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Hi there,
I am following this tutorial
http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot
in order to move my real ur5. So far I get the simulated robot running using the demo.launch file from
https://github.com/ros-industrial/universal_robot.
After specifying a desired end-effector position in the cartesian frame ( in the rviz gui) I often receive path planning which seems to be not very cost efficient. Furthermore, my robot will be mounted on a flat surface which means that the robot will collide in case any point is below z=0 of the base(world) frame.
How can I constrain the path planning in order to only get paths wich are limited to my reachable task space?
Originally posted by psfa_fz on ROS Answers with karma: 36 on 2014-10-08
Post score: 0
|
Hi,
I m trying to load a blank map with a defined dimension of [width, height] = [20, 20] but still it displays in Rviz just a small white square of constant dimension 6x6. I read this tutorial here and I put the right parameter in the costmap file:
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 0.0 # For a static global map, there is generally no need to continually publish it
static_map: true # This parameter and the next are always set to opposite values. The global map is usually static so we set static_map to true
rolling_window: false # The global map is generally not updated as the robot moves to we set this parameter to false
resolution: 0.01
transform_tolerance: 1.0
map_type: costmap
width: 20
height: 20
and
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 16
height: 16
resolution: 0.01
transform_tolerance: 1.0
and here my map yaml file:
image: blank_map.pgm
resolution: 0.01
origin: [0, 0, 0]
occupied_thresh: 0.65
free_thresh: 0.196 # Taken from the Willow Garage map in the turtlebot_navigation package
negate: 0
width: 20
height: 20
Anyway I after many tries I foudn that the map is going to be resized every time I start the corresponding node:
[ INFO] [1412758776.217404554]: Using plugin "static_layer"
[ INFO] [1412758776.420654688]: Requesting the map...
[ INFO] [1412758776.643031834]: Resizing costmap to 600 X 600 at 0.010000 m/pix
[ INFO] [1412758776.741877357]: Received a 600 X 600 map at 0.010000 m/pix
[ INFO] [1412758776.769172167]: Using plugin "obstacle_layer"
and I m quite sure that causes the problem.
Here and here I found similar problem but not the right solution.
How to solve this annoying problem?
Originally posted by Andromeda on ROS Answers with karma: 893 on 2014-10-08
Post score: 0
|
I want to have access to hitting points, colors and pose coordinate values in the octomap datasets (e.g. to use octomap datasets in MATLAB). The datasets I am talking about are available in this link . The dataset are in the form of .ot, .bt and .graph files. It says that .graph files contain raw sensor readings at registered poses in a binary format. You can convert them to .bt and .ot (the final occupancy map format).
How can I have access to the point and color information? I mean to have them (hitting points, colors and pose coordinate) in the from of a text file or something like that.
Originally posted by AliAs on ROS Answers with karma: 63 on 2014-10-08
Post score: 1
|
Hi,
I've been trying to use mavros (http://wiki.ros.org/mavros) to fly a 3DR Iris quadcopter that has a Pixhawk on it, but we're having trouble arming the system.
Run through of the scenario:
We're inside, plug the battery in for the quadcopter, and the quad goes to flashing blue. This stands for "Autopilot ready but no GPS lock". We can arm the quadcopter with the RC controller at this point.
We plug in the radio modem and run 'roslaunch mavros apm2_planner.launch'. At this point we are connected to the quadcopter. When we rostopic echo the /mavros/battery and /mavros/imu/raw_data topics (among others) we get good data. We can pull and push missions.
We put the RC controller in AUTO mode
We run 'rosservice call /mavros/cmd/arming true' in a new terminal, it returns
success: false
result: 3
Does anyone have any ideas? Do we need to be outside with GPS fix? Are there any flags that need to be satisfied in the code before it will allow arming?
Thanks
Originally posted by Eric Schneider on ROS Answers with karma: 60 on 2014-10-08
Post score: 0
|
Hi,
I am currently working with a 2d laser scanner (PLS101-312). There are no registered drivers available for this device in the ROS repositories. however, following this answer, I was able to find a fork on git here, which works pretty fine on the device I am working on. I could also see the stream of laser data using $ rostopic echo /scan
My question here is, How can I view the laser scan data on rviz? When tried the /scan topic on rviz, I get an error saying that the frame for laser_scanner cannot be /world, the example here shows that it is being set to a base_laser. how can I do the same? I am aware that, there should be a tf for my laser_scanner, what would be the simplest way of setting up a tf for the laser, just for testing the laser scanner output? please suggest, some Ideas.
Thanks again,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2014-10-08
Post score: 0
|
Hello!
My Node is subscribing to a ROS-Node that publishes sensor_msgs/joint_state.
Now I would like to send this data via the simple_message Protocol using TCP/IP to my robot controller.
My goal is to subsribe to the topic "joint_states" which, as I so far understood, is often used for sending actual robot positions and send it over TCP/IP using the "simple_message" protocol.
So there are two possibilities for me:
Get "joint_states" to "simple_message" directly and send it.
or
Convert "joint_states" to "JointMessage" which is part of the "simple_message" Package and send it.
The Communication already works. I followed a ROS-I-Tutorial, which I am not able to find again at the moment.
What the robot controller receives is not important yet. For now a dummy node prints the sequence of the simple message to the screen and this works for the first.
May someone have an idea.
Here is my code-snippet:
while(client.isConnected())
{
ros::spinOnce();
ROS_INFO_STREAM("POS1 = " << globalJointState.position[1]);
// Create a message of type JointMessage and corresponding simple message
industrial::joint_message::JointMessage jmReq;
industrial::simple_message::SimpleMessage req, reply;
jmReq.setSequence(globalJointState.header.seq);
//jmReq.addAllDataIwishForMyJointMessage(outOffMyGlobalJointStates);
jmReq.toRequest(req);
ROS_INFO_STREAM("Sending sequence: " << globalJointState.header.seq << " to " << LOCAL_HOST << ":" << TCP_PORT);
client.sendAndReceiveMsg(req, reply);
ROS_INFO_STREAM("Received reply code: " << reply.getReplyCode());
ros::Duration(1).sleep();
}
Originally posted by RosBort on ROS Answers with karma: 27 on 2014-10-08
Post score: 0
|
Hello, I am new to ROS. Just installed Indigo on linux Mint 17 (ubuntu 14.04 based).
When going through a tutorial I run:
$ rosdep install joint_state_publisher
And get the next message:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
joint_state_publisher: Unsupported OS [mint]
After a little research, I tried
$ export ROS_OS_OVERRIDE=ubuntu:14.04
But now, after the same rosdep install call I get:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
joint_state_publisher: No definition of [sensor_msgs] for OS version []
I am not very sure of what I should try now. I thought Ubuntu 14.04 was supported and in most similar issues people get some key inside the last brackets of the message.
I read about declaring a new OS, but Mint is already in the list of rosdep and that's getting me even more confused. I also got to this issue on github, which is still open and seems related.
I am lost but willing to work a lot on it, so any advice is appreciated. Thanks a lot.
Originally posted by RubenCabrera on ROS Answers with karma: 23 on 2014-10-08
Post score: 2
|
I have ROS Indigo on Ubuntu Trusty, and I'm following along with this tutorial http://wiki.ros.org/image_transport/Tutorials/PublishingImages. However, if I go along with the code exactly, catkin_make tells me that cv_bridge/CvBridge.h doesn't exist. If I replace CvBridge with cv_bridge, it has no problem finding the header file, but I get a problem with the following line:
sensor_msgs::ImagePtr msg = sensor_msgs::cv_bridge::cvToImgMsg(image.Ipl(), "bgr8");
The message I get is "error: ‘sensor_msgs::cv_bridge’ has not been declared". Is CvBridge.h deprecated as of Indigo? If so, how do I accomplish what cvToImgMsg is supposed to do?
Originally posted by K. Zeng on ROS Answers with karma: 23 on 2014-10-08
Post score: 0
|
I have little problem with my ROS hydro distro. I need to use it for one project so can't change to Indiko.
Problem is that I have used catkin_create_pkg packname opencv2 ... for creating my project package. But when I try to invoke catkin_make I get following errors:
CMake Error at
/opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75
(find_package): Could not find a
package configuration file provided by
"opencv2" with any of the following
names:
opencv2Config.cmake
opencv2-config.cmake Add the
installation prefix of "opencv2" to
CMAKE_PREFIX_PATH or set "opencv2_DIR"
to a directory containing one of the
above files. If "opencv2" provides a
separate development package or SDK,
be sure it has been installed.
I know that opencv2 is installed, because I can find it with rospack find opencv2 and I can use it in other projects not related to ROS.
I have following lines in CMakeLists.txt and package.xml
CMakeLists.txt:
find_package(catkin REQUIRED
COMPONENTS opencv2)
include_directories(
${catkin_INCLUDE_DIRS}
> ${opencv2_INCLUDE_DIRS} )
target_link_libraries(BasicObstDetect_node
${catkin_LIBRARIES}
> ${opencv2_LIBRARIES} )
package.xml:
<build_depend>opencv2</build_depend>
<run_depend>opencv2</run_depend>
I have tried to use OpenCV instead of opencv2 but that didn't make any difference. Any advices?
Originally posted by Greave on ROS Answers with karma: 1 on 2014-10-08
Post score: 0
|
I know this is not a trivial question, but Is there a way in ROS to compute the distance of a robot to the closest obstacle in a known environment.
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-10-08
Post score: 0
|
Hello,
I would like to use ros_control (and probably other packages eventually) for my robot. My setup will target the control of a real robot but I started with a simulation under vrep (very nice piece of software by the way). I am concerned about 2 points:
It seems I will have to maintain two descriptions of the scene simultaneously: one URDF file for ROS and one v-rep file, I am a bit scared of divergences... Does anyone have experience on this setup?
Can the URDF file only contain the description of the transmissions (no joint or link) to interface between ros_control and my vrep controllers, as this is the only thing ros_control really needs, no?
If anyone has its 2 cents, feedback or experience to give me, than this would be valuable to me.
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-10-09
Post score: 2
|
Hi there,
When a live Kinect is connected, launching openni with roslaunch openni_launch openni.launch starts publishing point clouds at topic /camera/depth/points.
I have videos recorded from Kinect in OpenNI file format (.oni). Can I extract point clouds from these videos? Is there is away openni.launch can be executed with these videos or without live camera?
Thanks.
Originally posted by Latif Anjum on ROS Answers with karma: 79 on 2014-10-09
Post score: 0
|
Hi
I have a std::vectorstd::string parameter and I like to read the values getParam.
How does the command line syntax look to read my names param from bash.
e.g. rosrun my_pgk my_node _names:=???????
I tried:
_names:="max susi"
_names:="max, susi"
_names:="[max, susi]"
_names:="(max, susi)"
nothing worked :-(
My code looks like this:
std::vector<std::string> names;
n_param_.getParam ( "names", names);
//For debugging
std::stringstream ss;
for ( size_t i = 0; i < names.size(); i++ ) ss << ( i!=0?", ":"" ) << names[i];
ROS_INFO ( "names: %s", ss.str().c_str() );
Greetings
Markus
Originally posted by Markus Bader on ROS Answers with karma: 847 on 2014-10-09
Post score: 3
|
Hello all,
I'm using ROS and MoveIt! to control an UR5 robot arm. Sometimes the robot arm collides with itself. Is this a bug in moveit or the universal_driver package, or am I doing something wrong?
I use the group.plan() method of the moveit_commander.MoveGroupCommander class (in Python).
I've noticed that the Semantic Robot Description of the UR5 (ur5.srdr) has been changed since version 1.0.4 (indigo). A number of "avoid_collision" statements were added, that seem wrong to me. I think the following lines are incorrect, because the specified links CAN collide with each other:
<disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
But even after removing these lines wrist 2 sometimes collides with the forearm. I don't understand why this happens. In rviz it can be seen that the links are colliding, so why is the path valid?
Any information on this topic is very appreciated.
Regards,
Wouter
Originally posted by wouter_tnl on ROS Answers with karma: 110 on 2014-10-09
Post score: 0
|
I know what I am saying here is not precise.I know Octomap is a 3D occupancy grid mapping approach based on an octree and there are some SLAM methods that works based on 2D occupancy grids. E.g. Gmapping: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map from laser and pose data collected by a mobile robot and Hector SLAM: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map using combination of high update 2D mapping and 6DOF pose estimation.
I wanted to know is there any available package (or publication) that tries to use octomap representation to tackle SLAM problem?
Originally posted by AliAs on ROS Answers with karma: 63 on 2014-10-09
Post score: 0
|
How to create a package to Interact with the turtlebot Simulator in Gazebo using software outside,
What features I can use to interact with the simulation and turtlebot gazebo, have pretension to create a program to send and receive information from the simulation. So I would have a light on which way to publish and receive by an external software.
I can help xDDD
Originally posted by leobber on ROS Answers with karma: 15 on 2014-10-09
Post score: 0
Original comments
Comment by Mehdi. on 2014-10-09:
Do you have the source code of the external software?
Comment by leobber on 2014-10-10:
The external code, still do, but would like to know which methods I can use to communicate with the ROS / turtlebot / Gazebo, an example would be to have a method to create publisher and subscriber out through that code, I wonder as if I do this and how it would be!
thank;;
|
I want to do this kind of communication but i don't know how, there are some source codes that i can see? I know that ros can communicate with gazebo easily, but i want to return the gazebo informations to another node, as a GUI application.
Originally posted by GeorgeFilho on ROS Answers with karma: 1 on 2014-10-09
Post score: 0
Original comments
Comment by GeorgeFilho on 2014-10-13:
yes, i saw these tutorials, what i'm trying to do is control the robot on ROS by teleoperation, make the robot move on gazebo and return the robot vision in another interface created by me (Like RVIZ), i need to know how ROS and gazebo do these communications.
Comment by dblitz on 2016-10-25:
Hey were you ever able to figure this one out?
|
I was trying to plot points on rviz graph. I was successful in doing that however I could not plot the new points without loosing the old points. I want the graph to populate with newer values every-time (Real tine sensor values plotting). How can I do that ? Also is there any method of plotting except for rviz. I don't want to manually type rosrun rviz rivz all the time.
Thank You.
Originally posted by aniket on ROS Answers with karma: 7 on 2014-10-09
Post score: 0
Original comments
Comment by bvbdort on 2014-10-10:
did you try marker.action = visualization_msgs::Marker::ADD
Comment by aniket on 2014-10-14:
I did but didn’t work.
|
Hello together,
I try to get Indigo work on the raasberry pi (raspbian) and get the same probems as mentioned here: http://answers.ros.org/question/192250/raspberry-pi-with-ros-indigo-or-any-new-release-of-ros/ As there is no solution yet, I post some more details, maybe someone can help:
I'm following the steps from the tutorial here: http://wiki.ros.org/indigo/Installation/Source.
With the following command, I get the dependency problem:
pi@raspberrypi ~/ros_catkin_ws $ rosdep install --from-paths src --ignore-src --rosdistro indigo -y --os=debian:wheezy
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
roslisp: No definition of [libconsole-bridge-dev] for OS [debian]
collada_parser: No definition of [liburdfdom-headers-dev] for OS [debian]
rosconsole_bridge: No definition of [libconsole-bridge-dev] for OS [debian]
class_loader: No definition of [libconsole-bridge-dev] for OS [debian]
urdf: No definition of [liburdfdom-headers-dev] for OS [debian]
collada_urdf: No definition of [liburdfdom-headers-dev] for OS [debian]
urdf_parser_plugin: No definition of [liburdfdom-headers-dev] for OS [debian]
cpp_common: No definition of [libconsole-bridge-dev] for OS [debian]
geometric_shapes: No definition of [libconsole-bridge-dev] for OS [debian]
rosbag_storage: No definition of [libconsole-bridge-dev] for OS [debian]
tf2: No definition of [libconsole-bridge-dev] for OS [debian]
Is there a way to get this solved? I also tryed to install the packages with apt-get, but could not find a source that provides the packages for raspberry pi. And I found that manual installation of the armhf packages from sides like https://packages.debian.org/search?keywords=libconsole-bridge-dev does not work, as the dependencies go on and on forever...
Then I red that I could just skip the step above, so I went on to the next step and get the error as follows. Is this error maybe due to some other root cause, and can someone help to solve this? Thanks for any help :-):
pi@raspberrypi ~/ros_catkin_ws $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
Base path: /home/pi/ros_catkin_ws
Source space: /home/pi/ros_catkin_ws/src
Build space: /home/pi/ros_catkin_ws/build_isolated
Devel space: /home/pi/ros_catkin_ws/devel_isolated
Install space: /opt/ros/indigo
Additional CMake Arguments: -DCMAKE_BUILD_TYPE=Release
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~ traversing 49 packages in topological order:
~~ - catkin
~~ - genmsg
...(list is shortened by me)...
~~ - topic_tools
~~ - rosbag
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
==> Processing catkin package: 'catkin'
==> cmake /home/pi/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/home/pi/ros_catkin_ws/devel_isolated /catkin -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release in '/home /pi/ros_catkin_ws/build_isolated/catkin'
Unhandled exception of type 'OSError':
Traceback (most recent call last):
File "./src/catkin/bin/../python/catkin/builder.py", line 875, in build_workspace_isolated
number=index + 1, of=len(ordered_packages)
File "./src/catkin/bin/../python/catkin/builder.py", line 627, in build_package
destdir=destdir
File "./src/catkin/bin/../python/catkin/builder.py", line 386, in build_catkin_package
run_command_colorized(cmake_cmd, build_dir, quiet, add_env=add_env)
File "./src/catkin/bin/../python/catkin/builder.py", line 181, in run_command_colorized
run_command(cmd, cwd, quiet=quiet, colorize=True, add_env=add_env)
File "./src/catkin/bin/../python/catkin/builder.py", line 199, in run_command
raise OSError("Failed command '%s': %s" % (cmd, e))
OSError: Failed command '['cmake', '/home/pi/ros_catkin_ws/src/catkin', '-DCATKIN_DEVEL_PREFIX=/home /pi/ros_catkin_ws/devel_isolated/catkin', '-DCMAKE_INSTALL_PREFIX=/opt/ros/indigo', '-DCMAKE_BUILD_TYPE=Release']': [Errno 2] No such file or directory
<== Failed to process package 'catkin':
Failed command '['cmake', '/home/pi/ros_catkin_ws/src/catkin', '-DCATKIN_DEVEL_PREFIX=/home/pi/ros_catkin_ws /devel_isolated/catkin', '-DCMAKE_INSTALL_PREFIX=/opt/ros/indigo', '-DCMAKE_BUILD_TYPE=Release']': [Errno 2] No such file or directory
Command failed, exiting.
Originally posted by Johannes Jaegers on ROS Answers with karma: 70 on 2014-10-09
Post score: 0
|
Currently, I'm following this tutorial to install ROS indigo.
At compile I get the following complaint and I'm not really sure what to do or where to go from here.
Traceback (most recent call last):
File "/opt/ros/ros_catkin_ws/build_isolated/genmsg/catkin_generated/generate_cached_setup.py", line 19, in <module>
from catkin.environment_cache import generate_environment_script
ImportError: No module named catkin.environment_cache
CMake Error at /opt/ros/indigo/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/usr/bin/python
"/opt/ros/ros_catkin_ws/build_isolated/genmsg/catkin_generated/generate_cached_setup.py")
returned error code 1
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/all.cmake:185 (safe_execute_process)
/opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:3 (find_package)
-- Configuring incomplete, errors occurred!
See also "/opt/ros/ros_catkin_ws/build_isolated/genmsg/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'genmsg':
Command '/opt/ros/indigo/env.sh cmake /opt/ros/ros_catkin_ws/src/genmsg -DCATKIN_DEVEL_PREFIX=/opt/ros/ros_catkin_ws/devel_isolated/genmsg -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_ARG_EXTRA= -DSETUPTOOLS_DEB_LAYOUT=OFF' returned non-zero exit status 1
Reproduce this error by running:
==> cd /opt/ros/ros_catkin_ws/build_isolated/genmsg && /opt/ros/indigo/env.sh cmake /opt/ros/ros_catkin_ws/src/genmsg -DCATKIN_DEVEL_PREFIX=/opt/ros/ros_catkin_ws/devel_isolated/genmsg -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_ARG_EXTRA= -DSETUPTOOLS_DEB_LAYOUT=OFF
UPDATE:
Yes, the 15th step. I tried opening another terminal but end up just compiling less than before, I'm not sure if this will give you any clues but i'm not even really sure what the 14th step does, just thought it was telling ROS where to find python.
UPDATE 2:
I tried following the ROS official source guide as well and end up on the same step now. The big reason I couldn't compile before was due to dependencies which have since been resolved (I think). Which leaves me at square one, why is python not importing catkin.environment?
Originally posted by kenneth on ROS Answers with karma: 11 on 2014-10-09
Post score: 1
Original comments
Comment by ahendrix on 2014-10-10:
Setting PYTHONPATH tells python where it should look for additional modules to import. Since ROS isn't installing python modules into the system directories, the PYTHONPATH needs to be set.
Comment by ahendrix on 2014-10-10:
For debugging, I would start by searching the filesystem for environment_cache* and cross-check that with your PYTHONPATH.
Comment by 2ROS0 on 2015-12-18:
Were you able to resolve this?
(also, I doubt this is a gentoo specific problem)
|
Good day,
I was installing ros based on the following steps:
https://gist.github.com/mikepurvis/9837958
The very last step, I seemed to get this error
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rviz: Cannot locate rosdep definition for [urdfdom]
Can I know how I might be able to resolve this?
Originally posted by soulslicer on ROS Answers with karma: 61 on 2014-10-10
Post score: 1
|
Hey,
i got a short and I think easy for you to answer question about installing dependencies.
If I download a packages from source like turtlebot_simulator or something else, I usually run rosdep to install all my dependencies. And it works great.
But I am just wondering where ROS install the missing packages? They are not in my workspace afterwards but everything is working.
Ok I maybe was a little bit too fast with creating a question. I think I found the path:
/opt/ros//share/
But can I change the installation path somehow? Because you can't cut or copy something out of the /opt/ folder by hand
So how should I modify the code for my needs if I dont know where it is :) ?
Originally posted by schultza on ROS Answers with karma: 232 on 2014-10-10
Post score: 0
|
Hi,
I am using moveit for path planning of a ur5. After finding a valid path, I want to execute it to the real robot (which is connected and communicating properly) but I always receive an error message like:
[ERROR] [WallTime: 1412925263.358047] Received a goal with velocities that are higher than 2.000000
the controller reports:
[INFO][ ... ]: Received new trajectory execution service request...
[WARNING][ ... ]: Controller handle reports status FAILED
[INFO][ ... ]: Execution completed: FAILED
any ideas how to fix that ?
Originally posted by psfa_fz on ROS Answers with karma: 36 on 2014-10-10
Post score: 0
|
Hi,
I am trying to do the tutorial :
http://wiki.ros.org/ROS/Tutorials/Creating%20a%20Package%20by%20Hand
I did already:
source /home/fschiano/catkin_ws/devel/setup.bash
And I am in the catkin_ws folder.
But when I give the command
rospack find foobar
I get the error:
[rospack] Error: package 'foobar' not found
How can I solve this?
thanks.
Originally posted by fabbro on ROS Answers with karma: 115 on 2014-10-10
Post score: 0
|
Hi, I am trying something and I need some help.
I have two robots which are mapping the same environment by using separate GMapping algorithms and building separate maps. During the mapping process, I want to send the maps to a host computer time to time. On this host computer, I want to merge these maps but as you can guess, unless the maps have a large area of intersection, using ICP or a similar algorithm wont work.
So I placed distinct landmarks in the environment (like the soccer playing robots use, cylinders with colored stripes) and I can detect them with the help of Kinect which enables me to know the position of the landmark relative to the robot. And with the help of GMapping, I know the position and orientation of the robot according to the map. The plan is, sending the seperate maps to the host with landmarks tagged on it and the host can easily match the position of the landmarks and merge the maps (with necessary translations, rotations and distortions if necessary).
What my problem is, GMapping expands the map if it needs to. And coordinates of the points on the map change if that happens (I am planning to use the pgm files as maps but any other suggestions would be appreciated). How can I get the coordinates of the points and my robot on the map (with negative coordinates if necessary) relative to an absolute position (like the start position of the robot)?
Originally posted by Sekocan on ROS Answers with karma: 38 on 2014-10-10
Post score: 0
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i don't understand the clock's value, why i get: time.sec =1412932920?
Originally posted by idavico on ROS Answers with karma: 18 on 2014-10-10
Post score: 0
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Hi, I'm trying to compile the package ethzasl_icp_mapping on indigo and I get this error:
*** No rule to make target `/tmp/buildd/ros-indigo-libpointmatcher-1.2.2-0trusty-20140805-1228/obj-x86_64-linux-gnu/libpointmatcher.so', needed by `/datos/ros_ws/ethz-asl/devel/lib/libpointmatcher_ros.so'. Stop.
make[1]: *** [ethzasl_icp_mapping-indigo_devel/libpointmatcher_ros/CMakeFiles/pointmatcher_ros.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
I'm using Ubuntu 14.04 and ROS indigo. I've also installed the packages ros-indigo-libpointmatcher and ros-indigo-libnabo.
Please, help!!
Originally posted by Ferherranz on ROS Answers with karma: 41 on 2014-10-10
Post score: 4
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What is the difference between make and rosmake?
Originally posted by kohei ulu on ROS Answers with karma: 1 on 2014-10-10
Post score: 0
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Hello Everyone,
Currently I am trying to use robot_pose_ekf package to get odometry data fused with yaw. But while launching the file i am getting the below error
robot_pose_ekf: /tmp/buildd/ros-hydro-bfl-0.7.0-3precise-20140617-0122/src/wrappers/matrix/matrix_BOOST.cpp:283: virtual MatrixWrapper::Matrix MatrixWrapper::Matrix::inverse() const: Assertion `res == 0' failed.
I have enabled the debug for robot_pose_ekf and i can see data for both odo and yaw in the respective temporary files /tmp/odom and /tmp/imu_data which prompts me to assume the data is getting published correctly.
If i disable the odo_used parameter in the launch file for robot_pose_ekf , the package doesnt hang.
Attahing the launch files for robot_pose_ekf and the corresponding publiher file
Launch File:
<launch>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="output_frame" value="odom"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="4.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="debug" value="true"/>
<param name="self_diagnose" value="false"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_imu" args="0 0 0 0 0 0 base_footprint yaw 100"/>
Publisher Code:
`int main(int argc, char** argv){
ros::init(argc, argv, "security_robot_publisher");
ros::NodeHandle security_robot_publisher_Node;
//Subscribe to ODO data
ucRespMsg= security_robot_publisher_Node.subscribe("uc0Response", 100, ucCommandCallback);
//Publisher for odo data
ros::Publisher odom_pub = security_robot_publisher_Node.advertise<nav_msgs::Odometry>("odom", 50);
//Publisher for calibrated yaw
ros::Publisher yaw_pub = security_robot_publisher_Node.advertise<sensor_msgs::Imu>("imu_data",50);
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Rate r(100.0);
while(security_robot_publisher_Node.ok()){
ros::spinOnce();
current_time = ros::Time::now();
//Publish Odometry data into odo topic
security_robot_odo_publisher(&odom_pub);
//Publish calibrated Yaw data into yaw topic
security_robot_yaw_publisher(&yaw_pub);
r.sleep();
last_time = current_time;
}
}
void security_robot_odo_publisher(ros::Publisher *odom_pub)
{
tf::TransformBroadcaster odom_broadcaster;
double x = 0.0;
double y = 0.0;
double th = 0.0;
double vx = 0.3;//0.1;
double vy = -0.1;
double vth = 0.3;//0.1;
double delta_x = 0;
double delta_y = 0;
double delta_th = 0;
double dt = (current_time -last_time).toSec();
rwheel_abs_ticks_pres = rwheel_abs_ticks;
lwheel_abs_ticks_pres = lwheel_abs_ticks;
Dleft = (2*(pi)*(radius)*(lwheel_abs_ticks_pres - lwheel_abs_ticks_prev))/N;
Dright = (2*(pi)*(radius)*(rwheel_abs_ticks_pres - rwheel_abs_ticks_prev))/N;
Dcentre = (Dleft +Dright)/2;
ROS_INFO("DL:%lf, DR:%lf, DC:%lf",Dleft,Dright,Dcentre);
ROS_INFO("x:%lf, y:%lf, th:%lf",x,y,th);
delta_x = Dcentre*cos(th);
delta_y = Dcentre*sin(th);
delta_th = (Dright - Dleft)/wheel_base;
x += delta_x;
y += delta_y;
th += delta_th;
ROS_INFO("Dx:%lf, dy:%lf, Dth:%lf",delta_x,delta_y,delta_th);
ROS_INFO("x:%lf, y:%lf, th:%lf",x,y,th);
lwheel_abs_ticks_prev = lwheel_abs_ticks_pres;
rwheel_abs_ticks_prev = rwheel_abs_ticks_pres;
//since all odometry is 6DOF we'll need a quaternion created from yaw
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromRollPitchYaw(0,0,th);
//first, we'll publish the transform over tf
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = current_time;
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_footprint";
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(th);
//send the transform
odom_broadcaster.sendTransform(odom_trans);
//next, we'll publish the odometry message over ROS
nav_msgs::Odometry odom;
odom.header.stamp = current_time;
odom.header.frame_id = "odom";
//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
//Setting the diagonal element of covariance matrix
for(iIndex=0;iIndex <36;iIndex++)
{
odom.pose.covariance[iIndex]=0.001;
}
//set the velocity
odom.child_frame_id = "base_footprint";
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy; //vy; //as it is differential drive
odom.twist.twist.angular.z = vth;
//publish the message
odom_pub->publish(odom);
}`void security_robot_yaw_publisher(ros::Publisher *yaw_pub)
{
tf::TransformBroadcaster yaw_broadcaster;
sensor_msgs::Imu yaw_sens;
//if(calibrated_yaw !=0)
{
geometry_msgs::Quaternion yaw_quat_1 = tf::createQuaternionMsgFromYaw(calibrated_yaw);
//first, we'll publish the transform over tf
/*geometry_msgs::TransformStamped yaw_trans;
yaw_trans.header.stamp = current_time;
yaw_trans.header.frame_id = "yaw";
yaw_trans.child_frame_id = "base_link";
yaw_trans.transform.rotation = yaw_quad_1;
//send the transform
yaw_broadcaster.sendTransform(yaw_trans);*/
//tf::Quaternion yaw_quad_2 = tf::createQuaternionFromRPY(1,1,2);
yaw_sens.header.stamp = ros::Time::now();
yaw_sens.header.frame_id = "yaw";
yaw_sens.orientation = yaw_quat_1;
for(iIndex=0;iIndex <9;iIndex++)
{
yaw_sens.orientation_covariance[iIndex]=0;
}
yaw_pub->publish(yaw_sens);
}
}
`
Thanks in Advance,
Nithin
Originally posted by Nithin on ROS Answers with karma: 53 on 2014-10-10
Post score: 0
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Hello,
when I'm trying to use pcl::registration::CorrespondenceRejectorSampleConsensus class in my ROS node, I got Segmentation fault even before the node is initialized. I prepared minimal example pakage showing this problem. Some additional information:
I've installed ROS Indigo on my Ubuntu 14.04 using standard installation guide
I verified this issue on two independent machines with ROS Indigo installation
I've already asked for the help on PCL forum but I've got the response that it's not an issue of the latest PCL released
the strangest thing is that event the segfault occurs even before the initialisation is done
To run the problem example:
unzip the package into your workspace
use catkin_make to build it
execute: rosrun sac_segmentation_fault seg_fault
you should obtain the segmentation fault and nothing else is printed into the console
Thank you in advance for any help or advices,
Martin.
Originally posted by MartinVelas on ROS Answers with karma: 13 on 2014-10-10
Post score: 1
Original comments
Comment by MartinVelas on 2014-10-10:
Hello and thanks for your quick answer - it was very helpful :)
I used the output of the GDB you proposed and after few minutes of Googling I found out that many people have similar problem and the only common nominator was usage of C++11 - not supported by PCL so far. Removing "-std=c++0x" from my CMakeLists.txt worked as charm.
Thanks again for your help.
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I wanted to run the talker program and the listener program.
After the talker program was executed, I opened new terminal and typed "rosrun beginner_tutorials listener" to implement the listener program which had made in CMakeLists.txt at the beginner_tutorials package .
Then the display said "No such package/stack 'beginner_tutorials' ".
I'm sure I had ordered "source ~catkin_ws/devel/setup.bash" before execution of the talker program, but I commanded it one more time, the program normally run.
Why did the beginner_tutorials package disappear? What was happened?
Originally posted by Shuta on ROS Answers with karma: 11 on 2014-10-10
Post score: 1
Original comments
Comment by 130s on 2014-10-10:
Make sure the path your package resides in is listed in ROS_PACKAGE_PATH environment variable (you can check by like echo $ROS_PACKAGE_PATH).
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ros indigo. ubuntu 14.04 trusty.
this is the launch xml file commandclient.launch :
<launch>
<!-- Start the command action client to take commands -->
<node name="command_action_client" pkg="hal_main" type="commandclient" output="screen" >
</node>
</launch>
roslaunch hal_main commandclient.launch :
... logging to /home/jaysin/.ros/log/be04aa0e-5080-11e4-ab58-28e347742258/roslaunch-jaysin-24849.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://jaysin:60903/
SUMMARY
========
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.9
NODES
/
command_action_client (hal_main/commandclient)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
ERROR: cannot launch node of type [hal_main/commandclient]: can't locate node [commandclient] in package [hal_main]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
rosrun hal_main commandclient:
[rosrun] Couldn't find executable named commandclient below /home/jaysin/ros/clam3/src/hal_main
rospack find hal_main :
/home/jaysin/ros/clam3/src/hal_main
echo $ROS_PACKAGE_PATH :
/home/jaysin/ros/clam3/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
launches from other packages work fine. i have rebuilt everything after deleting devel and build.
Originally posted by jay75 on ROS Answers with karma: 259 on 2014-10-10
Post score: 0
|
I have a few different platforms that are all using the same package. Each platform has a different stereo camera calibration file.yaml
Each platform has its own launch file, which gets called (roughly) this way:
<node pkg="nodelet" type="nodelet" name="camera1394_nodelet" args="load camera1394/driver left_manager">
<rosparam file="/home/turtlebot/workingDir/cam_info/00b09d0100c8851b.yaml" />
<param name="guid" value="00b09d0100c8851b" />
</node>
Which seems to work, but within each yaml file the camera_info_url is defined this way:
camera_info_url: package://hast/cam_info/left_00b09d0100c8851b.yaml
but I would rather call it this way:
camera_info_url: /home/turtlebot/BitSync/hast/workingDir/cam_info/left_00b09d0100c8851b.yaml
This way I can keep and update the files in a "central server" (via bittorrent sync) instead of embedded within the package on each platform. However, the second method fails and does not load the yaml file properly.
Is there a different way to define the camera parameters, or am I stuck with the file in each package?
Originally posted by benabruzzo on ROS Answers with karma: 79 on 2014-10-10
Post score: 0
|
I am on Ubuntu 12.04 running Hydro and with roscd I can't tab complete. Is there something wrong with my install or is that just not a feature available with the ROS file navigation tools.
Originally posted by candidcypher on ROS Answers with karma: 16 on 2014-10-10
Post score: 0
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My System : Ubuntu 12.04, ROS Fuerte, Python
Goal: Want to combine rgb and depth image to point cloud data. I am using depth_image_proc/point_cloud_xyzrgb nodelet to achieve this. Just to test it, I used the kinect topics depth_registered/image_rect, rgb/image_rect_color, and rgb/camera_info and it works (I can visualize it in RViZ).
Now, the issue is, I subscribe the kinect topic rgb/image_rect_color and use Python OpenCV to change some pixel colors and publish it back as a new topic. When I use depth_image_proc/point_cloud_xyzrgb with this new topic and try to get a point cloud from the new rgb image and original depth image, it does not output anything. I can view the changed image from the new topic in RViZ but the point cloud is not generated.
To test it further with a simpler problem, I just subscribe to the rgb/image_rect_color, do no processing at all, and publish the same image with a different topic name. Still, it does not work. Is this a time synchronization issue. Any pointers will be helpful.
Thanks
-gilmour
Originally posted by gilmour on ROS Answers with karma: 13 on 2014-10-10
Post score: 1
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Running this command:
~/ros_catkin_ws/src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Crashes with at this point:
cd /Users/Raaj/ros_catkin_ws/build_isolated/pcl_ros && /Users/Raaj/ros_catkin_ws/install_isolated/env.sh cmake -vd /Users/Raaj/ros_catkin_ws/src/perception_pcl/pcl_ros -DCATKIN_DEVEL_PREFIX=/Users/Raaj/ros_catkin_ws/devel_isolated/pcl_ros -DCMAKE_INSTALL_PREFIX=/Users/Raaj/ros_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release
with this :
CMake Error at /usr/local/share/pcl-1.8/PCLConfig.cmake:49 (message):
simulation is required but glew was not found
I've already installed glew via brew install glew. How may I solve this? I am using OSX Mavericks
Originally posted by soulslicer on ROS Answers with karma: 61 on 2014-10-10
Post score: 0
Original comments
Comment by tfoote on 2014-10-10:
Please link to the instructions you are following.
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Hi all,
I am looking for an example of how to use controller_manager::ControllerManager. I have read a tutorial on implementing one's own hardware interface (see here) and there is a few lines of code (including a main function) related to my problem. But unfortunately I do not understand where this main function should lie (is it into a specific node?). I am not too sure either how it should articulate with the controller_manager spawner node instantiated in the launch file.
I have checked several repos (like D. Coleman's baxter, and the husky ros files...) but could not find any code relevant to me.
Is there any example somewhere showing me how to use the ControllerManager in c++?
--- EDIT ---
To put it another way here it shows a main() implementing the logic of the robot read/write and controllers update. But who starts the app corresponding to the main? Is this a node? And external app? Something else?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-10-10
Post score: 2
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Hello,
I have a problem regarding obstacle avoidance and local planning. I have a short range Primesense sensor which gives me the scan for my navigation. I am able to do mapping, localization and fairly good navigation when all obstacles are already incorporated in my map. The problem is that dynamic obstacles are detected and shown in my local costmap but the robot does not take them into account somehow. The strange thing for me is that it inflates the obstacles which are in the map but not the dynamic obstacles even though I have inflation_radius set in my local_costmap_params.yaml. I have this suspicion that it might be that the obstacles are only detected 35 cm away from the kinect and otherwise it thinks that the map is clear and since it plans for a short distance in each step it cant detect the obstacles ( I don't know if it makes sense!) I tried changing the sim_granularity: 0.2 but didn't see a difference. Does anyone have an idea about this?
I have attached a snapshot of my rviz.
Thanks a lot in advance.
C:\fakepath\Capture.JPG
Originally posted by zeinab on ROS Answers with karma: 88 on 2014-10-10
Post score: 0
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hello,
I want to know that how can i force a predefined package to subscribe a particular topic, for an instance, i have a package named "executive_usarsim" by makokal which acts as an interface between usarsim and ROS and currently it is not subscribing to cmd_vel topic, i want this package to subscribe to "cmd_vel" topic.
Thank you.
Originally posted by Aarif on ROS Answers with karma: 351 on 2014-10-10
Post score: 0
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Hi All,
I have a dual arm biped system as shown in MoveIt here:
The system works by having one arm grasping a support whilst the other reaches out for another. Switching between the two, locomotion is carried out.
The problem i have is that I have only been able to move the robot from the same gripper, i can't switch which one is stationary from which the rest of the joints should be calculated.
How can I plan trajectories for this system??
I intended to plan from one gripper, obtain a new support, change the fixed gripper to the other side, the plan again from this new point.
Any help is much appreciated.
Regards,
Chris.
Originally posted by anonymous8676 on ROS Answers with karma: 327 on 2014-10-10
Post score: 1
Original comments
Comment by Airuno2L on 2014-10-11:
I haven't used Moveit! much but have you tried making two separate move groups? E.g. one's base link is one gripper, and the other's base link is the other gripper.
Comment by anonymous8676 on 2014-10-16:
Given that this system actually matches the legs of a humanoid biped from the waist down, is it possible to use their approach? How do users do planning for the humanoids?
Comment by Airuno2L on 2014-10-20:
I believe they do as I was suggesting, using different move groups.
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I'm following the turtlebot turtorial but when I attempt to install the deb packages required, I get the apt-get error message "Unable to locate package".
sudo apt-get install ros-hydro-turtlebot ros-hydro-turtlebot-apps ros-hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-hydro-turtlebot
E: Unable to locate package ros-hydro-turtlebot-apps
E: Unable to locate package ros-hydro-turtlebot-viz
E: Unable to locate package ros-hydro-turtlebot-simulator
E: Unable to locate package ros-hydro-kobuki-ftdi
I'm on Ubuntu 13.10 with ros-hydro-desktop-full installed from sources. I have the deb http://packages.ros.org/ros/ubuntu/ saucy main repository in my sources.list which I've already updated.
What haven't I done? Would this have something to do with the fact that I've installed from sources?
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-10-10
Post score: 0
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I am trying to install the imu_tools package on my barebones ROS installation (Debian OS) with a catkin workspace. . Following the steps listed on their github page I run rosdep install imu_tools. To no surprise it tells me that there are some dependencies to be resolved:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rviz_imu_plugin: Missing resource rviz
ROS path [0]=/root/ros_catkin_ws/install_isolated/share/ros
ROS path [1]=/root/ros_catkin_ws/install_isolated/share
ROS path [2]=/root/ros_catkin_ws/install_isolated/stacks
ROS path [3]=/root/ros_catkin_ws/src
imu_filter_madgwick: Missing resource actionlib
ROS path [0]=/root/ros_catkin_ws/install_isolated/share/ros
ROS path [1]=/root/ros_catkin_ws/install_isolated/share
ROS path [2]=/root/ros_catkin_ws/install_isolated/stacks
ROS path [3]=/root/ros_catkin_ws/src
I use rosinstall_generator --from-path ~ros_catkin_ws/src/imu_tools > imu_tools.rosinstall && rosinstall -c ~ros_catkin_ws/src imu_tools.rosinstall to find and install all the dependencies of the package.
However when I eventually build/install with catkin_make_isolated --install I get that certain packages cannot be resolved. I've hunted around the wiki pages, but I can never get this step done right.
Is there somewhere I went wrong? Is there a better way to resolve specific package dependencies?
Originally posted by alainh on ROS Answers with karma: 43 on 2014-10-11
Post score: 0
Original comments
Comment by l0g1x on 2014-11-16:
I am also interested in how to solve this. Anyone have answer?
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I'm going through the ROS packages for a generic package that will take raw IMU 9DOF readings and perhaps use a Kalman filter to fuse data from the Accelerometer, Gyroscope, and Magnometer. So far I've only found the imu_filter_madgwick package. However, it has been difficult to install with catkin. As a newbie to the ROS system I found this surprising.
Is there a generic solution for IMU filtering in ROS?
Thank you in advance. I would appreciate any guidance in this matter.
Originally posted by alainh on ROS Answers with karma: 43 on 2014-10-11
Post score: 0
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I want to access the map information from map.yaml . Can I use the basic C++ file handling to read all the fields from the file? I tried using yaml-cpp but its instructions were clumsy and even if there were no compiler errors, I could not get rid of dereferencing errors during run time. Is there a tutorial on ROS to demonstrate how to read map data from yaml file?
Originally posted by Hemu on ROS Answers with karma: 156 on 2014-10-11
Post score: 0
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Environment
Ubuntu 12.04.2 (run on Virtualbox on Mac OSX Mavericks)
hydro
Questions
I installed turtlebot-simulator.
sudo apt-get install ros-hydro-turtlebot-simulator
sudo apt-get install ros-hydro-turtlebot-apps
sudo apt-get install ros-hydro-tutlebot-rviz-launchers
Run roscore and launched the simulator.
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
I got these warning.
OpenGL Warning: No pincher, please call crStateSetCurrentPointers() in your SPU
OpenGL Warning: You called glBindTexture with a target of 0x806f, but the texture you wanted was target 0xde1 [1D: de0 2D: de1 3D: 806f cube: 8513]
Are these warnings serious? If so, how can I fix them?
Originally posted by wkentaro on ROS Answers with karma: 175 on 2014-10-12
Post score: 0
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Can anybody please let me know how to make a graphical user interfaces in ROS? I have heard about qt and rqt. But there is so less documentation available about these. I have also heard rqt_gui. I have to make a user interface for a mobile robot. I was considering using an android app for that. But, if a user interface can be easily built using ROS tools then I think it would be a better option.
Can somebody please help?
Thanks
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-10-12
Post score: 2
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Is there any deterministic criteria which decides when new / patched ROS packages are being released?
It would be nice to know in advance when the package upgrade will become available, especially for those waiting for an important bugfix. By "criteria" I mean the size of the Jenkins build queue, the number of packages to be released, a specific time interval etc.
Originally posted by gaya on ROS Answers with karma: 311 on 2014-10-12
Post score: 0
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Can autonomous navigator of ROS give two different completion time for two experiments in the same environment and having same starting and ending positions?
Are the default recovery behavior of move_base node for two experiments will be exactly same?
Thanks in advance.
Originally posted by RB on ROS Answers with karma: 229 on 2014-10-13
Post score: 2
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Hi knowrob developers,
I got problem when I want to run knowrob_common file. In this case, when I execute queries (for example, owl_has(A, rdf:type, knowrob:'Drawer').), it return false.
What I did:
$ rosrun rosprolog rosprolog knowrob_common
What I got:
library(swi_hooks) compiled into pce_swi_hooks 0.00 sec, 3,856 bytes
% /home/aliakbari101/.plrc compiled 0.00 sec, 1,552 bytes
% library(error) compiled into error 0.00 sec, 19,104 bytes
% library(lists) compiled into lists 0.00 sec, 45,824 bytes
% library(shlib) compiled into shlib 0.00 sec, 67,120 bytes
% library(option) compiled into swi_option 0.00 sec, 14,768 bytes
% library(process) compiled into process 0.00 sec, 99,560 bytes
% /home/aliakbari101/catkin_ws/src/knowrob/rosprolog/prolog/init.pl compiled 0.00 sec, 107,104 bytes
% library(jpl) compiled into jpl 0.02 sec, 345,320 bytes
% library(sgml) compiled into sgml 0.00 sec, 40,016 bytes
% library(quintus) compiled into quintus 0.00 sec, 22,016 bytes
% rewrite compiled into rewrite 0.00 sec, 33,976 bytes
% library(uri) compiled into uri 0.00 sec, 13,936 bytes
% library(record) compiled into record 0.00 sec, 33,752 bytes
% rdf_parser compiled into rdf_parser 0.01 sec, 147,880 bytes
% library(gensym) compiled into gensym 0.00 sec, 4,616 bytes
% rdf_triple compiled into rdf_triple 0.00 sec, 37,312 bytes
% library(rdf) compiled into rdf 0.01 sec, 257,832 bytes
% library(debug) compiled into prolog_debug 0.00 sec, 22,112 bytes
% library(assoc) compiled into assoc 0.01 sec, 35,904 bytes
% library(sgml_write) compiled into sgml_write 0.01 sec, 121,176 bytes
% library(nb_set) compiled into nb_set 0.00 sec, 6,200 bytes
% library(filesex) compiled into files_ex 0.00 sec, 10,888 bytes
% rdf_cache compiled into rdf_cache 0.00 sec, 28,104 bytes
% library(semweb/rdf_db) compiled into rdf_db 0.03 sec, 606,000 bytes
% library(broadcast) compiled into broadcast 0.00 sec, 7,520 bytes
% library(semweb/rdf_edit) compiled into rdf_edit 0.01 sec, 87,320 bytes
% library(semweb/rdfs) compiled into rdfs 0.00 sec, 28,328 bytes
% library(semweb/rdf_portray) compiled into rdf_portray 0.00 sec, 15,192 bytes
% library(owl) compiled into t20_owl 0.01 sec, 68,712 bytes
% library(utf8) compiled into utf8 0.00 sec, 13,824 bytes
% library(url.pl) compiled into url 0.01 sec, 113,720 bytes
% library(socket) compiled into socket 0.00 sec, 11,352 bytes
% library(base64) compiled into base64 0.00 sec, 17,704 bytes
% library(http/http_open.pl) compiled into http_open 0.00 sec, 92,944 bytes
% library(owl_parser) compiled into owl_parser 0.01 sec, 221,864 bytes
% library(rdfs_computable) compiled into rdfs_computable 0.01 sec, 48,384 bytes
% library(util) compiled into util 0.00 sec, 28,248 bytes
% library(crypt) compiled into crypt 0.00 sec, 3,328 bytes
% library(knowrob_owl) compiled into knowrob_owl 0.00 sec, 29,048 bytes
% library(owl_export) compiled into owl_export 0.00 sec, 20,056 bytes
% library(knowrob_cad_parser) compiled into knowrob_cad_parser 0.01 sec, 9,640 bytes
% Parsed "owl.owl" in 0.00 sec; 169 triples
% Parsed "knowrob.owl" in 0.09 sec; 4,253 triples
% library(pairs) compiled into pairs 0.00 sec, 8,232 bytes
% library(plunit) compiled into plunit 0.01 sec, 145,976 bytes
% /home/aliakbari101/catkin_ws/src/knowrob/knowrob_common/prolog/init.pl compiled 0.21 sec, 1,924,816 bytes
Then, I run this:
?- owl_parse('package://knowrob_map_data/owl/ccrl2_semantic_map.owl').
It returns:
% Parsed "ccrl2_semantic_map.owl" in 0.06 sec; 2,976 triples
true.
And then, this query:
?- owl_has(A, rdf:type, knowrob:'Drawer').
And it returns:
false.
Could you please help me to correct this issue?
Thanks in advance.
Originally posted by Robatics1 on ROS Answers with karma: 15 on 2014-10-13
Post score: 0
Original comments
Comment by moritz on 2014-10-14:
Does it work after manually loading that file using rdf_load('/path/to/rdf-schema.xml'). ?
More info:
http://www.swi-prolog.org/pldoc/man?predicate=rdf_load/2
http://www.swi-prolog.org/pldoc/doc_for?object=section%28%27packages/semweb.html%27%29
Comment by Robatics1 on 2014-10-14:
As you said, I loaded manually, but again when I want to execute the same query that I mentioned in the question, it returns false !!! For the installation, I followed your website and I compiled it without any errors. I do not know whether knowrob works fine with ubuntu 13 or not !!
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roslaunch hector_slam_launch tutorial.launch points to an rviz_cfg folder in the hector_slam_launch folder, but no such folder or mapping_demo.rviz file exists after install of hector_slam. I've generated the mapping_demo.rviz file to match the older mapping_demo.cfg file (I just have this on my desktop for now) but I want to verify how to add the rviz_cfg directory to the hector_slam_launch folder along with the .rviz file under the new ROS Indigo format.
OR, is this even the correct protocol under Indigo?
Originally posted by TJump on ROS Answers with karma: 160 on 2014-10-13
Post score: 0
|
Hey Guys, I am trying to do some demos on a real Pr2, but I cant make it move it arms.
At first, I tried http://wiki.ros.org/pr2_interactive_manipulation
And there occurs no error, robot comes up and on my desktop, rviz shows up all Ok, but then when I try to move its arms to the front or so it doesnt move.
So I tried something even more basic: pr2_props
On Robot
roslaunch pr2_props pr2_props.launch
And on the desktop
rosrun pr2_props hug
But I keep getting this message on a loop:
[ INFO] [1413233159.293564120]: Waiting for the joint_trajectory_action server
[ INFO] [1413233164.293692161]: Waiting for the joint_trajectory_action server
[ INFO] [1413233169.293832716]: Waiting for the joint_trajectory_action server
[ INFO] [1413233174.293930410]: Waiting for the joint_trajectory_action server
Any ideas what it could be?
@pr1023:~$ rosrun pr2_controller_manager pr2_controller_manager list
base_controller ( running )
base_odometry ( running )
head_camera_trigger ( running )
head_traj_controller ( running )
l_arm_controller ( running )
l_forearm_cam_trigger ( running )
l_gripper_controller ( running )
laser_tilt_controller ( running )
projector_controller ( running )
projector_trigger ( running )
prosilica_inhibit_projector_controller ( running )
r_arm_controller ( running )
r_forearm_cam_trigger ( running )
r_gripper_controller ( running )
torso_controller ( running )
these are my controllers. is it how it is supposed to be or am I missing something?
Originally posted by Fred Eduardo on ROS Answers with karma: 31 on 2014-10-13
Post score: 0
Original comments
Comment by ahendrix on 2014-10-14:
This could be a network problem. Does it work if you run everything on the robot?
Comment by Fred Eduardo on 2014-10-15:
Well, tuckarms work just fine. Could this be a network problem just for the controllers? Cause, on the desktop, using pr2_interactive_manipulation, Rviz shows correct information/states of the robot, so it receives data on the network. When I click 'move right arm', however, then it doesnt work.
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Hello,
I would like to use both DWAPLanner and my own local planner on a robot, and depending on the situation switch between these two local planners.
Is it a way in Navigation stack to plug two local planners and switch between them?
Thanks
Originally posted by ROSCMBOT on ROS Answers with karma: 651 on 2014-10-13
Post score: 2
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hi everyone
I have two arduino uno boards and i need to connect my encoders to each of them. I have two encoder and i dont want to use shield for them. I use rosserial stack to connect my laptop to arduino. Now i need a code to publish my odometry over ROS which consists of some transitions for use datas on gmapping package (like velocities). Does anyone know a good code?
Thanks too much :))
Originally posted by mohammad on ROS Answers with karma: 75 on 2014-10-14
Post score: 0
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Hello, I would like to use the MomentOfInertiaEstimation object from PCL. As I saw in pcl_ros this package only uses 1.7.0 of the pcl library. The object MomentOfInertiaEstimation is available from 1.7.2.
Is there any easy way to get the 1.7.2 version of pcl?
I'm using ROS Hydro
Thanks Johannes
Originally posted by Johannes on ROS Answers with karma: 75 on 2014-10-14
Post score: 0
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I'm attempting to install Hydro & Fuerte on ubuntu 12.04.
I'm wandering that they are interfering with themselves.
I am completely new to linux, so any help would be greatly appreciated
Originally posted by KeigoM on ROS Answers with karma: 1 on 2014-10-14
Post score: 0
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Hi, I am working with the navigation stack and when I command a goal (by rviz) which is inside an obstacle I get the following error. This is something I have begun to experience recently (after upgrading some Ros packages).
If you need any configuration file, I can provide them.
[ WARN] [1413287442.128433137, 500.284000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0820 seconds
[ WARN] [1413287447.391084978, 502.616000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 2.1320 seconds
[ WARN] [1413287450.041637304, 503.840000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.2240 seconds
[ WARN] [1413287452.804671449, 505.062000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0220 seconds
[ WARN] [1413287452.835355243, 505.075000000]: Clearing costmap to unstuck robot.
[move_base-3] process has died [pid 16397, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3.log].
log file: /home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3*.log
Thank you
My debug output is here:
https://gist.github.com/arenillas/2408efc78094d1a0be24
EDIT:
Using the parameter default_tolerance (5 meters) the result is:
[ WARN] [1414505173.888202638, 61.526000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.7650 seconds
[ WARN] [1414505173.930135630, 61.537000000]: Invalid Trajectory 0.000000, 0.000000, -0.400000, cost: -1.000000
And after some time and repetitions of these two warnings:
[ WARN] [1414505212.929234900, 71.937000000]: Clearing costmap to unstuck robot.
[move_base-3] process has died [pid 3922, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3.log].
log file: /home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3*.log
EDIT:
Finally, it was a problem in costmap package. It has been fixed.
Originally posted by arenillas on ROS Answers with karma: 223 on 2014-10-14
Post score: 0
Original comments
Comment by dornhege on 2014-10-14:
Looks like a core dump and shouldn't happen. Do you use any non-standard plugins?
Comment by arenillas on 2014-10-14:
I don't think so.
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Hello all,
I'm trying to program a UR5 robot arm using ROS.
I'm happy to see there's a lot of development going on, and many packages are already available, such as the universal_robot package, moveit, rviz and many other ROS packages. However, as a new user, it's difficult to see the relations/dependencies between all those packages, and how certain configuration choices (e.g. a specific branch or version of a module, a configuration parameter, etc.) affect the abilities of the robot.
Specifically, I'm trying to program some (simple) moves of the robot arm in an environment with a small number of collision objects to avoid. Sometimes the motion planner finds a solution, sometimes it doesn't. When calling group.plan() repeatedly, it might find a solution after a number of attempts, but sometimes it really doesn't seem to be able to find a motion plan.
I can think of the following "choices" that may or may not affect the planning performance:
Different versions of the universal_robots package.
Using KDLKinematicsPlugin vs. UR5KinematicsPlugin.
Use of the parameter limited:=true vs. limited:=false for ur_driver (is this different when using UR5KinematicsPlugin?).
Use of the parameter limited:=true vs. limited:=false for moveit.
Start position of the robot arm (e.g. one of the joint states possibly outside the allowed range in case limited:=true, or maybe just a more "difficult" pose to move from?).
Any information about how these choices affect the motion planner will be very helpful.
I think the most important questions for me at this moment are:
Should I use the KDLKinematicsPlugin or the UR5KinematicsPlugin?
Should I use the limited:=true parameter for the ur_driver? And for moveit?
What should I expect from the current state of the motion planner (in combination with the universal_robot package). Should it be able to always find a solution for "reasonably easy" paths? What are the experiences of other users?
Thanks in advance for your answers!
EDIT: Just to clarify, the reason I asked about "different versions of the universal_driver package", the kinematics plugins and the limit parameters, is that I noticed that between versions 1.0.3 and 1.0.4 of the universal_driver package the kinematics plugin has changed from KDL to UR5. Initially I could not get the motion planning to work at all after this update, but when I removed the limit parameter it worked again (at least sometimes). My guess is that the behaviour of the UR5KinematicsPlugin with respect to the limit parameter is different than that of the KDLKinematicsPlugin. Maybe because the UR5 plugin is specifically targeted for the UR5 and thus always works with the full range?!
But if I remove the limit parameter, moveit apparently has troubles finding trajectories. So how should I get these to work together?
Originally posted by wouter_tnl on ROS Answers with karma: 110 on 2014-10-14
Post score: 0
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I have ros indigo installed on ubuntu 14.04. When I run the command
rosrun image_view image_view image:=/cam1/image_raw
I get the error
/opt/ros/indigo/lib/image_view/image_view: error while loading shared libraries: libavcodec.so.53: cannot open shared object file: No such file or directory
How do I get past this ?
Originally posted by takb on ROS Answers with karma: 21 on 2014-10-14
Post score: 1
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Hello together,
I have the follwing problem:
I have the package ar_track_alvar installed via binary packages.
Also I have my own catkin-workspace.
Now, when I first source /opt/ros/hydro/setup.bash followed by my_workspace/devel/setup.bash, I see all the included launch files, but only the createMaker-Node. All the other nodes wont autocomplete and when launch-files rely on them, they can't be found.
But when I source opt/ros/hydro/setup.bash again, everything works as expected.
What might be the issue? Obviously something is wrong in my workspace, but I don't know where to begin looking.
Additional information:
In both cases I can autocomplete the package name, e.g. in roscd ar_tr<tab> to ar_track_alvar. Also in both cases I land in the same directory: /opt/ros/hydro/share/ar_track_alvar
Thanks in advance,
Rabe
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-10-14
Post score: 0
|
Hi, I am a beginner to use ROS.
(ubuntu 12.04, and ROS distribution is hydro. but I have installed both groovy and hydro.)
Now, I finished Beginner Level of Core ROS Tutorials and then tried to do actionlib_tutorials.
I only followed the instructions in this URL
(http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28ExecuteCallbackMethod%29),
Start a roscore in a new terminal
$ roscore
Until the section above, I did well.
But in the next section below, I failed.
And then run the action server:
$ rosrun learning_actionlib
fibonacci_server You will see something similar to:
[ INFO] 1250790662.410962000: Started node [/fibonacci], pid [29267], bound on [aqy], xmlrpc port [39746], tcprosport [49573], logging to [~/ros/ros/log/fibonacci_29267.log], using [real] time To check that your action is running properly list topics being published:
If I command the sentence below,
$ rosrun learning_actionlib fibonacci_server
there was no response.
I would like to know why.
If I run the command
$rostopic list -v
,I got these messages.
Published topics:
/fibonacci/feedback [learning_actionlib/FibonacciActionFeedback] 1 publisher
/rosout [rosgraph_msgs/Log] 1 publisher
/rosout_agg [rosgraph_msgs/Log] 1 publisher
/fibonacci/status [actionlib_msgs/GoalStatusArray] 1 publisher
/fibonacci/result [learning_actionlib/FibonacciActionResult] 1 publisher
Subscribed topics:
/fibonacci/goal [learning_actionlib/FibonacciActionGoal] 1 subscriber
/fibonacci/cancel [actionlib_msgs/GoalID] 1 subscriber
/rosout [rosgraph_msgs/Log] 1 subscriber
Originally posted by W_Kohei on ROS Answers with karma: 1 on 2014-10-14
Post score: 0
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I get this message when I SSH into Baxter, but I do not have sudo access so cannot fix this error message. Is there a way to remove this warning or run rosdep init without sudo? I tried and it says:
ERROR: cannot create /etc/ros/rosdep/sources.list.d:
[Errno 13] Permission denied: '/etc/ros'
Perhaps you need to run 'sudo rosdep init' instead
Thanks!
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-10-14
Post score: 0
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If I have a robot (Baxter) with an older version of a ROS message (say, control_msgs from Groovy), can I build the latest version (Indigo) in my local user's workspace on the robot and use that message instead?
By this I mean I source /opt/ros/groovy/source.devel and I have the old version of control_msgs
But then I build that message again in ~/catkin_ws/src/control_msgs and source that workspace, I should no longer have issues with nodes built in my catkin_ws that need the newer version of the message, right?
In my testing, however, this does not work, so obviously roscore is tricker than this.
Thanks!
Originally posted by Dave Coleman on ROS Answers with karma: 1396 on 2014-10-14
Post score: 1
|
Hi,
i tried to install package tum_simulator but I found one problem.
When I try to run simulator:
roslaunch cvg_sim_test 3boxes_room.launch
i get:
[cvg_sim_test] is not a package or launch file name
I have ROS fuerte and installed gazebo 1.6, rviz.
I was adding step by step packages:
ardrone_autonomy package, joy_node and ardrone_joystick packages, tum_simulator package.
I used 'rosmake' and I didn't get any error.
My workspace looks:
przemek@przem:~/fuerte_workspace$ ls
ardrone_autonomy sandbox setup.sh
simulator_gazebo visualization
ardrone_helpers setup.bash
setup.zsh tum_simulator
When I call echo $ROS_PACKAGE_PATH
I get:
/home/przemek/fuerte_workspace/simulator_gazebo:/home/przemek/fuerte_workspace/sandbox:/opt/ros/fuerte/stacks:/opt/ros/fuerte/share:/opt/ros/fuerte/share/ros:/home/przemek/fuerte_workspace/ardrone_autonomy:/home/przemek/fuerte_workspace/ardrone_helpers:/home/przemek/fuerte_workspace/ardrone_helpers:/home/przemek/fuerte_workspace/tum_simulator
there is almost everything apart from rviz.
Please help me.
Originally posted by green96 on ROS Answers with karma: 115 on 2014-10-14
Post score: 0
|
Hey there!
I already asked this over at the Trossen Robotics Forum but did not get a reply yet. Maybe someone here can give me a hint at what might be wrong with my XV-11 Lidar Setup.
I bought the laser scanner from Ebay and am trying to get it to work in ROS.
What I have done so far:
Connected the Lidar to ROS Indigo running Ubuntu in Virtualbox on a Windows Machine.
For the power to the motor I am using a 3V regulator that gets its power form USB (5V).
The sensor is powered by an Arduino with 3.3V for now.
Instead of the Sparkfun FTDI board I am using a standard RS-232 to USB Adapter that is getting its data from the Lidard's Tx. The adapter gets accepted by Ubuntu. Dmesg shows:
usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0
Running
rostopic echo /scan
I get this:
header:
seq: 34
stamp:
secs: 1413106818
nsecs: 470585788
frame_id: neato_laser
angle_min: 0.0
angle_max: 6.28318548203
angle_increment: 0.0174532923847
time_increment: 0.00059940997744
scan_time: 0.0
range_min: 0.0599999986589
range_max: 5.0
ranges: [0.25600001215934753, 8.192000389099121, 4.928999900817871, 13.229000091552734, 13.300999641418457, 13.274999618530273, 10.946999549865723, 0.37700000405311584, 14.380999565124512, 15.883000373840332, 15.381999969482422, 0.25600001215934753, 8.960000038146973, 6.848999977111816, 13.114999771118164, 13.0649995803833, 13.126999855041504, 13.109000205993652, 0.36899998784065247, 14.380999565124512, 15.883000373840332, 15.378000259399414, 0.5120000243186951, 1.2799999713897705, 6.880000114440918, 13.14900016784668, 10.869000434875488, 9.96500015258789, 10.836999893188477, 0.37599998712539673, 14.348999977111816, 15.873000144958496, 15.847999572753906, 16.128000259399414, 11.008000373840332, 6.90500020980835, 11.003000259399414, 10.888999938964844, 10.954999923706055, 4.479000091552734, 0.33799999952316284, 15.279000282287598, 14.972999572753906, 7.293000221252441, 0.23399999737739563, 8.019000053405762, 8.29699993133545, 15.732999801635742, 15.833000183105469, 7.519999980926514, 11.776000022888184, 8.960000038146973, 6.888999938964844, 11.795000076293945, 13.74899959564209, 13.708999633789062, 11.914999961853027, 0.4320000112056732, 11.229000091552734, 16.277000427246094, 16.277000427246094, 9.472000122070312, 8.704000473022461, 3.884999990463257, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.295999526977539, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 0.0, 3.628000020980835, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 7.690999984741211, 15.189000129699707, 16.277000427246094, 15.187999725341797, 9.472000122070312, 7.935999870300293, 3.627000093460083, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.399999618530273, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 7.679999828338623, 3.625999927520752, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.295999526977539, 15.189000129699707, 16.277000427246094, 13.991999626159668, 9.472000122070312, 7.423999786376953, 13.097000122070312, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 8.406000137329102, 15.189000129699707, 16.277000427246094, 16.37700080871582, 15.871999740600586, 11.520000457763672, 14.026000022888184, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 0.43700000643730164, 16.35700035095215, 16.37700080871582, 16.356000900268555, 15.871999740600586, 4.0960001945495605, 14.001999855041504, 16.381999969482422, 16.381999969482422, 16.381999969482422, 16.381999969482422, 0.43700000643730164, 16.047000885009766, 16.37700080871582, 16.327999114990234, 15.871999740600586, 8.192000389099121,
and so on...
So there seems to be data coming in.
But then here's my problem. In RVIZ the data looks like noise and it seems like the Laser is detecting itself. It shows a circular thing right in the middle although the unit is sitting on a shelf with rectangular walls around it.
Here is a screenshot of both my settings and the RVIZ point cloud.
rviz http://oi58.tinypic.com/2rolv6f.jpg
Any ideas what could be the problem? Might this be a problem due to the difference between RS232 and TTL? Is my conversion going wrong? But the why would I get a valid header?
In the meantime I switched the power for the sensor itself (not the motor) to 5V after confirming that it can take it. Did not change anything though...
Thanks in advance!
Originally posted by tinytron on ROS Answers with karma: 45 on 2014-10-14
Post score: 0
|
After a successful catkin_make, I made sure to source devel/setup.bash inside the catkin workspace and ran roscore.
The output of echo "$ROS_PACKAGE_PATH" is "/home/alex/kinect_bench/src:/opt/ros/hydro/share:/opt/ros/hydro/stacks".
I get his warning from catkin_make:
In file included from /usr/include/c++/4.6/backward/strstream:52:0,
from /usr/include/vtk-5.8/vtkIOStream.h:112,
from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
from /usr/include/vtk-5.8/vtkIndent.h:24,
from /usr/include/vtk-5.8/vtkObjectBase.h:43,
from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:47,
from /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:39,
from /home/alex/kinect_bench/src/grabber/src/openni_grabber.cpp:2:
/usr/include/c++/4.6/backward/backward_warning.h:33:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
also, when I run roswtf the output is:
Loaded plugin tf.tfwtf No package or stack in context
================================================================================ Static checks summary:
Found 1 error(s).
ERROR Not all paths in PYTHONPATH [/home/alex/kinect_bench/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages] point to a directory: * /home/alex/kinect_bench/devel/lib/python2.7/dist-packages
================================================================================ Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules
Online checks summary:
Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected: * /rosout: * /rosout
my CMakeLists:
cmake_minimum_required(VERSION 2.8.3)
project(grabber)
find_package(catkin REQUIRED COMPONENTS
pcl_conversions
pcl_msgs
pcl_ros
roscpp
sensor_msgs
std_msgs
)
find_package(Boost REQUIRED COMPONENTS system)
catkin_package(
INCLUDE_DIRS include
LIBRARIES grabber
CATKIN_DEPENDS pcl_conversions pcl_msgs pcl_ros roscpp sensor_msgs std_msgs
DEPENDS system_lib
)
include_directories(
${catkin_INCLUDE_DIRS}
${PCL_LIBRARY_DIRS}
${PCL_INCLUDE_DIRS}
)
#add_library(grabber
# src/${PROJECT_NAME}/grabber.cpp
#)
# target_link_libraries(grabber_node
# ${catkin_LIBRARIES}
# )
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (grabber src/openni_grabber.cpp)
target_link_libraries (grabber ${PCL_LIBRARIES} ${catkin_LIBRARIES})
my package.xml;
<?xml version="1.0"?>
<package>
<name>grabber</name>
<version>0.0.0</version>
<description>The grabber package</description>
<maintainer email="[email protected]">alex</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>pcl_msgs</build_depend>
<build_depend>pcl_ros</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>pcl_conversions</run_depend>
<run_depend>pcl_msgs</run_depend>
<run_depend>pcl_ros</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>std_msgs</run_depend>
</package>
Thanks for any help
Originally posted by kinect_guy on ROS Answers with karma: 38 on 2014-10-14
Post score: 0
Original comments
Comment by ahendrix on 2014-10-14:
What is the exact command that is failing? is it rosrun grabber grabber ?
Comment by kinect_guy on 2014-10-14:
the failing command is rosrun grabber openni_grabber openni_grabber is the file located at ~/kinect_bench/src/grabber/src/openni_grabber.cpp
|
Dear ROS-Users
I created a service in my_package but I am not able to import it. In particular, using "from my_package import srv" in a ros-python node raise me this error: ImportError: cannot import name srv
However, doing the same "from my_package import srv" from a python shell, I don't get any error
I'm using catkin on ros-hydro and both catkin_make and catkin_make install don't give me any erro
Thank you for your help
Originally posted by Rahndall on ROS Answers with karma: 133 on 2014-10-15
Post score: 1
Original comments
Comment by Rahndall on 2014-10-15:
Could it be related to the PYTHONPATH?
|
I'm new to the turtlebot and have setup both my workstation and the turtlebot as described in the tutorial. Both machines are running Ubuntu 14.04 and Indigo Igloo. I've been dashing my head against some errors for a while and haven't found any similar posts on the forums. If anyone has suggestions I'd appreciate them.
When I run on the turtlebot:
roslaunch turtlebot_bringup minimal.launch
and on the workstation:
rqt -s kobuki_dashboard
to bringup the dashboard I can see the colour of the battery, warnings, and other features along the top. However, the content is grey and I get errors and warnings as follows:
ERROR: cannot launch node of type [rocon_interactions/interactions_manager.py]: rocon_interactions
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/turtlebot/turtlebot/src
ROS path [2]=/home/turtlebot/kobuki/src
ROS path [3]=/opt/ros/indigo/share
ROS path [4]=/opt/ros/indigo/stacks
process[zeroconf/zeroconf-12]: started with pid [23290]
[ INFO] [1413372214.521591475]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]
/opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py:114: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.pub = rospy.Publisher(self.topic, Status)
/opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py:114: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
self.pub = rospy.Publisher(self.topic, Status)
[WARN] [WallTime: 1413372218.117538] Rapp Manager : No preferred rapp for 'turtlebot_rapps/xbox360_teleop'. 'turtlebot_rapps/xbox360_teleop' has been selected.
[WARN] [WallTime: 1413372218.117850] Rapp Manager : No preferred rapp for 'turtlebot_rapps/map_manager'. 'turtlebot_rapps/map_manager' has been selected.
[WARN] [WallTime: 1413372218.118237] Rapp Manager : No preferred rapp for 'turtlebot_rapps/follower'. 'turtlebot_rapps/follower' has been selected.
[WARN] [WallTime: 1413372218.118565] Rapp Manager : No preferred rapp for 'turtlebot_rapps/map_nav'. 'turtlebot_rapps/map_nav' has been selected.
[WARN] [WallTime: 1413372218.118891] Rapp Manager : No preferred rapp for 'turtlebot_rapps/3dsensor'. 'turtlebot_rapps/3dsensor' has been selected.
[WARN] [WallTime: 1413372218.119216] Rapp Manager : No preferred rapp for 'turtlebot_rapps/ps3_teleop'. 'turtlebot_rapps/ps3_teleop' has been selected.
[WARN] [WallTime: 1413372218.119541] Rapp Manager : No preferred rapp for 'rocon_apps/video_teleop'. 'turtlebot_rapps/video_teleop' has been selected.
[WARN] [WallTime: 1413372218.119863] Rapp Manager : No preferred rapp for 'turtlebot_rapps/make_a_map'. 'turtlebot_rapps/make_a_map' has been selected.
[WARN] [WallTime: 1413372218.120179] Rapp Manager : No preferred rapp for 'rocon_apps/listener'. 'rocon_apps/listener' has been selected.
[WARN] [WallTime: 1413372218.120533] Rapp Manager : No preferred rapp for 'turtlebot_rapps/panorama'. 'turtlebot_rapps/panorama' has been selected.
[WARN] [WallTime: 1413372218.120855] Rapp Manager : No preferred rapp for 'rocon_apps/chirp'. 'rocon_apps/meow_chirp' has been selected.
[WARN] [WallTime: 1413372218.121138] Rapp Manager : No preferred rapp for 'turtlebot_rapps/auto_docking'. 'turtlebot_rapps/auto_docking' has been selected.
[WARN] [WallTime: 1413372218.121417] Rapp Manager : No preferred rapp for 'rocon_apps/talker'. 'rocon_apps/talker' has been selected.
Originally posted by Kongaloosh on ROS Answers with karma: 41 on 2014-10-15
Post score: 0
|
Dear all,
I'd like to call a service in my main loop. This led me using
NodeHandle::serviceClient<theService>
At the moment I create a new NodeHandle::serviceClient for each service call (ie at each step ~ very often), is that correct practise?
My question relates to how big object NodeHandle::serviceClient is really, because if this is small it is fine to instantiate on the stack at each loop. This question assumes objects theService are small as well.
--- EDIT ---
Although I have an alternative (simply not creating the object at each loop: easy!), I am still interested in knowing whether the class is heavy or not... From reading the source I would say it only contains 3 pointers (so not a big deal to instantiate it in a loop) but maybe there are subtleties I do not understand... Anyone knows about it?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-10-15
Post score: 0
Original comments
Comment by Adolfo Rodriguez T on 2014-10-16:
What does 'heavy' mean, and what would be the negative consequences of a 'heavy' object on your application?.
On your source reference: The implementation follows the opaque pointer (PIMPL) idiom. The pointed-to instance containing the implementation details is allocated on the heap.
Comment by arennuit on 2014-10-16:
I admit deciding what is heavy and what is not is up to the specific app. Having a PIMPL (which I had not noticed) makes it heavier though. Things are now clear to me. Thanks for your help!
Comment by Adolfo Rodriguez T on 2014-10-16:
So what action do you take when you have a 'heavy' object?. I'm just curiously wondering what kind of problems you're running into, or trying to avoid.
Comment by arennuit on 2014-10-16:
I have a vector of services to call in an order changing over time, and I was wondering whether to sort the vector directly or to switch to something like an STL view or maybe a list (I initially wanted to avoid these last two).
Comment by Adolfo Rodriguez T on 2014-10-17:
Ack. I'd still benchmark the naive implementation just to make sure no premature optimization is taking place.
Comment by arennuit on 2014-10-17:
After this discussion it really appears too risky to move the service objects around (because of potential things happening under the hood, in the PIMPL or in premature optim as you mentioned), so I'll keep it safe and go for a clean STL view or something close... Thanks a lot!
|
Hello everyone,
I have a question, which might have a pretty easy/obvious answer or a better way to solve my problem then the way I am currently doing it. However I am stuck, so I'd be glad for your input:
In the Python-interface, is there a way to create "virtual" transforms, meaning can I create a transform without publishing it and use it (do further transformations based on this one) in the same code later again?
To elaborate on my problem:
I have an robot arm with a gripper attached. I publish a static transform right between the fingertips (in relation to the tip of the robot). Also, I have a box with a marker, which gets recognized and published as a transform. Now, I want to do the following:
Based on the marker, I want to position the fingertips at a certain place. For this, I need my robot to go to a position in relation to the desired finger-tip-position. So it is Marker ==some_static_stuff==> Desired_Fingertips ==(transform from actual_tips to actual_robot)==>Desired_Robot
My problem is a) my lacking math-skills b) that the relation of each transformation changes each step. I can't use transforms from actual_tips to actual_robot on Desired_Fingertips, since Desired_Fingertips exists only as a (transformation, orientation)-tupel, but not as a frame_id. Therefore, the translations and rotations would be along the axis of Marker and not of Desired_Fingertips, leading to a wrong result.
Now, my "hack" would consist of actually publishing a frame Desired_Fingertips, use it as a frame_id to calculate the position of Desired_Robot. Since I am computing grasps, I'd also publish a couple more Offset_of_Desired_Fingertips_[1,n], therefore flooding the whole system with unecessary transforms. And all of this, because I am too lazy to wrap my head around the underlying mathematics :D
Sooo: Do you guys have any cool ideas?
Flood the system with transforms for everything
Some way to use "virtual" frame_id's
Some cool python function which does all the magic for me
Man up, dig into the wikipedia-pages and understand everything.
Thanks in advance!
Rabe
P.S. I know there is/was some kind of function to switch the frame MoveIt is planning for, but it is not working anymore.
Originally posted by Rabe on ROS Answers with karma: 683 on 2014-10-15
Post score: 1
|
Hello,
I am currently trying to implement the navigation_2d package using Gazebo with a Husky Robot Model and am facing several problems. Is there anyone out there who has managed to successfully implement the navigation_2d package in Gazebo?
EDIT: So far, I have managed to successfully launch Gazebo, however I believe there is an error in the tf tree. The following warning is seen when the launch is started:
Node: /Operator
Time: 05:30:35.510000000 (1970-01-01)
Severity: Warn
Published Topics: /rosout
Waiting on transform from base_link to odom to become available before running costmap, tf error:
Location:
/tmp/buildd/ros-hydro-costmap-2d-1.11.11-0quantal-20140919-0015/src/costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:95
The launch file, tf tree, rqt_graph and images of the simulation once launched, can be found here.
When the command to start mapping is issued, the following error is printed:
Could not get robot position: "map" passed to lookupTransform argument target_frame does not exist.
Basically, I do not understand why the robot fails to localize. If it is an error in the tf tree, do I need to modify the sdf file of the Husky IIRC? The simulation, despite inputting the laser scan data, does not localize the robot nor create a map. Any help at all will be gratefully accepted. I apologize for the overload of information.
Thank you.
Originally posted by Ashwin27 on ROS Answers with karma: 34 on 2014-10-15
Post score: 0
Original comments
Comment by ROSCMBOT on 2014-10-15:
What is your specific problem?
|
Hi,
In groovy environment I have used catkin_make to build my packages most of the time, But I am not clear with use of rosmake. I have few packages which use rosmake to build, I have gone through several tutorials and answers in this forum, still I have not figured out the right way of using rosmake.
below are the steps I followed, for one particular package which uses rosmake:
$ mkdir -p ~/rosbuild_ws/
> $ cd ~/rosbuild_ws/
$ rosws init . /opt/ros/groovy
> $ svn co http://prairiedog.googlecode.com/svn/trunk/gencam_cu/
$ cd gencam_cu/src
> $ sudo gedit CMakeList.txt
and I add link_directories(/usr/lib/uv4l/uv4lext/armv6l/) on the top, I save and exit.
now when I issue
$ rosmake gencam_cu
I get an Error as shown below:
... ERROR : No arguments could be parsed into valid package or stack names
I have also followed this tutorial of using rosbuild with catkin workspace, but then I am able to overcome the above error only to arrive at another error which is as shown below:
/usr/bin/ld: cannot find -l: /opt/ros/groovy/lib/opencv_calib3d ...
so, It would be great if someone can list down the steps followed to build a package (for eg. the one mentioned above) with rosmake. Also, please let me know if the steps mentioned above are right? and if I am missing few points here with regard to the build process.
Thanks and best regards,
Murali
Originally posted by MKI on ROS Answers with karma: 246 on 2014-10-15
Post score: 0
|
I am looking for an answer for hours and finally I am asking it here.
I am using CMvision to find a specific color in Kinect's sight and I want to find the real world coordinates of the object with that color. I am planning to use CMvision to find the frame coordinates (as X and Y pixel values on the picture) and use these coordinates and the depth value of that pixel to calculate the real world coordinates.
As I understand, /camera/depth_registered/points topic already gives the real world coordinate but I couldn't find how to retrieve the X,Y,Z values of a specific pixel that I've choosen on the depth (or RGB) image.
Thanks in advance.
Originally posted by Sekocan on ROS Answers with karma: 38 on 2014-10-15
Post score: 1
|
I'm following the Moveit tutorials, but I can't create the first variable.
I found this link(https://groups.google.com/forum/#!msg/moveit-users/JohDfeDhl6U/ZFfFDsDw7W8J), but I don't understand the answer
Code:
#include <moveit/move_group_interface/move_group.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit_msgs/DisplayRobotState.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/AttachedCollisionObject.h>
#include <moveit_msgs/CollisionObject.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "moveit_test");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
sleep(20.0);
moveit::planning_interface::MoveGroup group("manipulator");
ros::shutdown();
}
Catkin_make:
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp: In function �int main(int, char**)�:
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp:17:39: error: no matching function for call to �moveit::planning_interface::MoveGroup::MoveGroup()
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp:17:39: note: candidates are:
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:122:3: note: moveit::planning_interface::MoveGroup::MoveGroup(const string&, const boost::shared_ptr<tf::Transformer>&, const ros::Duration&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:122:3: note: candidate expects 3 arguments, 0 provided
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:116:3: note: moveit::planning_interface::MoveGroup::MoveGroup(const moveit::planning_interface::MoveGroup::Options&, const boost::shared_ptr<tf::Transformer>&, const ros::Duration&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:116:3: note: candidate expects 3 arguments, 0 provided
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:69:7: note: moveit::planning_interface::MoveGroup::MoveGroup(const moveit::planning_interface::MoveGroup&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:69:7: note: candidate expects 1 argument, 0 provided
Originally posted by Bastbeat on ROS Answers with karma: 131 on 2014-10-15
Post score: 0
|
I follow this tutorial to get ROS in my mac:
http://wiki.ros.org/hydro/Installation/OSX/MacPorts/Repository
I followed it and seems that everything is working perfect, but when I try roscd or rosnode it says command not found. Does anybody know how to solve it?
Originally posted by FelipC on ROS Answers with karma: 31 on 2014-10-15
Post score: 3
|
I have several pieces of software in ROS, all of which are pretty thoroughly unit and integration tested. However, there's one aspect of testing within ROS that I have yet to accomplish with much success: Verifying publications.
Note that I'm still stuck in the dark ages of Fuerte, but I believe my question is relevant to more recent releases as well.
I currently have several tests within rostest, which looks like this in my CMakeLists.txt:
rosbuild_add_executable(my_tests EXCLUDE_FROM_ALL ${MY_TESTS})
rosbuild_add_gtest_build_flags(my_tests)
rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/node/node.test)
Running this with make test also runs a roscore (since node.test is a launch file), so these tests can make use of classes that require a connection to roscore. I'd like to use this to verify publications, but it's not working reliably, which makes me think I'm doing something wrong. As an example:
class TestSubscriber
{
public:
TestSubscriber() : receivedMessage(false) {}
void callback(const std_msgs::Int32ConstPtr &newMessage)
{
receivedMessage = true;
message = newMessage;
}
bool receivedMessage;
std_msgs::Int32ConstPtr message;
}
TEST(MyTest, TestPublication)
{
// This class will publish on the "output" topic. It will create a node handle
// and advertise in its constructor.
MyPublishingClass publishingClass;
ros::NodeHandle nodeHandle;
TestSubscriber subscriber;
ros::Subscriber rosSubscriber = nodeHandle.subscribe("output",
1,
&TestSubscriber::callback,
&subscriber);
ASSERT_EQ(1, rosSubscriber.getNumPublishers()); // This passes
publishingClass.publishMessage();
ros::spinOnce(); // Spin so that publication can get to subscription
EXPECT_TRUE(subscriber.receivedMessage); // This may or may not be true
}
Depending on how the MyPublishingClass is written, this test may pass or fail due to that last line. To give a specific example, I have a class that reads through a bagfile and publishes specific topics. If that class publishes topics with:
publisher.publish(rosBagViewIterator->instantiate<std_msgs::Int32>());
the test passes. If instead the class publishes with:
publisher.publish(*rosBagViewIterator);
the test fails (even though the node still runs normally outside of the test, so I know that publication is actually happening). I have more examples of similar weirdness, but I'm hoping this is enough to describe my problem.
So, down to my questions:
Why is this so finicky? I realize that it's basically a node subscribing to its own publication, but that shouldn't be a problem. Should it?
Am I doing this wrong? Is there a better way to test ROS publications? Note that the class in question is not a complete ROS node, and cannot be tested as such.
Originally posted by kyrofa on ROS Answers with karma: 347 on 2014-10-15
Post score: 3
Original comments
Comment by kyrofa on 2014-10-16:
Thanks for the link Dirk! That is indeed exactly what I'm doing-- hopefully I'll be able to narrow it down a bit more.
Comment by DavidN on 2016-09-12:
Hi Kyle, did you manage to find out why the callback was inconsistent? I am having exactly the same problem. Let me know if you found something
|
This time I hope I am on the right way, because in my last question I wasn't.
So I built up a Joint-Trajectory publisher that publishes trajectory_msgs::JointTrajectoryPoint to the topic joint_path_command.
For the first I fill the position, velocities and accelerations with 3 fixed random values each as well as time_from_start and just publish it to the topic.
My first question is, is this the right procedure? I didn't find an existing simulation yet, that publishes a trajectory_msgs::*. Because where I get my message from is at the moment not important to my project. In detail I tinkered about with the Universal Robot of the industrial package. But I wasn't able to get a message out of the Rviz simulation that I could use to subscribe to.
EDIT: After having again a closer look, i found the arm_controller/command in the UR5 which publishes trajectory_msgs::*. So right now I think I am doing right.
My next and furthermore annoying problem ist converting a trajectory_msgs/JointTrajectoryPoint to an industrial::joint_traj_pt(_message)::JointTrajPt(Message).
As my publisher publishes a trajectory_msgs::JointTrajectoryPoint after subscribing I get this format.
As I want to use the simple_message package of ROS-I, I need some kind of conversion between these file formats. Does something like this exist?
Somehow I don't get the connection (in my mind!) between ROS and ROS-I.
Should my simulation (publisher) already publish industrial::joint_traj_pt(_message)::JointTrajPt(Message)? Or am I doin' fine?
Edit 1:
The overall task is to move a Quanser Robot connected to a B&R Controller with the industrial core of ROS.
My task in this is to make a connection between the simulation, that doesn't exist yet and the controller, or in detail, any controller. For me this is for instance matlab receiving my simple message which i deserialize (this should be the right word) and send to a Forward-Kinematics Block .
The "Receiver" will be programmed in C in order to be able to run it on most actual controllers and also on Matlab, due this is neccessary for testing my Ros-Implementation.
Regards,
RosBort
Edit 2:
I now run roslaunch industrial_robot_client robot_interface_streaming.launch robot_ip:=192.168.0.102
But how can I now publish something, a test-message, that will be sent to my "controller". In this case on my controller I am waiting with wireshark and Hercules in order to receive any information. I understood that simple_message called viae the upper mentioned package wants a reply. But first it sends some information and then waits for the reply. I would like to see this first information on my Wireshark or Herkules.
I made a try using the UR5 from Universal Robots.
roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
The second and the third call show some error messages, which I don't want to discuss here. The second at the end tells me that all is fine, this is quite a calming sentence. The third one runs RViz and I can perform motion planning.
After planning the execute button doesn't work and on my "controller" I don't get any message.
What do I need to do in order publish data from the UR5 so they are being transfered to my controller using the robot_interface_streaming.launch.
Furthermore Information is that Matlab is not a middle-man programm.
The main goal is to get a driver that fits controllers that can work in C. The steps I thought about to achieve this are:
Ros - Matlab (Reasonably C++, Simulation with Forwardkinematics will show functionality)
Ros - B&R Controller (with Robot)
Ros - Any Controller "understanding" C++
Ros - Any Controller "understanding" C
If I reach the first I probably have 2 and 3 kind of included. The last point is a nice to have and may not be achieved.
Edit 3:
Well. I started roslaunch industrial_robot_client robot_interface_streaming.launch robot_ip:=192.168.0.102- I see on the client that the connection is established.
Starting rosrun ur_driver test_move.py results in this message: Waiting for server...
Now I am looking for what to send back from my server. I didn't find any information about it yet. As I am not familiar with Python it is a little more difficult for me to understand what the test_move is doing.
BUT! I didn't understand what you ment about updating the list of joints? How would the joint names influence my tcp connection?
I understood it in this way that I should implement an own launch file and do some remapping of the topics of the test_move.py. After a little research about the actionlib here http://wiki.ros.org/actionlib I will now try the way with a launchfile which remaps my topics.
My topic list looks now:
/feedback_states
/follow_joint_trajectory/cancel
/follow_joint_trajectory/feedback
/follow_joint_trajectory/goal
/follow_joint_trajectory/result
/follow_joint_trajectory/status
/joint_path_command
/joint_states
/joint_trajectory_action/cancel
/joint_trajectory_action/feedback
/joint_trajectory_action/goal
/joint_trajectory_action/result
/joint_trajectory_action/status
/robot_status
/rosout
/rosout_agg
I understood that all topics with "follow_joint_trajectory/" in front should be remapped in my own created launch file to the
topics "joint_trajectory_action".
After reading the info-page about the actionlib. Am I right that the "server" that test_move is not waiting for an answer on tcp, but waiting for an answer from my joint_trajectory_action node?
Originally posted by RosBort on ROS Answers with karma: 27 on 2014-10-15
Post score: 1
Original comments
Comment by gvdhoorn on 2014-10-16:
Perhaps you could clarify what you are trying to accomplish? Do you have a custom robot for which you want to use simple_message, or an industrial manipulator? The industrial_robot_client pkg contains a set of nodes that do exactly what you ask, but I'm not certain it is what you need.
Comment by RosBort on 2014-10-16:
I updated my goal in the last paragraph in my question and will now have a look at the packages mentioned by you. Edit: Your hint is probably what I want to do. I will have a closer look in the afternoon.
Comment by gvdhoorn on 2014-10-17:
As I commented earlier: the ur_driver package does not use simple_message, so you won't see any traffic.
Comment by RosBort on 2014-10-17:
Just to keep every information:
I will not use answers like forum posts any more. Therefor some edits were done.
UR5 doesn't use simple message.
Comment by RosBort on 2014-10-17:
Is there a robot already implemented in ROS-I that uses simple message? Or what topic do I need to publish to, so that the robot_interface_streaming will send anything to my controller?
Comment by gvdhoorn on 2014-10-17:
Have you read the latest edit to my answer?
Comment by RosBort on 2014-10-17:
Yes thanks! I was trying around before spaming around, but I will add a comment to your Edit 2 in a minute.
Comment by gvdhoorn on 2014-10-17:
This is getting a bit long (and slightly off-topic), but in short: yes, remapping would work, and the joint names are needed by the generic client to correctly map trajectories to simple message types. In any case, you can also send a message to the ROS-Industrial mailing list (see the wiki).
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Is this website intended to only answer ROS specific questions? Or can we also ask general robotics questions that we have while running our ROS systems although it's not particularly about ROS?
The only other place I can think of asking such questions is Robotics Stack Exchange but I feel like the community here is a great help as well.
Also, maybe a meta page for ROS answers?
Originally posted by 2ROS0 on ROS Answers with karma: 1133 on 2014-10-15
Post score: 3
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I've recently built a new computer with Ubuntu 14.04 and ROS Indigo. In getting all my sensors up and running in the new environment I'm not getting the UM6 to display the same in RVIZ as it did with the older driver (not seeing moving Axes but only moving vertical arrow... which is fine except it is difficult to see rotation with just the arrow). I've noticed the published topics are different as well, so I'm looking for some documentation/information on differences and any direction on what to expect with the new driver and on getting a moving axes or other (maybe a robot profile?).
Originally posted by TJump on ROS Answers with karma: 160 on 2014-10-15
Post score: 0
Original comments
Comment by ahendrix on 2014-10-15:
Can you be more specific about the differences that you're seeing? Which topics were you seeing before, which topics do you see now, which command or part of a launch file are you using to launch the UM6 node?
Comment by TJump on 2014-10-16:
I'll need to get back to my lab to get into the different versions and run rostopic list but I'm away maybe until next week. I'm following the procedure from here (http://wiki.ros.org/um6) and
rosrun um6 um6_driver _port:=/dev/ttyUSB0
to run the driver.
Comment by TJump on 2014-10-16:
When I use the rviz_plugin for imu the arrow moves with the movement of the UM6, so it seems the sensor and driver are working fine. There no longer appears to be an imu_pose or imu_pose.py or imu_pose_node.py with the new driver.
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I have a mobile robot with a wifi router plugged to it. And a workstation with no wifi. I also have a laptop with both Ethernet and wifi. I connect the laptop by Wifi to the robot, and to the Ethernet network by cable. The workstation is on that Ethernet network as well. After setting up ssh I could connect from my workstation directly to the robot and to the laptop as well. The problem is I can't run any GUI through ssh on an XServer (RViz especially) because of my Laptop having OpenGL 1.4 (It is weird because I can run RViz on the laptop directly). Even setting LIBGL_ALWAYS_SOFTWARE to 1 doesn't help and it keeps repeating the same error message:
libGL error: failed to load driver:
swrast terminate called after throwing
an instance of 'std::runtime_error'
what(): Your graphics driver does not
support OpenGL 2.1. Please enable
software rendering before running RViz
(e.g. type 'export
LIBGL_ALWAYS_SOFTWARE=1').
So my question is : is there a way to make some kind of bridge, so that I get an IP adress I can set on my workstation as URI Master which will automatically search for a ROS master on the robot's computer but going through the laptop?
I know that the easiest alternative would be to buy a Wifi dongle, but I am interested to know if what I described is possible.
Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2014-10-15
Post score: 0
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I want to extract depth image from .bag file just like the tutorial.
But when I run $ roslaunch export.launch , the error occurred as below:
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
extract (image_view/extract_images)
rosbag (rosbag/play)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[rosbag-1]: started with pid [9394]
process[extract-2]: started with pid [9405]
[ INFO] [1413444044.771603283]: Initialized sec per frame to 0.100000
[ERROR] [1413444046.270973202]: Client [/extract] wants topic /camera/depth/disparity to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [stereo_msgs/DisparityImage/04a177815f75271039fa21f16acad8c9]. Dropping connection.
pls help me to resolve it.Thanks.
Originally posted by hffgodspeed on ROS Answers with karma: 1 on 2014-10-16
Post score: 0
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How do I build rqt from source on ubuntu/indigo? Instructions on using a catkin workspace on the ros wiki page are incomplete. I'm looking for just a few instructions like mkdir build/cd build/cmake ../make etc (those that exact sequence doesn't work here).
Thanks!
Steve
Originally posted by steve on ROS Answers with karma: 1 on 2014-10-16
Post score: 0
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hi all. the python tf api has a function for transforming stamped points but i can't find anything to transform a point with just a rotation and translation...
there is a function for returning a matrix from the translation and rotation... is this the only way of transforming such a point?
cheers, Garrick.
Originally posted by Garrick on ROS Answers with karma: 96 on 2014-10-16
Post score: 1
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Dear all,
Reading the doc and tutorials I understand that when the topics are received (on the subscriber side) they are queued in a callback queue before being processed (on a call to spin(), spinOnce(), callAvailable(), callOne()...). Now what I did not get is weather the service callbacks (on the server side) were also queued in the same callback queue. Hence the question:
Are the service callbacks queued in the same callback queue than the topics or are they processed independently as soon as they are received (i.e. without waiting for a spin(), spinOnce(), callAvailable(), callOne()...))?
Thanks,
Antoine.
Originally posted by arennuit on ROS Answers with karma: 955 on 2014-10-16
Post score: 3
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I am intending to develop a user interface using rqt in ros. I have developed a user interface containing a QTPushButton and QTLabel in QT Designer. I have imported this ui file into my Python Plugin. So, when I run the plugin, the user interface does pop up. But now I want to add a callback to the PushButton. So, that if I press the Button then the label should show the text
"Button Clicked". I have tried many code snippets, but somehow nothing happens when I click the Button.
Can somebody please help. It is very urgent. Can somebody write the actual code for the callback.
My Plugin.py file is given below:
import os
import rospy
import rospkg
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QWidget, QPushButton, QLabel
class MyPlugin(Plugin):
def __init__(self, context):
super(MyPlugin, self).__init__(context)
self.setObjectName('MyPlugin')
from argparse import ArgumentParser
parser = ArgumentParser()
parser.add_argument("-q", "--quiet", action="store_true", dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_mypkg'), 'resource', 'mainwindow.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('MyPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self.text = QLabel("Data")
pushButton = QPushButton("Click Here")
pushButton.clicked.connect(self.buttonClicked)
def buttonClicked(self):
print("Button Clicked")
self.text.setText("Button Has been Clicked")
Also, my ui file looks like this "mainwindow.ui":
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>80</x>
<y>180</y>
<width>98</width>
<height>27</height>
</rect>
</property>
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>100</x>
<y>80</y>
<width>66</width>
<height>17</height>
</rect>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>
Originally posted by ish45 on ROS Answers with karma: 151 on 2014-10-16
Post score: 0
Original comments
Comment by ahendrix on 2014-10-16:
It looks like you're creating a new button rather than retrieving the existing button that is created by the UI file.
Comment by ish45 on 2014-10-16:
Can you tell me how to reference the button from the UI File?
Comment by ish45 on 2014-10-16:
Can somebody please help?
Comment by ahendrix on 2014-10-16:
I don't know how to retrieve a button that is created by the UI file offhand, but it shouldn't be hard to find a QT tutorial online.
Comment by ish45 on 2014-10-16:
I have searched the web for the last 2 days. But could not find a way of referencing the buttons from the ui file. I hope somebody else would be able to answer. It should be easy I suppose.
Comment by ahendrix on 2014-10-16:
I did this search: https://www.google.com/webhp?sourceid=chrome-instant&ion=1&espv=2&ie=UTF-8#q=python+qt+use+ui+file and the first link (for me) looks like a fairly good reference: http://pyqt.sourceforge.net/Docs/PyQt4/designer.html .
Comment by ish45 on 2014-10-16:
Thanks. I would have a look at these.
Comment by Aaron Blasdel on 2014-10-17:
There is a helper function in python_qt_binding called loadUi that will make things easier and more portable than those links. I have detailed its use below.
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Hi everyone,
i just bought a minoru 3d webcam to try using it as a low cost RGBD sensor, i'm working in ros indigo, i tried calibrationg the camera with the cameracalibrator.py util, the problem is that no matter how much frames i take the extrinsic calibration always fail because with the driver i was using there is too much lag between the frames of the two channels ( the camera is not synchronized ).
I tried several other drivers and the best so far ( the one that gives the best visual results in terms of lag ) seems the "usb_cam" driver. But if i use this driver the cameracalibrator.py node can't start i think this problem is related to the "set_camera_info" service as described in this link:
http://www.iheartrobotics.com/2010/05/testing-ros-usb-camera-drivers.html
The fix they suggest in the python code is already present in my version but still it doesn't work.
I don't need that service, since i just need to get calibration matrices i can set manually the calibration files.
What can i do? Thank you all in advance!
EDIT:
Here is my launch file:
<launch>
<node name="left_camera" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video1" />
<param name="image_width" value="320" />
<param name="image_height" value="240" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
<node name="right_camera" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video2" />
<param name="image_width" value="320" />
<param name="image_height" value="240" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
</launch>
And this is the command i use to launch the camera calibrator:
rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.011 right:=/right_camera/image_raw left:=/left_camera/image_raw right_camera:=/right_camera left_camera:=/left_camera --no-service-check
And when i do so, simply nothing happens, no errors, no crashes. Maybe it keeps waiting for something?
This is the output of the rostopic list command:
/left_camera/camera_info
/left_camera/image_raw
/left_camera/image_raw/compressed
/left_camera/image_raw/compressed/parameter_descriptions
/left_camera/image_raw/compressed/parameter_updates
/left_camera/image_raw/compressedDepth
/left_camera/image_raw/compressedDepth/parameter_descriptions
/left_camera/image_raw/compressedDepth/parameter_updates
/left_camera/image_raw/theora
/left_camera/image_raw/theora/parameter_descriptions
/left_camera/image_raw/theora/parameter_updates
/right_camera/camera_info
/right_camera/image_raw
/right_camera/image_raw/compressed
/right_camera/image_raw/compressed/parameter_descriptions
/right_camera/image_raw/compressed/parameter_updates
/right_camera/image_raw/compressedDepth
/right_camera/image_raw/compressedDepth/parameter_descriptions
/right_camera/image_raw/compressedDepth/parameter_updates
/right_camera/image_raw/theora
/right_camera/image_raw/theora/parameter_descriptions
/right_camera/image_raw/theora/parameter_updates
/rosout
/rosout_agg
EDIT2:
I've edited my launch file to use uvc_camera:
<launch>
<node pkg="uvc_camera" type="uvc_stereo_node" name="uvc_camera_stereo">
<param name="width" type="int" value="640" />
<param name="height" type="int" value="480" />
<param name="fps" type="int" value="20" />
<param name="frame" type="string" value="minoru" />
<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->
<param name="left/device" type="string" value="/dev/video1" />
<param name="right/device" type="string" value="/dev/video2" />
<param name="left/camera_info_url" type="string" value="file://$(find uvc_camera)/example-left.yaml" />
<param name="right/camera_info_url" type="string" value="file://$(find uvc_camera)/example-right.yaml" />
</node>
</launch>
Now the cameracalibrator starts properly, but i can see on the calibration window that the frames are still visually unsynchronized (i.e. if i blink i don't see this happening simultaneously in the two visualization windows ) I've also tried different resolutions and framerates.
I also added the flag --approximate=0.01 up to 0.05 ( it crashes at 0.1 )`
Originally posted by radisc on ROS Answers with karma: 61 on 2014-10-16
Post score: 1
Original comments
Comment by ahendrix on 2014-10-16:
Please edit your question to include a copy and paste of the exact command and the exact error message you get when starting the camera calibration.
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I cannot get Kinect (PC edition) to be detected with ROS (indigo) freenect_launch.
Ubuntu (using grinch kernel) packaged freenect_glview does give me Kinect image and depth information, ROS glview does not find device.
Bus 002 Device 009: ID 045e:02bf Microsoft Corp.
Bus 002 Device 008: ID 045e:02be Microsoft Corp.
Bus 002 Device 005: ID 045e:02c2 Microsoft Corp.
Thanks for hints.
Originally posted by cc_smart on ROS Answers with karma: 3 on 2014-10-16
Post score: 0
|
I want to auto navigate my P3AT.
Using ROS-Fuertr (on PC1: UBUNTU 12.04 LTS) & USARSim (on PC2: windows7 ).
I have my launch file move_base.launch,
<launch>
<master auto="start"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find my_robot_name_2dnav)/map/map.pgm 0.05"/>
<!--- You can see original move_base.launch -->
<!--- Run AMCL -->
<include file="$(find usarsim_inf)/launch/usarsim.launch"/>
<include file="$(find amcl)/examples/amcl_omni.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find my_robot_name_2dnav)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find my_robot_name_2dnav)/launch/move_base_params.yaml" command="load" />
</node>
</launch>
but when i try,
$ roslaunch my_robot_name_2dnav move_base.launch
i am getting an warning message,
[ WARN] [1413488778.937642524]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error:
see here the full terminal output
please help to improve this scenario.
Originally posted by Aarif on ROS Answers with karma: 351 on 2014-10-16
Post score: 1
|
hello, i am Build a Map Using Logged Data. I am following the procedure as explained in the ROS Tutorial click to go.
Here are the steps i am following:-
1. $ roscore
2. $ rosparam set use_sim_time true
3. $ rosrun gmapping slam_gmapping scan:=base_scan
4. $ rosbag play --clock mylaserdata.bag
everything goes fine till here, but at the 5th step while executing following command...
5. $ rosrun map_server map_saver
This displays following message:-
[INFO] [1413492118,722337006]: Waiting for the map
and then map_server keeps on waiting but neither it stops nor save the map, i am wondering why this is happening i can't figure out the problem since there are not any error, the size of my bag file is 5MB.
please help, thanks in advance.
Originally posted by sumant on ROS Answers with karma: 77 on 2014-10-16
Post score: 0
Original comments
Comment by ahendrix on 2014-10-16:
If you watch the map building progress in rviz, do you see a map being built?
Comment by sumant on 2014-10-18:
i am new to ros, & unable to open my robot model in rviz (it gives no transformation issue within status).
I am using P3AT (spawned in USARSim).
do i need to have urdf file.
Comment by sumant on 2014-10-18:
please help how to open map in rviz. (step by step procedure if possible)
Comment by sumant on 2014-10-22:
finally working by using this,
$ roscore
$ roslaunch usarsim_inf usarsim.launch
$ rosrun gmapping slam_gmapping scan:=lms200
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
$ rosrun map_server map_saver
$ eog ./map.pgm
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I have written a subscriber to one of the image topics and I have set my buffer to 1 using:
subscriber =rospy.Subscriber("/camera/rgb/image_mono/compressed",CompressedImage, callback, queue_size=1)
However my subscriber still lags behind. Any idea what might be causing this? Am I setting the queue size correctly?
Originally posted by Giza on ROS Answers with karma: 43 on 2014-10-16
Post score: 0
Original comments
Comment by ahendrix on 2014-10-16:
How much lag are you seeing? How are you measuring it?
Comment by BennyRe on 2014-10-17:
Does it also lag if you display the pointcloud in RViz?
Comment by Giza on 2014-10-17:
@ahendrix Its about 5 to 10 seconds of lag. Basically when I look at the screen it shows images of things that happened 5 to 10 swconds ago.
Comment by Giza on 2014-10-17:
@BennyRe I tried it on on image_view and theres no lag but that is because I do a lot of processing on the image before I display it (cv2.imshow) . Now I cannot process at the rate that the publisher is publishing and so what I want to do is drop any messages that arrive while I am processing.
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Are there any official / public / private websites that provide statistics or analytics regarding download patterns for Debian releases of ROS packages?
Originally posted by anqixu on ROS Answers with karma: 193 on 2014-10-16
Post score: 0
|
I set up the workspace perfectly well.
But, after that , whenever i try to run the link svn co http://alufr-ros-pkg.googlecode.com/svn/trunk/rgbdslam_freiburg, the error keeps coming :
"svn: OPTIONS of 'http://alufr-ros-pkg.googlecode.com/svn/trunk/rgbdslam_freiburg': Could not read status line: connection was closed by server (http://alufr-ros-pkg.googlecode.com)"
Please help anyone as soon as possible.
Originally posted by Mosam Dabhi on ROS Answers with karma: 1 on 2014-10-16
Post score: 0
|
I am new in ROS and self studying about this. Now I am working on map building using turtlebot simulation. I came across map building and navigation. When I tried (page:7):
$ roslaunch ros_liv_turtlebot office_turtlebot.launch
it throws the following error:
... logging to /home/afroza/.ros/log/0ea56abe-55ce-11e4-ae6d-0023aee70050/roslaunch-afroza-XPS-730X-4531.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.
Traceback (most recent call last):
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
p.start()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
self._start_infrastructure()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
self._load_config()
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 605, in _recurse_load
n = self._node_tag(tag, context.child(''), ros_config, default_machine, verbose=verbose)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 351, in _node_tag
self.opt_attrs(tag, context, ('machine', 'args', 'output', 'respawn', 'cwd', 'launch-prefix', 'required'))
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 178, in opt_attrs
return [self.resolve_args(tag_value(tag,a), context) for a in attrs]
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
return _find_executable(resolve_without_path, a, [args[0], path], context)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: gazebo_worlds
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/afroza/catkin_ws/src
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
Can anybody tell me how can I fix this? your help is highly appreciated.
Thank you
EDIT update
I changed the launch file as:
<launch> <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find turtlebot_gazebo)/worlds/playground.world"/> <node name="gazebo_gui" pkg="gazebo" type="gui"/> <include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"/> </launch>
Now I am getting the error:
ERROR: cannot launch node of type [gazebo/gazebo]: gazebo ROS path [0]=/opt/ros/hydro/share/ros ROS path [1]=/home/afroza/catkin_ws/src ROS path [2]=/opt/ros/hydro/share ROS path [3]=/opt/ros/hydro/stacks ERROR: cannot launch node of type [gazebo/gui]: gazebo ROS path [0]=/opt/ros/hydro/share/ros ROS path [1]=/home/afroza/catkin_ws/src ROS path [2]=/opt/ros/hydro/share ROS path [3]=/opt/ros/hydro/stacks
Can anybody please help me. Thank you
Originally posted by Ahyan on ROS Answers with karma: 1 on 2014-10-17
Post score: 0
Original comments
Comment by bvbdort on 2014-10-17:
In your catkin_ws folder and do source devel/setup.sh
Comment by Ahyan on 2014-10-17:
I did as:
afroza@afroza-XPS-730X:~/catkin_ws$ source devel/setup.bash
afroza@afroza-XPS-730X:~/catkin_ws$ roslaunch ros_liv_turtlebot office_turtlebot.launch
However, the error still exists.
Thank you
Comment by bvbdort on 2014-10-20:
I moved your edit from answer to question.
Comment by bvbdort on 2014-10-20:
try installing gazebo_ros_pkgs package again with sudo apt-get install ros-hydro-gazebo-ros-pkgs ros-hydro-gazebo-ros-control
Comment by Ahyan on 2014-10-20:
Thank you for your help. I reinstalled gazebo_ros_pkgs package as you suggested. But still I am getting the error.
Comment by bvbdort on 2014-10-21:
use this command to know the path of world files location locate *.world and let me know the path of simple_office.world also the presentation link you shared is based on fuerte.
Comment by Ahyan on 2014-10-31:
Thank you again for your help. I have started again to fix the problem.
As you may notice I am using playground.world not the simple_office.world. I have changed the launch file accordingly. The location of the file is: ~/opt/ros/hydro/share/turtlebot_gazebo/worlds/playground.world. Thank you
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If I am publishing a "geometry_msgs::Twist" with out a while(n.ok()) loop it is not affecting the topic. But I can not use a infinite loop. Everytime according the scan data I have to modify the linear and angular velocity of the Twist msgs. Is there any way out to affect the topic without using the loop.. Thanks in advance
Originally posted by Robot on ROS Answers with karma: 180 on 2014-10-17
Post score: 0
Original comments
Comment by bvbdort on 2014-10-17:
can you write more about issue , also if possible the code.
|
Hello, I started using ROS hydro (in ubuntu 12.04) very recently for a visual odometry project but I got stuck with the following problem:
I installed gscam and it runs fine (or at least I think so because I can get the raw image from the cam) but when I try to calibrate it using the camera_calibration package I get an error about the set_camera_info when trying to commit.
This are the commands I’m using (and the responses I’m getting):
ire@ubuntu:/opt/ros/hydro/share/gscam$ export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb ! ffmpegcolorspace"
ire@ubuntu:/opt/ros/hydro/share/gscam$ rosrun gscam gscam
[ INFO] [1413532922.860687013]: Using gstreamer config from env: "v4l2src device=/dev/video0 ! video/x-raw-rgb ! ffmpegcolorspace"
[ INFO] [1413532922.865519517]: using default calibration URL
[ INFO] [1413532922.865710842]: camera calibration URL: file:///home/ire/.ros/camera_info/camera.yaml
[ INFO] [1413532922.865894433]: Unable to open camera calibration file [/home/ire/.ros/camera_info/camera.yaml]
[ WARN] [1413532922.866022619]: Camera calibration file /home/ire/.ros/camera_info/camera.yaml not found.
[ INFO] [1413532922.866143973]: Loaded camera calibration from
[ WARN] [1413532922.867056658]: No camera frame_id set, using frame "/camera_frame".
[ INFO] [1413532922.931583052]: Time offset: 1413532776.252
[ INFO] [1413532923.433639353]: Publishing stream...
[ INFO] [1413532923.440739002]: Started stream.
At this point the light on my camera turns on and if I run the rosrun image_view image_view image:=/camera/image_raw the camera works.
I checked the topics and services and this is what I got:
ire@ubuntu:~$ rostopic list
/camera/camera_info
/camera/image_raw
/camera/image_raw/compressed
/camera/image_raw/compressed/parameter_descriptions
/camera/image_raw/compressed/parameter_updates
/camera/image_raw/compressedDepth
/camera/image_raw/compressedDepth/parameter_descriptions
/camera/image_raw/compressedDepth/parameter_updates
/camera/image_raw/theora
/camera/image_raw/theora/parameter_descriptions
/camera/image_raw/theora/parameter_updates
/rosout
/rosout_agg
ire@ubuntu:~$ rosservice list
/camera/image_raw/compressed/set_parameters
/camera/image_raw/compressedDepth/set_parameters
/camera/image_raw/theora/set_parameters
/gscam_publisher/get_loggers
/gscam_publisher/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
/set_camera_info
As you can see the /set_camera_info service is not under /camera like it’s apparently supposed to be (I’m not sure if it is, that’s just the conclusion I got to). So I run the camera calibration with the following command:
ire@ubuntu:~$ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=
But after finishing and trying to commit I get this error:
raise ServiceException("service [%s] unavailable"%self.resolved_name)
rospy.service.ServiceException: service [/camera/set_camera_info] unavailable
I’ve tried changing the parameters in the camera_calibration command, using camera_info:= instead of camera:= and so on, but I always get the same mistake when trying to commit. If I use camera:=camera or camera_info:=camera as parameters the calibration cannot start because the set_camera_info service is not under /camera. If I ignore the check with --no-service-check I still get the same mistake at the end.
I’m pretty new with ROS, so I’m sorry if the question is too silly. I really tried to find the answer myself but I don’t know what to do about the service not being under /camera like (i think) the calibration tool needs.
Is there a way to put the service under /camera? or another way to calibrate the camera without using commit? I can save the file, but is it .tar format and I have not being able to find a way to use it yet. I’m really thankful for any ideas you might have.
ps: I don’t know if it might be the cause of my problem but I’m running ubuntu in a Parallels virtual machine, sometimes it gets a bit slow but so far I haven’t run into any problems with other programs because of it.
Thanks in advance,
Originally posted by Athria on ROS Answers with karma: 78 on 2014-10-17
Post score: 2
|
I'm trying to connect the android pubsub tutorial of android_core with a master core in my server.
https://github.com/rosjava/android_core/tree/indigo/android_tutorial_pubsub
I'm using ros indigo, which I installed in ubuntu using apt; and compiled rosjava and android_core from scratch.
Actually the example runs fine and I'm able to see the android subscriber getting the messages in the listener activity, which are sent from the talker node written in rosjava and runs also within the android emulator.
And when I run an additional listener node, it seems to subscribe fine:
rostopic info /chatter
Type: std_msgs/String
Publishers:
* /rosjava_tutorial_pubsub/talker (http://10.0.2.15:45508/)
Subscribers:
* /listener_6323_1412952506377 (http://laptop:37300/)
* /android_gingerbread/ros_text_view (http://10.0.2.15:47832/)
The problem is that even if it is subscribed, the python listener won't see anything, the messages sent by the talker in the emulator arrive fine to the listener in the emulator, but not to the outside listener.
Also I noticed several glitches in the tools when combined with the android example:
I tried to send messages from the console using rostopic, and they are received fine by the listener in the console, but the listener in the emulator won't see it.
rostopic sees the topic /chatter, but rostopic echo /chatter wont print anything either.
When I run rqt_graph, it stops working right after I launch the android APP. And it wont work at all if I close and reopen, I have to restart the roscore in order to use it again.
I'm using the ROS_MASTER_URI set to my IP, in both console and emulator, so there shouldn't be mismatches in the namespace.
I checked the rosjava distribution to see if the git branches were correct and all of them seem to be the latest (indigo-devel most of them).
I saw this commit has to do with msg headers:
https://github.com/ros/ros/commit/b9d218a76b3b3964c44c93d35df70e72c70d472f
could it be related?
What could be happening here?, Namespace problem of the messages?, version incompatibility problem?. IDK.
Regards
EDIT:
I couln't get it to work on the emulator, but the problem was getting to the net interface of the virtual device. In a real device, the exact same setup works fine.
The bugs also dissapeared, I guess the problem is that when ros tools can't get to the devices for information they crash, that includes rqt_graph and some others.
Originally posted by magnux on ROS Answers with karma: 3 on 2014-10-17
Post score: 0
Original comments
Comment by gvdhoorn on 2014-10-17:
You mention ROS_MASTER_URI, but have you checked whether you need ROS_IP as well? If there is no working DNS for your hosts, you probably need that. I've done the exact same thing you're trying to do (albeit with Hydro) and it definitely can work.
Comment by magnux on 2014-10-17:
Nice to hear it can work, I don't have a DNS, where should I set the ROS_IP variable? in my server or in my app?
Comment by magnux on 2014-10-17:
I had setted the ROS_HOSTNAME var, to my IP, I forgot to mention, but now I also setted the ROS_IP var. No changes so far. :(
Comment by gvdhoorn on 2014-10-17:
Easiest is probably to make sure you got your network setup correctly. See ROS/NetworkSetup and Tutorials/MultipleMachines on the ROS wiki.
Comment by magnux on 2014-10-17:
I already followed that tutorial, and see the wiki several times, :/. If I'm doing something wrong I don't know what is (obviously). I guess it could be related to that but as I said, I'm running with ROS_MASTER_URI setted to my IP, and the example works fine, however subscribing from outside is not
Comment by magnux on 2014-10-17:
when you did it, you had to setup a port forwarding for the emulator or something like that?
Comment by gvdhoorn on 2014-10-17:
IIRC, without a working DNS, you need to make sure all your nodes use only their IP. A subscription needs comms to work both ways: in your example I see 10.0.2.15, but also laptop. Without DNS, that won't work. Set ROS_IP on all machines (virtual or not) to their own IP.
|
Hello everybody !
I am currently an intern in a research center which developed a programming language for signal processing : Faust. My goal is to write some code in order to allow ROS users to use faust applications.
My question is : should I create a specific ROS package, following the DevelopersGuide, in order to distribute my work to ROS Community ? This implies some maintenance issues, because two separate packages aren't that easy to maintain.
The other possibility could be to integrate my codes to the faust package, available on Source Forge and git, and tell ROS Community "Hey there ! Let's try this wonderful new programming language ! It's available for ROS, you just have to download faust package !". The problem would be that users would have to download an entire package with files concerning Windows, for instance, and use only 5 or 6 files...
What do you think ?
Your ideas would be very helpful to me =)
Brune
EDIT : I wrote some documentation to explain how to use Faust in a ROS package. It is available here (using-faust-with-ros.pdf). In the current state, you compile a Faust file into a cpp file, which is created in a catkin package - in a catkin workspace or in a zip file. Then, you just have to make your catkin workspace and run the generated executable.
For instance, I tested it on a kinect and harpe node : using the depth values, I could play harpe by subscribing to a depth value topic (after some image processing). Don't know if it's clearer now ?
Originally posted by bchiffreville on ROS Answers with karma: 53 on 2014-10-17
Post score: 5
|
Hello,
I started using ROS (indigo on Ubuntu 14.04) and I want convert my node (which running well and using TimeSynchronizer for two topics synchronized by timestamp that call manta_callback function) to nodelet. But after initialising my nodelet, TimeSynchronizer doesn't synchronize input topics & doesn't call manta_callback(). How can I debug TimeSynchronizer under nodelet or should I check another solution e.g. NodeletMUX for synchronize two topics under nodelet? Sources:
header file:
namespace detect_control_nodelet
{
class MarkerDetectControl : public nodelet::Nodelet
{
public:
virtual void onInit();
void manta_callback(const sensor_msgs::ImageConstPtr & image_msg, ar_track_alvar_msgs_ext::AlvarMarkerExtConstPtr arMarkerCorners);
};
}
src file:
namespace detect_control_nodelet
{
void MarkerDetectControl::onInit()
{
NODELET_DEBUG("Initializing nodelet...");
ros::NodeHandle n("~");
ros::NodeHandle nh = getNodeHandle();
ros::NodeHandle& private_nh = getPrivateNodeHandle();
ROS_INFO("In onInit()");
message_filters::Subscriber image_sub(private_nh, "camera/image_raw", 1);
message_filters::Subscriber info_sub(private_nh, "ar_corners_marker",1);
TimeSynchronizer sync(image_sub, info_sub, 50);
sync.registerCallback(boost::bind(&MarkerDetectControl::manta_callback,this,_1, _2));}
}
void MarkerDetectControl::manta_callback(const sensor_msgs::ImageConstPtr & image_msg, ar_track_alvar_msgs_ext::AlvarMarkerExtConstPtr arMarkerCorners)
{
ROS_INFO("In function manta_callback");
}
---
[Originally posted](https://answers.ros.org/question/195238/how-to-use-timesynchronizer-filter-inside-nodelet?/) by [ArturK](https://answers.ros.org/users/20496/arturk/) on ROS Answers with karma: 23 on 2014-10-17
Post score: 2
|
Hi I have created a package(pwm), that contains a custom message(signal.msg). It seem to be compiled correctly.
Because I can
ubuntu@arm:~/test/sandbox/pwm$ rosmsg show signal
[pwm/signal]:
uint8 freq
uint8 duty
ubuntu@arm:~/test/sandbox/pwm/msg$ ls
signal.msg
When i run a script which use the message i got an error.
ubuntu@arm:~$ rosrun pwm scripts/talker.py
Traceback (most recent call last):
File "/home/ubuntu/test/sandbox/pwm/scripts/talker.py", line 4, in <module>
from pwm.msg import signal
ImportError: No module named pwm.msg
Could you help me please ?
Here are some additional informations
CMakeLists.txt
ubuntu@arm:~/test/sandbox/pwm$ cat CMakeLists.txt
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
# Debug : w/ debug symbols, w/o optimization
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)
rosbuild_init()
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})
export
ubuntu@arm:~/test/sandbox/pwm/msg$ export | grep ROS
declare -x ROSLISP_PACKAGE_DIRECTORIES=""
declare -x ROS_DISTRO="indigo"
declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
declare -x ROS_MASTER_URI="http://localhost:11311"
declare -x ROS_PACKAGE_PATH="/home/ubuntu/test/sandbox:/opt/ros/indigo/share:/opt/ros/indigo/stacks"
declare -x ROS_ROOT="/opt/ros/indigo/share/ros"
declare -x ROS_WORKSPACE="/home/ubuntu/test"
Pythonpath
ubuntu@arm:~/test/sandbox/pwm/msg$ echo $PYTHONPATH
/opt/ros/indigo/lib/python2.7/dist-packages
rosmake
ubuntu@arm:~/test/sandbox/pwm$ rosmake
[ rosmake ] rosmake starting...
[ rosmake ] No package specified. Building ['pwm']
[ rosmake ] Packages requested are: ['pwm']
[ rosmake ] Logging to directory /home/ubuntu/.ros/rosmake/rosmake_output-20141015-233222
[ rosmake ] Expanded args ['pwm'] to:
['pwm']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencppive 4/25 Complete ]
No Makefile in package gencpp
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-0] Starting >>> rostime [ make ]
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-0] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-0] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-0] Starting >>> message_runtime [ make ]
[rosmake-0] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-0] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-0] Starting >>> cmake_modules [ make ]
[rosmake-0] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
No Makefile in package cmake_modules
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack 15/25 Complete ]
No Makefile in package rospack
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp0/25 Complete ]
No Makefile in package xmlrpcpp
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospytive 23/25 Complete ]
No Makefile in package rospy
[rosmake-0] Starting >>> pwm [ make ]
[rosmake-0] Finished <<< pwm [PASS] [ 19.09 seconds ] [ rosmake ] Results:
[ rosmake ] Built 25 packages with 0 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/ubuntu/.ros/rosmake/rosmake_output-20141015-233222
Originally posted by laurent2101 on ROS Answers with karma: 3 on 2014-10-17
Post score: 0
|
I installed ROS-Hydro-Desktop-Full from source in April this year on Ubuntu 13.10 (Saucy Salamander). During the install, the script installed Gazebo 2.2.2 using APT-GET. The script also installed gazebo_ros_pkgs 2.3.5. Up until now, everything's been working great, including some simple Gazebo stuff I started playing with.
But now I would like to get Gazebo running with ROS, and I understand that Hydro is intended to work with Gazebo 1.9, but I have 2.2.2, and I'm not sure what to do?
I decided I would try working through the turtlebot/Tutorials/hydro/Installation page, but in step 4.3 "rosdep install --from-paths src -i -y" fails with the following errors:
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
yocs_virtual_sensor: No definition of [rospy_message_converter] for OS version [saucy]
turtlebot_teleop: No definition of [joy] for OS version [saucy]
kobuki_random_walker: No definition of [ecl_threads] for OS version [saucy]
kobuki_node: No definition of [ecl_threads] for OS version [saucy]
kobuki_safety_controller: No definition of [ecl_threads] for OS version [saucy]
turtlebot_core_apps: No definition of [map_store] for OS version [saucy]
kobuki_auto_docking: No definition of [ecl_linear_algebra] for OS version [saucy]
kobuki_dock_drive: No definition of [ecl_linear_algebra] for OS version [saucy]
kobuki_keyop: No definition of [ecl_time] for OS version [saucy]
turtlebot_gazebo: No definition of [depthimage_to_laserscan] for OS version [saucy]
yocs_diff_drive_pose_controller: No definition of [ecl_threads] for OS version [saucy]
kobuki_ftdi: No definition of [ecl_command_line] for OS version [saucy]
yocs_velocity_smoother: No definition of [ecl_threads] for OS version [saucy]
turtlebot_bringup: No definition of [depthimage_to_laserscan] for OS version [saucy]
kobuki_driver: No definition of [ecl_command_line] for OS version [saucy]
The errors seem to indicate that my problem has to do with the version of Ubuntu I have rather than my version of Gazebo.
Since Hydro was released for 13.10, and the tutorial refers to Hydro, the errors don't quite make sense. Unless it has to do with the gazebo_ros_pkgs that I have installed.
I've invested a lot of time and download bandwidth building the existing install and would prefer to somehow fix this up with an incremental solution. If this possible?
Since Gazebo 2.2.2 was actually installed using APT-GET, can I remove the package and install 1.9 instead? And I can delete gazebo_ros_pkgs I have and download the version that normally comes with 1.9.
Will this fix the problem?
Cheers,
Nap
Originally posted by Nap on ROS Answers with karma: 302 on 2014-10-17
Post score: 0
|
Hello, I am setting up a navigation as explained in Navigation Stack Setup Tutorial stack for P3AT spawned. after making all the costmap files when i run the move_base.launch file the following warning appears:-
[ WARN] [1413658951.699133967]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 2.1020 seconds
I just want to know why this error occurs and what are its effects on automated navigation??
Originally posted by Aarif on ROS Answers with karma: 351 on 2014-10-18
Post score: 1
|
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