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USARSimROS : [ERROR] Unknown conf type Camera

asked 2016-10-05 05:03:47 -0600

updated 2016-10-18 05:36:57 -0600

I am using ROS as a software framework and USARSim as simulator. and using a middleware package usarsim_inf to connect them.

ROS is installed in PC1 (Ubuntu 12.04) and USARSim is installed in PC2 (Windows 7).

i am successfully able to connect both the machine and able to spawn a P3AT in USARSim via ROS. By executing :

 roslaunch usarsim_inf usarsim.launch

ISSUE 1:

 [ERROR] [1475661045.907769294]: Unknown conf type Camera

image description

 =====================Here is my launch file===============
 <launch>
<param name="usarsim/robotType" value="P3AT" />
<param name="usarsim/hostname" value="172.15.15.60" />
<param name="usarsim/port" value="3000" />
<param name="usarsim/startPosition" value="0,0,0" />
<param name="usarsim/odomSensor" value="InsTest" />
<node name="RosSim" pkg="usarsim_inf" type="usarsim_node"/>
   <remap from="lms200" to="scan" />
</launch>
 ==================================================

please suggest.

Solution for ISSUE 1: after commenting AddParts : camera in UDKUSAR.ini, it is no more showing this error. Thanks to @Steveb

;AddParts=(ItemClass=class'USARSensor.USARCamera',ItemName="Camera",Position=(X=0.1005,Y=0.0,Z=-0.42),Direction=(x=0.0,y=0.0,z=0.0))

ISSUE 2:

but while running teleop

 rosrun teleop_twist_keyboard teleop_twist_keyboard.py

every time i press the key(any key) , it says

 [ERROR] [1411920792.568087748]: usarsimInf::peerMsg: not handling type SW_SEN_ENCODER

image description

I commented the Encoder in C:\UDK\UDK-2013-07\UDKGame\Config\UDKUSAR.ini

 [USARBot.P3AT]
 AddParts=(ItemClass=class'USARSensor.GroundTruth',ItemName="GndTruth",Position=(X=0,Y=0.0,Z=0),Direction=(x=0.0,y=0.0,z=0.0))
 AddParts=(ItemClass=class'USARSensor.INS',ItemName="InsTest",Position=(X=0,Y=0.0,Z=-0.2),Direction=(x=0.0,y=0.0,z=0.0))
 AddParts=(ItemClass=class'USARSensor.SICK',ItemName="lms200",Position=(X=0.2085,Y=0.0,Z=-0.2),Direction=(x=0.0,y=0.0,z=0.0))
 ;AddParts=(ItemClass=class'USARSensor.USARCamera',ItemName="Camera",Position=(X=0.1005,Y=0.0,Z=-0.42),Direction=(x=0.0,y=0.0,z=0.0))
 AddParts=(ItemClass=class'USARSensor.Tachometer',ItemName="TachTest",Position=(X=0,Y=0.0,Z=0),Direction=(x=0.0,y=0.0,z=0.0))
 ;AddParts=(ItemClass=class'USARSensor.Encoder',ItemName="W1",Position=(X=0,Y=0.0,Z=0),Direction=(x=0.0,y=0.0,z=0.0))
 ;AddParts=(ItemClass=class'USARSensor.Encoder',ItemName="W2",Position=(X=0,Y=0.0,Z=0),Direction=(x=0.0,y=0.0,z=0.0))
 AddParts=(ItemClass=class'USARSensor.Battery',ItemName="battery",Position=(X=0.15,Y=0.0,Z=-0.20),Direction=(x=0.0,y=0.0,z=0.0))

But problem still exist.

Here is the rqt_graph captured after running above commands.

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tf Transform tree

image description

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Comments

@ahendrix thanks for your suggestion\

but while running teleop

 rosrun teleop_twist_keyboard teleop_twist_keyboard.py

every time i press the key , it says

 [ERROR] [1411920792.568087748]: usarsimInf::peerMsg: not handling type SW_SEN_ENCODER
sumant gravatar imagesumant ( 2016-10-06 03:45:52 -0600 )edit

@ahendrix do you aware of this issue.

sumant gravatar imagesumant ( 2016-10-07 09:05:28 -0600 )edit

I don't know anything about usarsim; I'm just good at searching through code. My comment above was not a suggestion; just an attempt to point you at the code that seems to be generating this message.

ahendrix gravatar imageahendrix ( 2016-10-07 14:44:20 -0600 )edit

The ROS-USARSim bridge has very basic functionality. I believe that the encoder is yet another example of a USARSim sensor that is not currently supported. You can comment this out of the USARSim configuration file. The app should still work. Does it?

Steveb gravatar imageSteveb ( 2016-10-10 07:24:18 -0600 )edit

@Steveb Unfortunately i am unable to locate the configuration file in UDK folder. Kindly indicate the path.

Thanks in advance for your valuable support.

sumant gravatar imagesumant ( 2016-10-10 10:15:32 -0600 )edit

@Steveb Problem still exist.

sumant gravatar imagesumant ( 2016-10-12 05:57:16 -0600 )edit

1 Answer

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answered 2016-10-07 07:57:39 -0600

Steveb gravatar image

I believe that the issue is that the USARSim-ROS bridge does not support cameras. There are three possible solutions to your issue: 1) Ignore the message (it does not affect the rest of the code) 2) Remove the camera from your robot configuration file 3) Add code to the bridge to support the publication of the camera image

Unless you need the camera image for your ROS code, I would suggest solution 1.

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Comments

@Steveb i may ignore the message, but i am unable to navigate the robot using teleop key.

sumant gravatar imagesumant ( 2016-10-07 09:04:53 -0600 )edit

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Asked: 2016-10-05 05:03:47 -0600

Seen: 109 times

Last updated: Oct 18 '16