB that you can run on VirtualBox or other virtualization engines.
ROS indigo has this ?
Originally posted by roschina on ROS Answers with karma: 3 on 2014-10-02
Post score: 0
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Hi everyone,
I'm new in this world of mobile robots and ROS. Currently I wanna know if there are techniques implemented in ROS for self-localization or localization of a robot in a known map that it's provided by a map_server.
I try to use AMCL from de Navigation Stack but I could not make it work because I use hector_mapping without odometry information to build a accurate map and, in this moment, my robot doesn't provide me the odometry information.
I just wanna know if anyone in this community has/meets or has developed a technique ir ros to do this requirement for navigating.
I configured my amcl.launch like several examples in this community but AMCL doesn't work. I tried this solution (http://answers.ros.org/question/104971/using-hector-slam-with-amcl-for-localization-in-a-pre-made-map/) and unfortunately I could not get good results, in RVIZ the particleCloud topic doesn't provide a real good localization, any error or warning doesn't appear in the console and all particles, provide in this topic, diverge against to converge to a good pose. I don't know what to do. I think I have to provide a good odometry from my robot but I have read that if I provide bad odometry, AMCL won't work. Anyone knows or has a good tutorial to do that, the information from AMCL package is still insufficient for me because I'm a noob in these topics.
Please, help me, I would appreciate any idea, comment or any solution to do this.
Originally posted by ingcavh on ROS Answers with karma: 23 on 2014-10-03
Post score: 0
Original comments
Comment by bvbdort on 2014-10-03:
how are you driving your robot ? if you have velocities you can publish odometry
Comment by ingcavh on 2014-10-03:
I drive my robot with a PWM's modulation (I send a PWM reference), so I can't really estimate the velocities of my robot because my driver control (Driver Maxon Exon 50) doesn't provide me the information about my sensors, it implements a closed loop control but it doesn't provide me a feedback.
Comment by sajal on 2019-06-14:
@ingcavh I'm having the exact same issue. Did you find any solution?
|
I have the urdf model of a car. I have attached the laser and camera with it. how cat I see the camera view and the laser data in the gazebo simulator. I know this is a common question. As I am new in ROS I am relly stuck in this.
Originally posted by Robot on ROS Answers with karma: 180 on 2014-10-03
Post score: 1
|
Hi guys,
I'm using a USBTV007 EasyCap (ID 1b71:3002 by lsusb) to capture wireless video. The system can already see it in /dev/ as video0 and I can use VLC media player to display the video on the screen and even record the video to a file. However, when I tried using uvc_camera to access the camera, this appeared:
pixfmt 0 = 'YUYV' desc = '16 bpp YUY2, 4:2:2, packed'
terminate called after throwing an instance of 'std::runtime_error'
what(): pixel format unavailable
It cannot start, and I cannot get the video to ROS.
I also tried with uvc_cam and usb_cam, and they don't work too.
I'm running Ubuntu 12.04 with Groovy. Also the kernel is updated to 3.11 (I found here that from 3.11, this model is supported; before the update the device was not seen as a video device.)
Any solutions or suggestions are appreciated.
Thank you,
Veerachart
Originally posted by Veerachart on ROS Answers with karma: 86 on 2014-10-03
Post score: 1
Original comments
Comment by Eric Perko on 2014-10-12:
Have you tried http://wiki.ros.org/libuvc_camera ?
Comment by Veerachart on 2014-10-13:
Thanks for the suggestion. I'll try this as soon as I have the chance and update the result.
Comment by Veerachart on 2014-10-15:
That does not work, with the same error of pixel format unavailable.
v4l2-ctl --list-formats-ext
gives
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'YUYV'
Name : 16 bpp YUY2, 4:2:2, packed
http://www.ideasonboard.org/uvc/ not supported?
Comment by Eric Perko on 2014-10-17:
You can try to use something like guvcview to test UVC-compatibility. If it doesn't work there, it's not going to work with the UVC driver.
Comment by Veerachart on 2014-10-18:
If it's not compatible to UVC, is there any other driver that I can try?
Comment by Veerachart on 2014-10-20:
@Eric Perko I tried and guvcview cannot start with the capture device attached, so it is not compatible with UVC.
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I am using skeleton_tracker and i do not understand why orientation has 4 values (x,y,z,w). and i don't know what is the confidence value.
Thanks in advance.
Originally posted by idavico on ROS Answers with karma: 18 on 2014-10-03
Post score: 0
|
Hello everyone,
I know I've seen that question somewhere but I can't seem to find it again. I would like to know if there is somewhere I can download rosbags. Like a database of rosbag available for free. It could be a very handy thing. Like for now I'm stuck without a camera and I'm searching for a rosbag of an Xtion looking at an object. I'm pretty someone else already have done this.
If there isn't, does someone have rosbag of this type I could possibly use ?
Thanks a lot !
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-10-03
Post score: 0
|
Hi to everyone,
I am new of ROS and I am trying to go through all the ROS tutorials. I ended up in this page:
http://wiki.ros.org/Names#Graph
and I didn't understand how to interpret the resolving paragraph 1.1.2 'RESOLVING'.
Could you please explain it to me in a better way?
thanks a lot,
Fab.
Originally posted by fabbro on ROS Answers with karma: 115 on 2014-10-03
Post score: 1
Original comments
Comment by tfoote on 2014-10-04:
Please clarify how you interpret the section and why you think that's incorrect. The terms you're asking about, base, global, private, and relative, are all defined in that section.
Comment by 2ROS0 on 2014-11-18:
I agree w tfoote. Anyway, detailed description below. Also maybe edit the question to include the phrase "graph resource name resolution" or something of the sort so others can find it.
|
Hi,
I'm experiencing problems installing turtlebot 2 on indigo in a Ubuntu 14.04 (Trusty). I'm following the installation tutorial documented at http://wiki.ros.org/turtlebot/Tutorials/indigo/Installation . When installing the workspaces (point 4) I do:
$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
the last command fails and I get:
~/turtlebot$ rosdep install --from-paths src -i -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
turtlebot_stdr: Cannot locate rosdep definition for [stdr]
turtlebot_dashboard: Cannot locate rosdep definition for [create_dashboard]
turtlebot_gazebo: Cannot locate rosdep definition for [create_gazebo_plugins]
Has anyone experimented the same problem? any hint?
thanks.
Originally posted by prr on ROS Answers with karma: 11 on 2014-10-03
Post score: 1
Original comments
Comment by Maani on 2014-10-07:
I have the same problem. have you found anyway around it?
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Is there a generic way to test for message equality (or even better for almost equality) in C++?
It would be useful for me, when writing cpp unit-tests.
There should be a way with serialization, at least for strict equality, but how to implement it in a generic manner?
Originally posted by galou on ROS Answers with karma: 265 on 2014-10-03
Post score: 0
|
Hi
I am willing to work on adding support for ROS in Arch in my free time. Pls contact me or whom should i contact.
Thanks.
Originally posted by neoDEH on ROS Answers with karma: 21 on 2014-10-03
Post score: 0
|
Hi,
I have a C++ project for robot navigation developed in Visual Studio in simulation. There is currently nothing ROS about it.
I want to first visualize my outputs in Rviz and later send output commands to my robot. The robot already has a ROS end bringup node. Are there any best practices for writing ROS wrappers or tutorials for getting C++/Python code integrated into ROS?
Thank you.
Update: Based on @dornhege comment
I'm going to keep the code as separate as possible for now. Adding more details to question..
So I have a main function that generates outputs at a frequency of 4Hz. I have to do some logic and simple manipulation of this data in order to make it Rviz or robot ready.
The way I understand it, I should modify this main function to include a ROS publisher and make it into a ROS node. And then write a ROS listener that I can use to do all the manipulations to publish messages for RViz? I was wondering if it really is that simple and will there by any communication problems? Anything big things I should be wary of?
Thank you.
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-10-03
Post score: 0
Original comments
Comment by dornhege on 2014-10-04:
This is a bit of a generic question. Do you want to turn the code that you have into ROS code or do you want to "only" interface ROS and keep the code as separate as possible?
Comment by 2ROS0 on 2014-10-06:
What are the pros and cons of both?
I think I'll keep the code as separate as possible for now. Question updated.
|
My environment:
Mac OS maverick, 10.9.5; Xcode 6.0.1
I basically followed the instruction here:
http://wiki.ros.org/indigo/Installation/OSX/Homebrew/Source
Error:
$rosdep install --from-paths src --ignore-src --rosdistro indigo -y
executing command [brew install boost --with-python]
Warning: boost-1.56.0 already installed
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [boost --with-python]
I have both boost and boost-python installed by homebrew:
$brew list
autoconf eigen icon-naming-utils libyaml pyqt urdfdom
automake flann ilmbase log4cxx qhull urdfdom_headers
boost fltk imagemagick opencv qt vtk5
boost-python freetype intltool openexr sbcl wget
cmake gettext jpeg openssl sip yaml-cpp-0.3
collada-dom glew libpng pcl szip
console_bridge gtest libtiff pcre tango-icon-theme
cppunit hdf5 libtool pkg-config tinyxml
Originally posted by nikai on ROS Answers with karma: 1 on 2014-10-03
Post score: 0
|
Hello!
I tried the tutorial http://wiki.ros.org/indigo/Installation/OSX/Homebrew/Source and I know there is a section there for bondcpp fails and the exact problem I have, which is:
Built target roscpp_generate_messages_cpp
Linking CXX shared library /Users/tiberio/ros_catkin_ws/devel_isolated/bondcpp/lib/libbondcpp.dylib
ld: library not found for -luuid
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/tiberio/ros_catkin_ws/devel_isolated/bondcpp/lib/libbondcpp.dylib] Error 1
make[1]: *** [CMakeFiles/bondcpp.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'bondcpp':
Command '/Users/tiberio/ros_catkin_ws/install_isolated/env.sh make -j8 -l8' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Users/tiberio/ros_catkin_ws/build_isolated/bondcpp && /Users/tiberio/ros_catkin_ws/install_isolated/env.sh make -j8 -l8
Command failed, exiting.
However the solution doesn't work. Am I doing it right?
I did:
brew update
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
and then tried again
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
and had no better luck.
I thank you all for the patience and time in advance.
EDIT: Output from VERBOSE=1, I ran only cd /Users/tiberio/ros_catkin_ws/build_isolated/bondcpp && VERBOSE=1 /Users/tiberio/ros_catkin_ws/install_isolated/env.sh make -j8 -l8
This code block was moved to the following github gist:
https://gist.github.com/answers-se-migration-openrobotics/1b6390b5d66046f40e5c4bd68663af64
Originally posted by Tiberius on ROS Answers with karma: 36 on 2014-10-03
Post score: 2
|
Hello,
I'm trying to combine 3 different msgs into a single one. I'd like to create a msg only with the fields required for my application and after that publish this msg into a topic. Anyone knows how can I do that?
Thanks
J.L.
Originally posted by Joao Luis on ROS Answers with karma: 110 on 2014-10-03
Post score: 0
|
Hi everyone.
I try to do the tutorials from nav2D and when I run the tutirialX.launch I get these errors:
[ERROR] [1412367505.742519058, 35.800000000]: Failed to send PAUSE_COMMAND to Navigator.
[ERROR] [1412367510.758595622, 40.800000000]: Failed to send STOP_COMMAND to Navigator.
[ERROR] [1412367517.638542157, 47.700000000]: Failed to send GETMAP_COMMAND to GetMap-Client.
[ERROR] [1412367517.982605682, 48.000000000]: Failed to send EXPLORE_COMMAND to Explore-Client.
I don't know I get these errors, so I would apreciate if someone could help me with this. I wanna post another question from this package: nad2D_localizer need a topic that publishes odometry information or not?
Thank you in advance for any answer.
Originally posted by ingcavh on ROS Answers with karma: 23 on 2014-10-03
Post score: 0
Original comments
Comment by ingcavh on 2014-11-05:
Yes sir, that was the problem. Thanks for your answer.
|
I use QT creator with Cmake to compile the package,but it fails to find rosbuild.cmake.
please help me
CMake Error at CMakeLists.txt:8 (include):
include could not find load file:
/core/rosbuild/rosbuild.cmake
CMake Error at CMakeLists.txt:9 (rosbuild_init):
Unknown CMake command "rosbuild_init".
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found.
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found.
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found.
-- Found Qt4: /usr/local/Trolltech/Qt-4.8.5/bin/qmake (found version "4.8.5")
-- Boost version: 1.46.1
-- Found PROTOBUF: /usr/lib/libprotobuf.so
-- Configuring incomplete, errors occurred!
Originally posted by xiaoke on ROS Answers with karma: 3 on 2014-10-04
Post score: 0
Original comments
Comment by Wolf on 2014-10-05:
Which ros version / which operating system do you use?
Comment by xiaoke on 2014-10-06:
I installed ROS Fuerte Turtle on Ubuntu 12.04 of linux system. Thank you all the same !
|
Hi
I have a question about the following peice of code in http://wiki.ros.org/indigo/Installation/Arch
# ROS
indigo() {
source /opt/ros/indigo/setup.bash
export ROS_PACKAGE_PATH=/path/to/your/your/package/path:$ROS_PACKAGE_PATH
export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages:$PYTHONPATH
export PKG_CONFIG_PATH="/opt/ros/indigo/lib/pkgconfig:$PKG_CONFIG_PATH"
alias python=/usr/bin/python2
# Gazebo
source /usr/share/gazebo/setup.sh
}
In this i did not understand the environment variable ROS_PACKAGE_PATH. Is is needed ? What is the role of it ?
Originally posted by neoDEH on ROS Answers with karma: 21 on 2014-10-04
Post score: 0
|
Hi
I followed the instructions in http://wiki.ros.org/indigo/Installation/Arch.
If i typed catkin_make i get
Exhibt A :
[neo@arch ros2]$ indigo
[neo@arch ros2]$ catkin_make
Base path: /home/neo/ros2
Source space: /home/neo/ros2/src
Build space: /home/neo/ros2/build
Devel space: /home/neo/ros2/devel
Install space: /home/neo/ros2/install
####
#### Running command: "cmake /home/neo/ros2/src -DCATKIN_DEVEL_PREFIX=/home/neo/ros2/devel -DCMAKE_INSTALL_PREFIX=/home/neo/ros2/install" in "/home/neo/ros2/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/neo/ros2/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using default Python package layout
-- Could NOT find PY_em (missing: PY_EM)
CMake Error at /opt/ros/indigo/share/catkin/cmake/empy.cmake:29 (message):
Unable to find either executable 'empy' or Python module 'em'... try
installing the package 'python-empy'
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/all.cmake:146 (include)
/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:52 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/neo/ros2/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed
But if i do the following catkin_make works
Exhibt B :
[neo@arch ros2]$ indigo
[neo@arch ros2]$ catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so
Base path: /home/neo/ros2
Source space: /home/neo/ros2/src
Build space: /home/neo/ros2/build
Devel space: /home/neo/ros2/devel
Install space: /home/neo/ros2/install
####
#### Running command: "cmake /home/neo/ros2/src -DCATKIN_DEVEL_PREFIX=/home/neo/ros2/devel -DCMAKE_INSTALL_PREFIX=/home/neo/ros2/install -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so" in "/home/neo/ros2/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/neo/ros2/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.8")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using default Python package layout
-- Found PY_em: /usr/lib/python2.7/site-packages/em.pyc
-- Using empy: /usr/lib/python2.7/site-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/neo/ros2/build/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
CMake Warning:
Manually-specified variables were not used by the project:
PYTHON_INCLUDE_DIR
PYTHON_LIBRARY
-- Build files have been written to: /home/neo/ros2/build
####
#### Running command: "make -j4 -l4" in "/home/neo/ros2/build"
####
The problem is as i understand is because of the package empy. Also i see that in the log output of Exhibit A The PYTHON_EXECUTABLE: /usr/bin/python and not as PYTHON_EXECUTABLE: /usr/bin/python2 which is seen in Exhibit B.
How can this be ?
Originally posted by neoDEH on ROS Answers with karma: 21 on 2014-10-04
Post score: 2
|
Hi all,
I am looking for this file in my document but failed.
urdf_tutorial display.launch
So how can I find this file in my system?
Originally posted by sara on ROS Answers with karma: 35 on 2014-10-04
Post score: 0
|
With my configuration, openni2.launch and openni.launch are fails and I have no idea for the reason.
Could you help me ?
When I launch openni2.launch, I have an error as follows.
process[camera/camera_nodelet_manager-1]: started with pid [11714]
[ INFO] [1412458420.971125192]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [11735]
[ INFO] [1412458421.138822800]: Device "1d27/0600@1/9" with serial number "" connected
[ INFO] [1412458421.143513223]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/buildd/ros-indigo-openni2-camera-0.2.1-0trusty-20140921-1358/src/openni2_device.cpp @ 74 : Initialize failed
Could not open "1d27/0600@1/9": Failed to set USB interface!
My laptop is MacBookPro and it has only USB3.0 ports, No USB2.0 port ...
Someone suggests to use "ASUS Xtion USB 3.0 Hotfix, however it seems that I need Windows OS.
I don't have it.
The configuration is as follows.
OS : Ubuntu 14.04
ROS : Indigo
PC : MacBookPro(USB3.0 x 2, USB2.0 x 0, including Mac OS X and Ubuntu 14.04)
tried packages : openni.launch, openni2.launch
Used device : Xtion Pro Live
What should I do ?
Thanks in advance.
Originally posted by moyashi on ROS Answers with karma: 721 on 2014-10-04
Post score: 1
|
I'm running a simple arm with ros indigo. Moveit kind of works, but I'm not able to visualise the real robot movement when moveit is running. I get the following warning:
[WARN] [WallTime: 1412473268.164081] Could not process inbound connection: topic types do not match: [moveit_msgs/DisplayRobotState] vs. [sensor_msgs/JointState]{'topic': '/joint_states', 'tcp_nodelay': '0', 'md5sum': '6a3bab3a33a8c47aee24481a455a21aa', 'type': 'moveit_msgs/DisplayRobotState', 'callerid': '/rviz_1412473260929342276'}
I have joint state publisher and robot state publisher in my launch file:
When MotionPlanning plugin is activated in rviz then the feedback stops. If moveit is not running then RobotState shows exact movements of the run (I can move the arm when torque is switched off).
After a bit of debugging I've noticed that MotionPlanning plugin in rviz expects type moveit_msgs/DisplayRobotState. Any other component like RobotState plugin waits for sensor_msgs/JointState.
Do you think this is a bug in MotionPlanning or I'm missing something?
Many thanks in advance!
Originally posted by marcino2391 on ROS Answers with karma: 26 on 2014-10-04
Post score: 0
|
hi all. basically my problem is with clearing a costmap when using a point cloud to add obstacles to it.
http://youtu.be/VNzrfEc2JYk?t=29s
the video above pretty much shows what's going on. i just put a couple of points in a straight line (ultimately the point cloud will come from a camera, but this indicates the problem i am having).
it's not clearing. i think i've set the clearing distance fine. i'll post it once i boot up ubuntu.
i'm thinking it may be because i need to publish "0" points to clear the line i'm making. otherwise there's really nothing to clear the costmap. i'm not too sure what value i should use for these "0" points -- i tried 0 and they actually came up as obstacles too when put into the costmap.
if anyone can help with this i'll be extremely grateful...
thank you for your time.
Originally posted by Garrick on ROS Answers with karma: 96 on 2014-10-05
Post score: 1
Original comments
Comment by AReimann on 2014-10-12:
So I guess you are using a voxel map as costmap?
What do you mean exactly by camera?
Comment by Garrick on 2014-10-12:
i think i was using a voxel layer instead of an obstacle layer. do you think this will make a difference with the clearing? the camera will ultimately generate the poincloud. but in the video i just put a line of points. this is solved using the cloud->laser but i will now try with an obstacle layer
Comment by AReimann on 2014-10-12:
Shouldn't make a difference. By camera I was more thinking about if it is a depth camera or something else which can only output "valid" points, so not out of measurement range etc. See answer,
|
Hi OSX-Users,
it's a long and upgly job to compile the ros environment for OSX.
Most users want to use ROS only and do not have the experience to setup the environment.
Why is there no easy to use DMG available for OSX-ROS-Users ?
Cheers
Christian
Originally posted by Chrimo on ROS Answers with karma: 390 on 2014-10-05
Post score: 1
Original comments
Comment by Chrimo on 2014-10-05:
Another simple usage may be: sudo brew install ros-indigo-*
Comment by kunaltyagi on 2014-10-05:
I found these instruction good and easy to follow.
|
I have 2 hokuyo lasers which I want to use for mapping with hector_slam. I want both of them to map simultaneously so I could get a 360' view at once.
What would be a good way to do this? Should both lasers publish to 1 topic? or should they use 2 different topics, and if so would I be able to incorporate 2 topics into 1 map?
Thanks!
Originally posted by kost9 on ROS Answers with karma: 97 on 2014-10-05
Post score: 1
|
I'm using a vicon system rather than a gyro and encoders to track my Turtlebot's pose. Only problem is, I'm not sure how to modify the /odom topic to take only my vicon data (it currently takes both the vicon data output from my custom node as well as the encoder/gyro data from a turtlebot_navigation node).
Does anyone have experience with this? I'm not sure how to replace the /odom topic properly!
Originally posted by nckswt on ROS Answers with karma: 539 on 2014-10-06
Post score: 0
|
How can I launch rosrun and roslaunch commands with sudo? Why It is not possible by default? Please help.
Originally posted by vd77 on ROS Answers with karma: 38 on 2014-10-06
Post score: 2
|
Earlier uwsim was running well. Now it is showing segmentation error for last 3-4 days ..
[ INFO] [1412582441.771043565]: GPSSensor publisher on topic g500/gps
[ INFO] [1412582441.771251203]: DVLSensor publisher on topic g500/dvl
[ INFO] [1412582441.771457584]: VirtualCameraToROSImage publisher on topic /uwsim/rangecamera_info
[ INFO] [1412582441.771843388]: RangeSensorToROSRange publisher on topic /uwsim/g500/range
[ INFO] [1412582441.838518974]: SimDev_Echo_ROSPublisher on topic g500/echo2
[ INFO] [1412582441.839045438]: MultibeamSensorToROS publisher on topic g500/multibeam
[ INFO] [1412582441.839233172]: SimDev_Echo_ROSPublisher on topic g500/echo1
[ INFO] [1412582441.839349458]: ForceSensor_ROSPublisher on topic g500/ForceSensor
[ INFO] [1412582441.844583501]: ForceSensor_ROSPublisher Waiting for physics to be initialized
[ INFO] [1412582442.844989907]: ForceSensor_ROSPublisher Waiting for physics to be initialized
[ INFO] [1412582443.845381929]: ForceSensor_ROSPublisher Waiting for physics to be initialized
[ INFO] [1412582444.845571687]: ForceSensor_ROSPublisher Waiting for physics to be initialized
[ INFO] [1412582445.845772760]: ForceSensor_ROSPublisher Waiting for physics to be initialized
[ INFO] [1412582446.846130836]: ForceSensor_ROSPublisher Waiting for physics to be initialized
/opt/ros/hydro/lib/uwsim/uwsim: line 23: 6185 Segmentation fault (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@
Originally posted by Mind_hunter on ROS Answers with karma: 51 on 2014-10-06
Post score: 0
Original comments
Comment by Javier Perez on 2014-10-06:
I think we need more information in order to help you. Have you tried running it with --disableShaders ?, Issue started after an update of kernel / drivers ?, if the crash is at starting uwsim, it usually means a graphics/driver problem.
Comment by Mind_hunter on 2014-10-07:
I tried with --disableShaders but it didnt work. I did not update kernel but i think i updated drivers. Is that the reason?Actually i reinstalled xserver-xorg and then reconfigured it .. Also i upgraded the packages.
Comment by Javier Perez on 2014-10-07:
It seems the crash happens at window initialization, and if it started with a xserver reinstall I would say it is a drivers issue. Make sure you have 3d support and check your graphic drivers are working as they should.
Comment by Mind_hunter on 2014-10-07:
Ok now it is working . i have reinstalled xserver-xorg and now it is working fine..Thanks a lot
|
Hi, I run a example topic in machine and I would like see debug messages (ROS_INFO, ROS_ERROR...) in another machine. I used export ROS_MASTER_URI and ROS_IP in first machine and export ROS_MASTER_URI in sencod. I see in second machine the topics publication values but not show message when I run rqt_console. In the first machine, rqt_console show this messages perfectly. Where is the problem?
Thanks in advanced
Originally posted by Edmodi on ROS Answers with karma: 23 on 2014-10-06
Post score: 0
|
Hello, my name is Kaori Furuike.
I have a question about "10. Creating msg and srv" in beginner level tutorials. (http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv)
It tells us to make sure we export the message runtime dependency.
catkin_package(
...
CATKIN_DEPENDS message_runtime ...
...)
But there is no statement like "CATKIN_DEPENDS message_runtime ..." in my catkin_package.
And when I run without such a statement, I got this error message.
"Unable to load msg [beginner_tutorials/Num]: Cannot locate message [Num]: unknown package [beginner_tutorials] on search path [{'rosconsole': ['/opt/ros/hydro/share/rosconsole/msg'], ..."
Would you tell me what is (or what shold be) written in catkin_package at beginner_tutorials/CMakeLists.txt ?
Thank you.
Originally posted by Kaori Furuike on ROS Answers with karma: 21 on 2014-10-06
Post score: 1
Original comments
Comment by bvbdort on 2014-10-06:
can you share your Cmakelist.txt
|
I have one urdf model of a car. It gets one camera in front of it. its grabbing the picture and publishing on a topic. I have write a callBack function where it will receive the image data. By the pixel by pixel data it will convert it to a opencv image, and will display on a window. Now my next step is to use the image data to track one target object. which will be the best way to do. I am really stuck in here.
flag = 0;
ROS_INFO("in image node function");
int h = *(&img->height);
int w = *(&img->width);
cv::WImageBuffer3_b image(h,w);
int step = image.WidthStep();
step = 3;
for(int i=(h-1);i>=0;i--)
{
for(int j=(w-1);j>=0;j--)
{
*(image(i,j)) = *(&img->data[count]);
count++;
*(image(i,j)+1) = *(&img->data[count]);
count++;
*(image(i,j)+2) = *(&img->data[count]);
count++;
}
}
//ROS_INFO("data = [%d]",*(&img->data[0]));
cvStartWindowThread();
cvShowImage("view",image.Ipl());
the above is my imagecall back function. I have all the pixel data. please help me. Thank you in advance
Originally posted by Robot on ROS Answers with karma: 180 on 2014-10-06
Post score: 0
Original comments
Comment by Robot on 2014-10-06:
I am really stuck in here, please give me any hints,,, thank you in advance
Comment by ahendrix on 2014-10-06:
This has been the topic of a great many PhD theses. It may help if you can constrain your problem a little bit.
Comment by Robot on 2014-10-06:
using those pixel data I am able to generate the image. it is perfectly showing. the problem is the structure I am using to store the image file with all the relevant data is a WImagebuffer3_b. In order to perform any image processing I am gonna need in cv::Mat format. will cv_bridge will be perfect
|
I have created a package in ROS which contains my own header files and I have created a library using these header files using rosbuild_add_library (add_library in case of Catkin) . I wish to make use of this library in another ROS package. Is it enough to add the package ( containing my library ) to the list of dependency in package.xml (or manifest.xml) of the current package and using target_link_libraries( my_target my_library) in CMakeLists.txt or do I have to specify the complete path to my library? In other words, do I have to use link_directories(library_directories) even after adding my former package to the package.xml of the current package?
Pkg1 (package) contains a library foo. The library has been created using rosbuild_add_library on one computer and using add_library (for catkin) on another computer. Pkg2 is the package (created in both computers) in which I want to use the library foo.
Originally posted by Hemu on ROS Answers with karma: 156 on 2014-10-06
Post score: 0
Original comments
Comment by BennyRe on 2014-10-06:
Does Pkg2 use rosbuild or catkin? Why do you have two versions of Pkg1 on two different computers?
|
Hello,
I have some troubles with the compilation of the package hydro-navigation-devel fetched from github here
This is my configuration :
-Ubuntu 12.04
-ros-groovy-desktop-full installed
-ros-hydro-desktop full installed
-pcl 1.7 installed
-ros-groovy /hydro-navigation installed
-ros-groovy/hydro-pcl-installed
-ros-hydro-perception-pcl installed
-libopenni-dev installed
-openni-dev NOT installed
All those package are installed from synaptic (apt-get)
ros-hydro-navigation is working perfectly
Then, I tried to compile the package from source (source from the git navigation-hydro-devel) so I did a catkin_make on the costmap_2d (after successfully compiling the voxel_grid package) in my catkin workspace and I got some errors :
catkin_make -DCATKIN_WHITELIST_PACKAGES="costmap_2d"
Base path: /home/XXX/hydroWS
Source space: /home/XXX/hydroWS/src
Build space: /home/XXX/hydroWS/build
Devel space: /home/XXX/hydroWS/devel
Install space: /home/XXX/hydroWS/install
####
#### Running command: "cmake /home/XXX/hydroWS/src -DCATKIN_DEVEL_PREFIX=/home/XXX/hydroWS/devel -DCMAKE_INSTALL_PREFIX=/home/XXX/hydroWS/install -DCATKIN_WHITELIST_PACKAGES=costmap_2d" in "/home/XXX/hydroWS/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/XXX/hydroWS/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/groovy
-- This workspace overlays: /opt/ros/groovy
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/XXX/hydroWS/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.89
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - costmap_2d
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'costmap_2d'
-- ==> add_subdirectory(navigation-hydro-devel/costmap_2d)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package cmake_modules.
Set cmake_modules_DIR to the directory containing a CMake configuration
file for cmake_modules. The file will have one of the following names:
cmake_modulesConfig.cmake
cmake_modules-config.cmake
Call Stack (most recent call first):
navigation-hydro-devel/costmap_2d/CMakeLists.txt:4 (find_package)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package map_msgs.
Set map_msgs_DIR to the directory containing a CMake configuration file for
map_msgs. The file will have one of the following names:
map_msgsConfig.cmake
map_msgs-config.cmake
Call Stack (most recent call first):
navigation-hydro-devel/costmap_2d/CMakeLists.txt:4 (find_package)
-- Using these message generators: gencpp;genlisp;genpy
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Eigen found (include: /usr/include/eigen3)
CMake Error at /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:255 (message):
Messages depends on unknown pkg: map_msgs (Missing find_package(map_msgs?))
Call Stack (most recent call first):
navigation-hydro-devel/costmap_2d/CMakeLists.txt:44 (generate_messages)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
When I am compiling from source the groovy nav stack, I also have some troubles with openni but it passes this error by disabling some features.
If i install openni-dev, openni-dev is found but pcl (uninstalled) is not found so it doesn't work. This is due to a conflict between openni and libopenni that i don't know how to solve...
Originally posted by draziel on ROS Answers with karma: 11 on 2014-10-06
Post score: 1
Original comments
Comment by ahendrix on 2014-10-06:
sudo apt-get install ros-hydro-cmake-modules ros-hydro-map-msgs
Comment by draziel on 2014-10-06:
I tried with this... but it didn't solve the problem
|
Hi,
i am fairly new to this, but whatever i try i cant seem to fix or see the problem here.
i have a catkin workspace: catkin_ws
i`ve installed the tum_ardrone package accordingly:
cd catkin_ws
git clone git://github.com/tum-vision/tum_ardrone.git -b hydro-devel
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:catkin_ws/tum_ardrone tum_ardrone -b hydro-devel
cd tum_ardrone
rosmake tum_ardrone
added this to my .bashrc file: export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
and : source /home/leroy/catkin_ws/devel/setup.bash
when using rosmake it gives me a load of messages: "No Makefile in package catkin" this goes for every package
i noticed there wasnt a makefile. so i tried adding one manually with this line in it: include $(shell rospack find mk)/cmake.mk this still doesn`t change anything
when i am trying to run any of the 3 nodes in this package i get the following error: "Couldn't find executable below /home/leroy/catkin_ws/tum_ardrone"
ive also found a solution on this site where was stated that rosmake doesnt alway coop with catkin and therefore sometimes only make needs to be used. this gives me the following:
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake ..
The C compiler identification is GNU
The CXX compiler identification is GNU
Check for working C compiler: /usr/bin/gcc
Check for working C compiler: /usr/bin/gcc -- works
Detecting C compiler ABI info
Detecting C compiler ABI info - done
--Check for working CXX compiler: /usr/bin/c++
Check for working CXX compiler: /usr/bin/c++ -- works
Detecting CXX compiler ABI info
Detecting CXX compiler ABI info - done
Using CATKIN_DEVEL_PREFIX: /home/leroy/catkin_ws/tum_ardrone/build/devel
Using CMAKE_PREFIX_PATH: /opt/ros/hydro
This workspace overlays: /opt/ros/hydro
Found PythonInterp: /usr/bin/python (found version "2.7.3")
Using PYTHON_EXECUTABLE: /usr/bin/python
Python version: 2.7
Using Debian Python package layout
Using CATKIN_ENABLE_TESTING: ON
Call enable_testing()
Using CATKIN_TEST_RESULTS_DIR: /home/leroy/catkin_ws/tum_ardrone/build/test_results
Looking for include files CMAKE_HAVE_PTHREAD_H
Looking for include files CMAKE_HAVE_PTHREAD_H - found
Looking for pthread_create in pthreads
Looking for pthread_create in pthreads - not found
Looking for pthread_create in pthread
Looking for pthread_create in pthread - found
Found Threads: TRUE
Found gtest sources under '/usr/src/gtest': gtests will be built
catkin 0.5.89
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package ardrone_autonomy.
Set ardrone_autonomy_DIR to the directory containing a CMake configuration
file for ardrone_autonomy. The file will have one of the following names:
ardrone_autonomyConfig.cmake
ardrone_autonomy-config.cmake
Call Stack (most recent call first):
CMakeLists.txt:9 (find_package)
Using these message generators: gencpp;genlisp;genpy
tum_ardrone: 1 messages, 5 services
CMake Warning at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:409 (message):
catkin_package() include dir
'/home/leroy/catkin_ws/tum_ardrone/build/devel/include' should be placed in
the devel space instead of the build space
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:64 (catkin_package)
CMake Warning at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:409 (message):
catkin_package() include dir
'/home/leroy/catkin_ws/tum_ardrone/build/devel/include' should be placed in
the devel space instead of the build space
Call Stack (most recent call first):
/opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
CMakeLists.txt:64 (catkin_package)
Looking for Q_WS_X11
Looking for Q_WS_X11 - found
Looking for Q_WS_WIN
Looking for Q_WS_WIN - not found.
Looking for Q_WS_QWS
Looking for Q_WS_QWS - not found.
Looking for Q_WS_MAC
Looking for Q_WS_MAC - not found.
Found Qt4: /usr/bin/qmake (found version "4.8.1")
Configuring incomplete, errors occurred!
make: *** [all] Error 1
this is really driving me mad and i really hope somebody can help me out here! i would be very,very gratefull :)
thank you in advance!
Originally posted by leroyv13 on ROS Answers with karma: 1 on 2014-10-06
Post score: 0
|
Hello,
I want to use rviz with a webcam. I'm not able to launch rviz if LIBGL_ALWAYS_SOFTWARE is not defined. I need to do
"export LIBGL_ALWAYS_SOFTWARE=0". If I go out of rviz and I want to use it again it will not work. Sometimes it will work again but I need to modify LIBGL_ALWAYS_SOFTWARE (sometimes 0 and sometimes work only with 1 ?).
But at this time, the biggest problem is that all menu have black background. The center part and the bottom are grey, so no problem to read text on it. But the left part, the right part and the upper part have black background. I can see there are some menus, but impossible to read. In the upper part, I have just icons which I can see.
So I change theme, I tested with Ubuntu Interface, Cinnamon Interface, I used with 1 external monitor so I disconnected it but ... it's always the same.
So my question is simple: how can I change the background of these black parts before launching rviz ? Or may be there is another problem ?
Thanks for reply.
Goupil
Configuration: Zenbook UX32VD (only graphics from Intel I7) / Ubuntu 14.04 / ROS Indigo / OpenGl 4.4 /rviz 1.11.3
Edit: Tested after switching to Nvidia 620m card. It's the same, black background for menus. I remove ~/.rviz, same problem. To launch rviz it seems that it works sometimes (1 times / 3 tries) with intel graphics but it launches more often with Nvidia. It's independant of the value of LIBGL_ALWAYS_SOFTWARE (but it seems slower when this variable is on 1).
Originally posted by goupil35000 on ROS Answers with karma: 113 on 2014-10-06
Post score: 1
|
Hi all,
I tried to run other package with openni_launch of ASUS Xtion. In the launch file of other package, it subscribes to /camera/depth_registered/points, /camera/rgb/image_raw, /camera/depth_registered/image, and /camera/depth/camera_info. When I launched roslaunch openni_launch openni.launch, it was fine. But when I launched the other package, I got this following warning repeating over and over and could not subscribe to kinect rostopics.
[ WARN] [1412634733.035488109]: TF2
exception: Invalid argument
"/camera_rgb_optical_frame" passed to
lookupTransform argument target_frame
in tf2 frame_ids cannot start with a
'/' like:
Anyone who has seen this warning before? I am using ubuntu 14.04 and ROS indigo. I did openni-related apt-gets and installed openni_launch. The version of my ASUS Xtion is old one, so openni_launch package is comparable with it, and I was able to subscribe all of rostopics properly, which is fine. It looks like TF2 related problem, but I do not know exactly why it happened.
Thank you.
Originally posted by yoo00 on ROS Answers with karma: 25 on 2014-10-06
Post score: 0
|
Hi community
I have currently developed all packages I need using Ubuntu precise and ROS hydro.
I know that it could be some hassle to move to ROS indigo.
But can there be any problems involved to move to another Ubuntu version?
Or in other words: How do I choose the right version of Ubuntu to use for my robot?
Thanks for your help
Originally posted by ct2034 on ROS Answers with karma: 862 on 2014-10-06
Post score: 1
|
Hi All,
I have got my hydraulic arm successfully able to be controlled from MoveIt! and IKFast as per the scenario in http://answers.ros.org/question/190808/using-moveit-to-control-the-end-of-a-hydraulic-arm-in-cartesian-coordinates/ , but I can't find the steps for creating a service where I issue a request consisting of Cartesian Coordinates as an input and getting joint angles as an output. There is some stuff about the PR2 arm, but I can't work out how to adapt this for my arm.
Can anybody point me in the right direction?
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-10-06
Post score: 0
|
I am trying to load a collision object into my hydraulic arm's planning scene, but it doesn't work with the pillar example provided for the baxter robot:
[ WARN] [1412647012.600856139]: Assimp reports no scene in file:///home/controller/Downloads/baxter_pillar.scene
There is a box.stl from the MoveIt! tutorial example that loads perfectly well.
Why is Assimp not loading these text scene files? All I want to do is have a cylinder that my robot is not allowed to collide with when executing a path.
Kind Regards
Bart
Originally posted by bjem85 on ROS Answers with karma: 163 on 2014-10-06
Post score: 0
|
Hi there
i have a basic question about program structure. I want to write a node that calls the laser_assembler service and publishes those scans witch have been taken during one tilt motion of my servo motor. To do so i thought of subscribing to the motor state msg the motor service publishes.
How would you structure this node. Would you bind all the objects that are needed (service client, publisher ...) to the callback? Or would you write a class for this (witch would be basically my whole node). Or is it ok to have a couple of global variables?
thanks
Alex
Originally posted by AlexKolb on ROS Answers with karma: 30 on 2014-10-06
Post score: 0
|
Hi all,
I am following through the Moveit! Industrial Robot Tutorial and got stuck.
when I add motion planning or any from the moveit_ros_visualization folder, it will show the same error:
MotionPlanning
The class required for this display, 'moveit_rviz_plugin/MotionPlanning', could not be loaded.
Error:
Failed to load library /opt/ros/hydro/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = liborocos-kdl.so.1.3: cannot open shared object file: No such file or directory)
However, the libmoveit_motion_planning_rviz_plugin.so is right in its place.
How can I solve this?
Originally posted by sara on ROS Answers with karma: 35 on 2014-10-06
Post score: 1
|
Hello all;
I have a package that uses PCL libraries and that works perfectly in Groovy and Hydro, both in 64 bit machines.
In 32 bit machines, I can compile the package exactly the same way, without problems, but in execution it does not work.
The callbacks in it go indredibly slow, sometimes taking more than a minute, when in 64 bit they work perfectly fine.
Any possible causes for this package being stuck in 32 bit?
I am runnning Ubuntu 12.04 64 bit with Hydro and Groovy, and Ubuntu 12.04 32 bit with Hydro.
Thank you all in advance,
Originally posted by altella on ROS Answers with karma: 149 on 2014-10-07
Post score: 0
Original comments
Comment by Tirjen on 2014-10-07:
Can you please post the error that you get during execution?
Comment by altella on 2014-10-07:
It really gives no error... simply the callbacks are not executing at the rate specified
Comment by Tirjen on 2014-10-07:
So are the callbacks executing at a lower rate or they are not executing at all? Are the two machines equivalent in terms of CPU, RAM etc?
Comment by ahendrix on 2014-10-07:
It's quite possible that the additional instructions and optimizations available in 64-bit mode make a big performance difference.
Comment by altella on 2014-10-07:
I think they are executing, but a callback intended to run at 10 HZ, needs 80 seconds to enter for the first time
Comment by altella on 2014-10-07:
The PC's are the same in terms of CPU and RAM, but it seems that the computation required for cluster extraction in PCL makes a HUGE difference btw 32 bit and 64 bit versions of the same OS.
|
Hi all,
I wondered if it is possible to do a calculation in a roslaunch file, something like:
<arg name="windowsize" default="20"/>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true">
<param name="xmin" value="$(arg -windowsize/2)" />
<param name="ymin" value="$(arg -windowsize/2)" />
<param name="xmax" value="$(arg windowsize/2)" />
<param name="ymax" value="$(arg windowsize/2)" />
</node>
I have tried several combinations, all without luck. And I can't seem to find anything about it on the web...
I really do need to be able to use the 'windowsize' argument, rather than 4 x/ymax/min arguments, to support some interface I made with other nodes I made...
Originally posted by koenlek on ROS Answers with karma: 432 on 2014-10-07
Post score: 4
|
hello everyone,
i did the turtlebot gmapping tutorial,got a map(width=768,height=512,resolution=0.05). does it mean that the actual size of the environment is (768 multiply by 0.05,512 multiply by0.05) ,the grid map of X from [0,767],Y from [ 0,511] or maybe X-Y axes reverse,the [0,0]cell is the lower left corner of the grid map,am i right?
then i saw the OccupancyGrid andMapMetaData , and when i saw the link1,link2and link3,There are few points unclear.
when gmapping over with the turtlebot stop ,but the node slam_gmapping not kill, then i want to see the map data,sorosrun echo /map > map_data.txt,but the data are only three type: 0,100 and -1.But the Image_format said the "occupancy is represented as an integer in the range [0,100]",why?
from the experiment ,i got the map.info.origin.position=[-12.2,-12.2,0] , map.info.origin.orientation=[0,0,0,1],it suggest that there is no orientation between the grid map frame coordinate and the /map frame coordinate,am i right ?how does the map_server make the grid map 's X-Y axes parallel to the /map frame's X-Y? if i do experiment in a rectangular totally free room ,i let the initial pose of turtlebot located in the diagonal of the environment ，facing to another diagonal corner,the /map frame's axes-X isn't parallel to the future build grid map frame's axes-X, the /map frame's axes-Y is also not parallel to map frame's axes-Y,can i understand like this ?
Thanks for your time and attention.sorry,my english is poor ,i hope i will not confuse you .your any ideas will be appreciated,thank you very much !!
jxl
Originally posted by jxl on ROS Answers with karma: 252 on 2014-10-07
Post score: 0
|
Hi Guys,
since 2 day working with my code I found what is causing troubles.
I cannot establish a working connection between a client and move_base server.
Since my code is really huge I m going to report here just the interesting part which is a sintetic version of my code.
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <move_base_msgs/MoveBaseGoal.h>
//######################## ACTIONLIB #################################################
/* Here the function used to reach the and keep track of the goals */
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
/* Definitions of variables for the goal positions */
move_base_msgs::MoveBaseGoal goal_;
int main( int argc, char **argv ) {
ros::init( argc, argv, "pelican_driver" );
ros::NodeHandle nh;
ros::NodeHandle nh_private( "~" );
MoveBaseClient ac_( "move_base", true );
//######################## ACTIONLIB #################################################
/* The server connection for the actionlib must be checked for 60 [sec] before going on... */
ROS_INFO( "Checking the reply from the server..." );
if( ac_.isServerConnected() )
ROS_INFO( "Connected!" );
if( !ac_.isServerConnected( ) )
ROS_INFO( "Not connected" ); <= I GET ALL THE TIME "NOT CONNECTED"
ros::spin();
return 0;
}
2 Words more: my code works perfectly when I uncomment the line with waitForServer and I play with the whole code since weeks. Uncommenting that line it stucks literally on the above line and doesn't work anymore. It stops the created classes (which have a timer inside to run some program at a given loop), resulting in the fatidic
[ WARN] [1412682893.011742911]:
Waiting on transform from base_link to
map to become available before running
costmap, tf error: Could not find a
connection between 'map' and
'base_link' because they are not part
of the same tree.Tf has two or more
unconnected trees.
(furthermore this is interesting for all the people looking for the reason they get that error. In my case the reason is quite simple: stucking at that point my code is not able to publish the transformation odom => base_link. So check this if you have to deal with).
Again: commenting that single line of code, my code works like a charm and all tf transformations/trees are identified as you can see in the following figure:
Since my code is really quite a copy of this tutorial, I cannot find any solution to get rid of this problem.
In my launch file I start at first the driver of my robot (the code above honestly speaking), then the map_server and then the move_base
<launch>
<!-- Launch the driver of the robot -->
<include file="$(find quadrotor)/launch/robot_driver.launch" />
<!-- Launch map_server with a blank map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find quadrotor)/maps/blank_map.yaml" />
<!-- Launch move_base and load all navigation parameters -->
<include file="$(find quadrotor)/launch/move_base.launch" />
<!-- Run a static transform between /odom and /map -->
<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />
</launch>
I ve tried to invert the order without success.
What should I now do?
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-10-07
Post score: 0
|
It comes with a USB interface and terminal program in Windows is available. I believe there is just one message at up to 32 Hz.
Originally posted by stevenwaslander on ROS Answers with karma: 31 on 2014-10-07
Post score: 0
|
Hi all,
I am facing a strange problem. I am using ROS move_base and SBPL for motion-primitive-based path planning.
I have generated some motion primitives for SBPL and everything works fine using my laptop (Intel i5, Ubuntu 14.04). The robot plans the path and moves fine along the path.
Now I am using the very same modules (and configs) on my Odroid U3 (ARM quadcore) and it cannot find a solution. Top shows that the core is at 100%. Here is the output from move_base
[ INFO] [1412691428.999248673]: Using plugin "obstacle_layer"
[ INFO] [1412691429.127272381]: Subscribed to Topics:
[ INFO] [1412691429.172789423]: Using plugin "inflation_layer"
[ INFO] [1412691429.443358089]: Name is SBPLLatticePlanner
[ INFO] [1412691430.931921673]: Planning with ARA*
[ INFO] [1412691430.932365757]: [sbpl_lattice_planner] Initialized successfully
[ INFO] [1412691430.989290632]: Using plugin "obstacle_layer"
[ INFO] [1412691431.241103424]: Subscribed to Topics:
[ INFO] [1412691431.286346674]: Using plugin "inflation_layer"
[ INFO] [1412691431.688199674]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1412691431.732307049]: Sim period is set to 0.10
[ INFO] [1412691432.897083008]: odom received!
[ INFO] [1412691492.209781994]: [sbpl_lattice_planner] getting start point (3.48925,-0.84064) goal point
(2.00517,-1.3133)
[ INFO] [1412691502.490063749]: Solution not found
[ WARN] [1412691502.492333249]: Map update loop missed its desired rate of 2.0000Hz... the loop actually took
10.0025 seconds
[ INFO] [1412691502.492543791]: [sbpl_lattice_planner] getting start point (3.48925,-0.84064) goal point (2.00517,-1.3133)
[ INFO] [1412691512.771037004]: Solution not found
I am using the following repos of the modules:
ROS indigo
sbpl_lattice_planner: https://github.com/meyerj/sbpl_lattice_planner.git
sbpl: https://github.com/sbpl/sbpl.git
Any ideas? I actually have no Idea where to start looking.
Cheers,
Markus
Originally posted by Markus Eich on ROS Answers with karma: 202 on 2014-10-07
Post score: 1
|
Hi could someone please tell me how http://wiki.ros.org/tabletop_object_detector link the object recognition and the position together. i don't quite understand the wiki.
Originally posted by chiongsterx on ROS Answers with karma: 33 on 2014-10-07
Post score: 1
|
ros indigo
ubuntu 14.04 trusty
at 100% build i get :
CMakeFiles/command_action_server.dir/src/commandserver.cpp.o: In function `__static_initialization_and_destruction_0(int, int)':
commandserver.cpp:(.text+0x52b): undefined reference to `mysql_init'
commandserver.cpp:(.text+0x595): undefined reference to `mysql_real_connect'
CMakeFiles/command_action_server.dir/src/commandserver.cpp.o: In function `hal_command_server::commandServer::~commandServer()':
commandserver.cpp:(.text._ZN18hal_command_server13commandServerD2Ev[_ZN18hal_command_server13commandServerD5Ev]+0x1a): undefined reference to `mysql_close'
CMakeFiles/command_action_server.dir/src/commandserver.cpp.o: In function `hal_command_server::commandServer::executeCB(boost::shared_ptr<hal_main::sendcommandGoal_<std::allocator<void> > const> const&)':
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x28d): undefined reference to `mysql_query'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x2a9): undefined reference to `mysql_store_result'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x2e4): undefined reference to `mysql_fetch_row'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x59d): undefined reference to `mysql_free_result'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x657): undefined reference to `mysql_query'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x673): undefined reference to `mysql_store_result'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x697): undefined reference to `mysql_num_rows'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0xcd9): undefined reference to `mysql_free_result'
commandserver.cpp:(.text._ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE[_ZN18hal_command_server13commandServer9executeCBERKN5boost10shared_ptrIKN8hal_main16sendcommandGoal_ISaIvEEEEE]+0x1018): undefined reference to `mysql_fetch_row'
collect2: error: ld returned 1 exit status
cmakelists.txt :
cmake_minimum_required(VERSION 2.8.3)
project(hal_main)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED thread date_time system filesystem program_options python )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
message_generation
roscpp
rospy
std_msgs
genmsg
visualization_msgs
clam_controller
clam_msgs
pcl_ros
cv_bridge
eigen_conversions
moveit_msgs
geometry_msgs
moveit_ros_planning
moveit_ros_planning_interface
tf
tf_conversions
moveit_simple_grasps
cmake_modules
moveit_core
# eigen_conversions
)
find_package(OpenCV REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
add_definitions(${EIGEN_DEFINITIONS})
#SET( CMAKE_MODULE_PATH "/usr/share/cmake-2.8/Modules/" )
#set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/share/cmake_modules/cmake/Modules/")
find_package(MySQL REQUIRED)
include_directories(${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
#link_directories(/usr/lib/mysql/plugin/${MYSQL_LIBRARY_DIRS})
#find_package(OpenCV2 REQUIRED)
#find_package(mysql REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
#find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs moveit_msgs )
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
instr_set_arm.msg
instr_set_legs.msg
object.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
add_action_files(
FILES
arminstr.action
leginstr.action
objrecog_posit.action
sendcommand.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs
std_msgs
geometry_msgs
moveit_msgs
)
catkin_package(
CATKIN_DEPENDS
actionlib
actionlib_msgs
message_generation
roscpp
rospy
std_msgs
genmsg
visualization_msgs
clam_controller
clam_msgs
pcl_ros
cv_bridge
eigen_conversions
moveit_msgs
geometry_msgs
moveit_ros_planning
moveit_ros_planning_interface
tf
tf_conversions
moveit_simple_grasps
moveit_core
# INCLUDE_DIRS include
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: include/hal_main
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include include/hal_main ${CMAKE_INSTALL_PREFIX}/include/hal_main
# LIBRARIES hal_main
# CATKIN_DEPENDS actionlib actionlib_msgs message_generation roscpp rospy std_msgs message_runtime geometry_msgs moveit_msgs
# DEPENDS
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( ${catkin_INCLUDE_DIRS})
include_directories( /usr/include/mysql ${MYSQL_INCLUDE_DIRS})
add_definitions(${MYSQL_DEFINITIONS})
link_directories(/usr/lib )
#${MYSQL_LIBRARY_DIRS}
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
## Declare a cpp library
# add_library(hal_main
# src/${PROJECT_NAME}/hal_main.cpp
# )
## Declare a cpp executable
add_executable(command_action_client src/commandclient.cpp)
add_dependencies(command_action_client hal_main_generate_messages_cpp)
target_link_libraries(command_action_client ${catkin_LIBRARIES})
add_executable(command_action_server src/commandserver.cpp)
add_dependencies(command_action_server hal_main_generate_messages_cpp)
target_link_libraries(command_action_server ${catkin_LIBRARIES})
add_executable(arms_action_server src/arms_server.cpp)
add_dependencies(arms_action_server hal_main_generate_messages_cpp)
target_link_libraries(arms_action_server ${catkin_LIBRARIES})
add_executable(object_recog_pos_server src/obj_recog_posit_server.cpp)
add_dependencies(object_recog_pos_server hal_main_generate_messages_cpp)
target_link_libraries(object_recog_pos_server ${catkin_LIBRARIES})
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
## Specify libraries to link a library or executable target against
#target_link_libraries(tf_listener ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS hal_main hal_main_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hal_main.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
package.xml :
<?xml version="1.0"?>
<package>
<name>hal_main</name>
<version>0.0.0</version>
<description>The hal_main package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">jaysin</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/hal_main</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>moveit_msgs</build_depend>
<build_depend>message_runtime</build_depend>
<build_depend>eigen_conversions</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>clam_controller</build_depend>
<build_depend>clam_msgs</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>moveit_ros_planning</build_depend>
<build_depend>moveit_ros_planning_interface</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>moveit_simple_grasps</build_depend>
<build_depend>cmake_modules</build_depend>
<build_depend>moveit_core</build_depend>
<build_depend>genmsg</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>actionlib_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>moveit_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>message_generation</run_depend>
<run_depend>eigen_conversions</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>clam_controller</run_depend>
<run_depend>clam_msgs</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>moveit_ros_planning</run_depend>
<run_depend>moveit_ros_planning_interface</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf_conversions</run_depend>
<run_depend>moveit_simple_grasps</run_depend>
<run_depend>moveit_core</run_depend>
<run_depend>genmsg</run_depend>
<!--rosdep name="libmysqlclient-dev"/-->
<!-- The export tag contains other, unspecified, tags -->
<export>
<cpp lflags="-lmysqlclient"/>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Originally posted by jay75 on ROS Answers with karma: 259 on 2014-10-07
Post score: 0
|
I wanna clear my turtlesim path when I press a specific button of my joystick, like when I write it on terminal: rosservice call clear .
Afterwards, I wanna do the same idea but changing the background like rosparam set background-r 150
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Joy.h>
#include <ros/service.h>
class TeleopTurtle
{
public:
TeleopTurtle();
private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& joy);
ros::NodeHandle nh_;
int linear_, angular_;
double l_scale_, a_scale_;
ros::Publisher vel_pub_;
ros::Subscriber joy_sub_;
};
TeleopTurtle::TeleopTurtle():
linear_(1),
angular_(2)
{
nh_.param("axis_linear", linear_, linear_);
nh_.param("axis_angular", angular_, angular_);
nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);
vel_pub_ = nh_.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 1);
joy_sub_ = nh_.subscribe<sensor_msgs::Joy>("joy", 10, &TeleopTurtle::joyCallback, this);
}
void TeleopTurtle::joyCallback(const sensor_msgs::Joy::ConstPtr& joy)
{
geometry_msgs::Twist twist;
twist.linear.x = l_scale_*joy->axes[linear_];
twist.angular.z = a_scale_*joy->axes[angular_];
vel_pub_.publish(twist);
if (joy->buttons[2] == 1)
{
//ros::service::call(clear); // Call service: rosservice call clear
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "teleop_turtle");
TeleopTurtle teleop_turtle;
ros::spin();
}
Originally posted by astur on ROS Answers with karma: 31 on 2014-10-07
Post score: 0
Original comments
Comment by dornhege on 2014-10-07:
All this is possible, but what is your question?
Comment by astur on 2014-10-07:
Calling a ros service (rosservice call clear) in C++ without write it on terminal when i press a specific button
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A Simple Question maybe, but not finding out on myself as a beginner:
As i understood, it is no problem to run a node on an external machine in a Network. But, does ROS then need to be run on both machines? My idea: I want to install ROS on my Desktop PC (Workstation) an run nodes on an Raspberry Pi on the Robot itself, not sure if i have to install ROS on Raspberry as well? And if i have to, is there a good tutorial about it?
Greets and Thanks for investigation,
Fabian
Originally posted by fabian77 on ROS Answers with karma: 126 on 2014-10-07
Post score: 0
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Hello Everyone,
I am completely new to ROS and programming in C++, I am looking for a program to move the turtlebot forward and found a tutorial named sending simple goals to navigation stack. However, I tried the tutorial (http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) to move the robot forward by 1 meter. I have followed the tutorial in the exact way but unable to execute the program and it shows an error message:
asun@asun-Latitude-E6400:~$ rosrun simple_navigation_goals simple_navigation_goals
[rosrun] Couldn't find executable named simple_navigation_goals below /home/asun/catkin_ws/src/simple_navigation_goals
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/asun/catkin_ws/src/simple_navigation_goals
[rosrun] /home/asun/catkin_ws/src/simple_navigation_goals/include/simple_navigation_goals
I can see the executable file under this folder:
home/asun/catkin_ws/src/simple_navigation_goals/include/simple_navigation_goals
Please help me with the solution. I am using ROS-Hydro and Ubuntu 12.04 LTS precise.
Also, I am completely new to this. Please help me with any tutorial in C++ or python to move the robot forward or backward in the simulator as well as the turtlebot itself using code but not teleop.
Any help will be much appreciated.
I have built the code using catkin_make and it produced the following result:
asun@asun-Latitude-E6400:~$ cd ~/catkin_ws/
asun@asun-Latitude-E6400:~/catkin_ws$ catkin_make
Base path: /home/asun/catkin_ws
Source space: /home/asun/catkin_ws/src
Build space: /home/asun/catkin_ws/build
Devel space: /home/asun/catkin_ws/devel
Install space: /home/asun/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/asun/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/asun/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/asun/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 5 packages in topological order:
-- ~~ - beginner_tutorials
-- ~~ - geometry_msgs
-- ~~ - agitr
-- ~~ - enclosure_escape
-- ~~ - simple_navigation_goals
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'geometry_msgs'
-- ==> add_subdirectory(geometry_msgs)
-- +++ processing catkin package: 'agitr'
-- ==> add_subdirectory(agitr)
-- +++ processing catkin package: 'enclosure_escape'
-- ==> add_subdirectory(enclosure_escape)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'simple_navigation_goals'
-- ==> add_subdirectory(simple_navigation_goals)
-- Using these message generators: gencpp;genlisp;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/asun/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/asun/catkin_ws/build"
####
[ 0%] [ 0%] Built target roscpp_generate_messages_cpp
Built target roscpp_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target roscpp_generate_messages_lisp
Built target rosgraph_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 16%] Built target listener
[ 16%] [ 16%] Built target geometry_msgs_generate_messages_cpp
Built target geometry_msgs_generate_messages_lisp
[ 16%] Built target geometry_msgs_generate_messages_py
[ 33%] Built target hello
[ 33%] Built target move_base_msgs_generate_messages_cpp
[ 33%] [ 33%] Built target move_base_msgs_generate_messages_lisp
Built target move_base_msgs_generate_messages_py
[ 33%] Built target actionlib_msgs_generate_messages_py
[ 33%] Built target actionlib_msgs_generate_messages_cpp
[ 33%] Built target actionlib_generate_messages_lisp
[ 33%] [ 33%] Built target actionlib_generate_messages_py
Built target actionlib_msgs_generate_messages_lisp
[ 33%] Built target actionlib_generate_messages_cpp
[ 50%] Built target talker
[ 83%] [ 83%] Built target subpose
Built target pubvel
[100%] Built target simple_navigation_goals
Then i have executed the program using command
rosrun simple_navigation_goals simple_navigation_goals
but this time it shows a new error which doesnt make sense, as i have created a package myself as per the tutorial.
asun@asun-Latitude-E6400:~/catkin_ws$ rosrun simple_navigation_goals simple_navigation_goals
[rospack] Error: stack/package simple_navigation_goals not found
Originally posted by Bharath Javvadhi on ROS Answers with karma: 1 on 2014-10-07
Post score: 0
Original comments
Comment by MartinCote on 2014-10-15:
What's your CMakeList.txt look like? Can you confirm where simple_navigation_goals.cpp is located?
You also asked for more tutorials, you can check out our ROS tutorials The ROS101: Creating a workspace, package and publisher tutorial seems to suit your needs
Comment by aarontan on 2018-06-06:
I am facing the same issue, have you found the solution to this?
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I'm attempting to launch a simulation of the UR5 in gazebo with the command roslaunch ur_gazebo ur5.launch. I am getting a number of errors including
ERROR: cannot launch node of type [pr2_mechanism_diagnostics/pr2_mechanism_diagnostics]: pr2_mechanism_diagnostics
and
[ERROR] [1412703963.702016682, 0.508000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
and
[ERROR] [1412703964.014360175, 0.760000000]: Could not find joint 'shoulder_pan_joint' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1412703964.014464269, 0.760000000]: Failed to initialize the controller
[ERROR] [1412703964.014512292, 0.760000000]: Initializing controller 'arm_controller' failed
[ERROR] [WallTime: 1412703965.015916] [1.759000] Failed to load arm_controller
I had previously messed around with the UR5 in simulation around June, and it worked fine (though the PID gains were a bit off). Has anyone else had this problem? Have you figured out how to fix it?
Originally posted by rkeatin3 on ROS Answers with karma: 156 on 2014-10-07
Post score: 0
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Hi community,
Did anyone succesfully run rviz on windows? It would be interesting to use visualization on a windows client..
Thank you!
Originally posted by ReiniK on ROS Answers with karma: 84 on 2014-10-07
Post score: 3
|
Is there any way to change the rate at which messages are published?
Edit: To update with more information. I would like to know all ways to throttle a node without using programming practices that don't involve the ROS Api. E.g nothing that does (if loop_count % 5) -> Publish(msg)
How to throttle the topic via roslaunch
via command line ROS commands
via ROS api
Thanks!
Originally posted by DevonW on ROS Answers with karma: 644 on 2014-10-07
Post score: 3
|
I'm trying to get image_transport to work, but when I tried both roscreate-pkg and catkin_create_kpg, I always get the error along the lines of "the dependency opencv2 is missing". I used locate for opencv2 and found opencv2 under /usr/include. How do I get it working with ROS Indigo? Do I still need vision_opencv and all the other libopencv* packages like described in this page (http://wiki.ros.org/opencv2). Any help would be greatly appreciated.
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-10-07
Post score: 0
|
I am trying to install ROS on ubuntu 12.04 to use it with both gazebo and morse.
I first installed ROS fuerte, but the setup.* files were not created in /opt/ros/fuerte. So I removed ROS fuerte and tried to install ROS hydro. when typing sudo apt-get install ros-hydro-desktop-full an error occurred:
user@user-SATELLITE-L750:~$ sudo apt-get install ros-hydro-desktop-full
[sudo] password for user:
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-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.
How can I resolve this ?
thanks in advance
Originally posted by djou on ROS Answers with karma: 16 on 2014-10-07
Post score: 0
|
I am trying to read a video file of mp4 type using gscam and display onto image_view. It seems working at the first try but it does not work again once it is terminated. Is there something I missed? I am new to ROS.
Here are commands that I have typed to read a video file (test_video.mp4) using gscam
$ roscore
$ roslaunch gscam videofile.launch FILENAME:=/home/jhk/test_video.mp4
$ rosrun image_view image_view image:=/video_file/camera/image_raw
It worked well showing the video playing in the image_view. However, after I interrupted the roslaunch by pressing CTRL+C and tried it again. It does not work anymore. The only solution was I had to reboot my ubuntu system. Then it started work again but once I killed the process related to the gscam node and relaunching won't work. Basically, it does not publish streaming. Here is the output of the command at second time.
$ roslaunch gscam videofile.launch FILENAME:=/home/jhk/test_video.mp4
... logging to /home/jhk/.ros/log/5a094bfa-4e27-11e4-8e1f-e82aeab21ee8/roslaunch-COMSCI-4064-5408.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://COMSCI-4064:48329/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.9
* /videofile/gscam_driver_v4l/camera_info_url: package://gscam/e...
* /videofile/gscam_driver_v4l/camera_name: default
* /videofile/gscam_driver_v4l/frame_id: /videofile_frame
* /videofile/gscam_driver_v4l/gscam_config: filesrc location=...
* /videofile/gscam_driver_v4l/reopen_on_eof: True
* /videofile/gscam_driver_v4l/sync_sink: True
NODES
/videofile/
gscam_driver_v4l (gscam/gscam)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[videofile/gscam_driver_v4l-1]: started with pid [5426]
[ INFO] [1412720273.052893830]: Using gstreamer config from rosparam: "filesrc location=/home/jhk/test_video.mp4 ! decodebin ! ffmpegcolorspace"
[ INFO] [1412720273.056832654]: camera calibration URL: package://gscam/examples/uncalibrated_parameters.ini
[ INFO] [1412720273.065801792]: Loaded camera calibration from package://gscam/examples/uncalibrated_parameters.ini
[ INFO] [1412720273.086922863]: Time offset: 1412719055.015
I have tried to kill the node and cleanup using commands
$ rosnode kill
$ rosnode cleanup
but still does not work. I also tried rerun roscore but not successful. Is there any initialization command of ROS? or is there a better way of stopping gscam node?
Originally posted by jhk on ROS Answers with karma: 11 on 2014-10-07
Post score: 1
Original comments
Comment by ahendrix on 2014-10-07:
My best guess is that some part of the gstreamer pipeline is not getting cleaned up properly. I would start there.
Comment by smithers on 2014-11-11:
Hello, I have the same problem. Have you already solved it ?
Comment by jhk on 2014-11-12:
I could not solve the problem with gscam, but I could work around with rbx1 followed by my modification. Check out video2ros.py in my fork on rbx1 (https://github.com/jaehak/rbx1).
Comment by smithers on 2014-11-13:
Thank you very much! I checked out your video2ros.py and I found a problem with my mp4 file. It doesn't find the file. I checked the path and it is right. I was reading about this problem but I am not sure how to solve it. Could be a problem with ffmpeg?
|
Hello,
I'm wondering if there is any way to, from the command line only, see a message in a message ?
Here I'm using a message of the type :
ObjectData.msg:
Header header
sensor_msgs/Image image_rgb
sensor_msgs/Image image_depth
float32 constant
geometry_msgs/PoseStamped reference_board_pose
geometry_msgs/PoseStamped reference_camera_pose
Is there any way to visualize the depth image directly from the command line with something such as :
rosrun image_view image_view ...
Thanks a lot !
Best,
Originally posted by Maya on ROS Answers with karma: 1172 on 2014-10-07
Post score: 0
|
How efficient is this 6D RGB-D SLAM in localizing and navigation
Originally posted by Francis Dom on ROS Answers with karma: 21 on 2014-10-07
Post score: 0
Original comments
Comment by bvbdort on 2014-10-08:
Check this paper from authors, they have resulting model image.Hope it give you and idea. Also the video in wiki page.
|
Hello ros-users,
I have strange issue with tf-transforms. I use laser_geometry::LaserProjection to project laser scans to point clouds, but I assume the problem is related to tf. The code-snippet is from the scan callback function.
if(!gTfListener->waitForTransform(scan->header.frame_id,
"camera",
scan->header.stamp,
ros::Duration(2.0),
ros::Duration(0.01),
&error_msg))
{
ROS_WARN("Warning 1: %s", error_msg.c_str());
return;
}
try
{
gProjector->transformLaserScanToPointCloud("camera", *scan, cloud, *gTfListener);
}catch(tf::TransformException e)
{
ROS_WARN("Warning 2: %s", e.what());
return;
}
After a few seconds of running, Warning 2 is raised on the console for like 1 out of 4 scans with this error message:
Warning 2: Lookup would require extrapolation into the future. Requested time 1412757571.359567610 but the latest data is at time 1412757571.357117891, when looking up transform from frame [laser_link] to frame [camera]
How can this happen, after waitForTransform obviously succeeded (returned true)?
Thanks in advance,
Sebastian
Originally posted by Sebastian Kasperski on ROS Answers with karma: 1658 on 2014-10-08
Post score: 1
Original comments
Comment by GuillaumeB on 2014-10-08:
you could try to set a very long time for the duration (the time it should wait) . My computer was slow and it solved the problem
Comment by Sebastian Kasperski on 2014-10-08:
Increasing the wait time did not change the behaviour, as waitForTransform already returned true (e.g. didn't timeout)
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what does mean the confidence value of skeleton_tracker?
Originally posted by idavico on ROS Answers with karma: 18 on 2014-10-08
Post score: 0
|
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