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2016-06-11 21:06:30 -0500 marked best answer Simulating Turtlebot with Gazebo

Hello all,

I'm interested in programming Turtlebot in gazebo environment. I've finished the basic stuff on its tutorial page however I'm interested in doing more advanced stuff.

For example, I want to get data from either its virtual Kinect or a real one and then program it with C++ to function it as an obstacle avoiding robot.

Can someone point me in the right direction ?

Thanks.

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2014-03-18 02:19:10 -0500 answered a question Setting robot orientation

As atp suggested following this) tutorial solved my problem:

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2014-03-12 15:00:17 -0500 commented question Setting robot orientation

@atp How did I miss that! It helped me a lot. If you add this as an answer, I'll accept it mate. Thank you!

2014-03-12 09:39:10 -0500 commented question Setting robot orientation

Updated my question. Hope it's more clear now.

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2014-03-12 03:51:26 -0500 asked a question Setting robot orientation

Hello all,

I have 2 robots erratic robots in gazebo and I want them to have approximately the same orientation. I am trying following piece of code but it doesn't seem to have any effect on my robot's rotation.

tf::TransformListener listener;
    tf::StampedTransform transform;
    try {

        listener.waitForTransform("/odom", "/base_link", ros::Time(0),
                ros::Duration(3.0));
        listener.lookupTransform("/odom", "/base_link", ros::Time(0),
                transform);
    } catch (tf::TransformException ex) {
        ROS_ERROR("%s", ex.what());
    }

    tf::Quaternion rotation;
    rotation.setValue(robot2.orientation.x, robot2.orientation.y, robot2.orientation.z);
    transform.setRotation(rotation);
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2014-03-11 04:08:21 -0500 commented answer Transform listener can't find base_link

It says I need more than 25 points for that.

2014-03-09 12:03:51 -0500 answered a question Transform listener can't find base_link

Adding this line solved the problem:

listener.waitForTransform("base_link", "odom", ros::Time(0),
            ros::Duration(3.0));

so the final code is:

try {

    listener.waitForTransform("base_link", "odom", ros::Time(0),
            ros::Duration(3.0));
    listener.lookupTransform("/base_link", "/odom", ros::Time(0),
            transform);
} catch (tf::TransformException ex) {
    ROS_ERROR("%s", ex.what());
}
2014-03-09 11:49:15 -0500 asked a question Transform listener can't find base_link

Hello all,

I'm trying to read values from base_link frame in order to get my robot's coordinates with the following code:

tf::TransformListener listener;
tf::StampedTransform transform;
try {
        listener.lookupTransform("/base_link", "/odom", ros::Time(0),
                transform);
    } catch (tf::TransformException ex) {
        ROS_ERROR("%s", ex.what());
    }

However, all I get is an error.

[ERROR] [1394401426.907398394, 36.516000000]: Frame id /base_link does not exist! Frames (1)

I can visualize base_link in rviz or read it's values on terminal using rostopic echo so I'm pretty sure it exists.

Any help is much appreciated.

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2014-01-31 13:33:27 -0500 asked a question Stage/Player integration with ROS

Hello all,

I've been working on Stage(3.2.2)/Player(3.0.2) for a while. I need to integrate it with ROS in order to get to next step in my project.

So, in Player/Stage you have a .cfg and a .world file. You run the .cfg and then run an executable on the background in order to control your robot.

What I want is to publish Player as a ROS(Groovy preffered) node (I guess it is essentially the same thing as connecting to the drivers that are defined in .cfg file using ROS) rather than connecting to Stage directly through ROS. I think the hierarchy between them should be like this: ROS->Player->Exe->Stage.

The http://wiki.ros.org/player page doesn't seem to have anything useful for a beginner like me. An example configuration would be great for example.

Would appreciate any help. Thanks.

Update: I've found the following tutorial->brice-rebsamen.blogspot.com.tr/2011/05/first-exercise-with-ros-node-to.html

So, as far as i can understand the whole player package becomes a node to ROS and then i can subcribe to the proxies i defined in my code through it.

2014-01-28 17:33:02 -0500 marked best answer Setting joint velocity in Gazebo

Hello all,

I'm trying to simulate an obstacle avoiding robot in gazebo. I've been following this tutorial.

The problem is that this tutorial uses the following function in order to move the robot.

SetForce(0, torque);

The problem with that is it eventually makes robot to spin.

So i looked in API ref and found

SetVelocity(0, vel);

Code compiles just fine however, this doesn't seem to have any effect on model. So how can I set velocity of wheels from a plugin ?

2014-01-28 17:32:49 -0500 marked best answer Kinect with rviz

I am a beginner of both ROS, Kinect and Ubuntu. What i want is to visualize kinect data on rviz environment then run object recognition on it.

I've tried a few tutorials but had no luck. All I got was an empty rviz world.

Since I am a beginner I would appreciate any step-by-step intructions (preferably for hydro or groovy).

I would also like to note that I've menaged to get visual from kinect so the device is working fine.

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2014-01-20 08:28:51 -0500 asked a question Player/Stage installation issues

Hello all,

I'm trying to run player/stage in groovy. I believe installation of stage is done just fine since I can follow this tutorial without any problems. The problems start to occur when i try to run simple.cfg.

After navigating to

 /opt/ros/groovy/stacks/stage/share/stage/worlds

I simply try running to by player simple.cfg and here's the error i get:

error   : Sorry, no support for shared libraries, so can't load plugins.
error   : You should install libltdl, which is part of GNU libtool, then re-compile player.
error   : failed to load plugin: stageplugin
error   : failed to parse config file simple.cfg driver blocks

I tried to solve it by doing the following:

 sudo apt-get install libxmu-dev
 sudo apt-get install libltdl-dev
 sudo apt-get install libguile-ltdl-1

and then reinstalling stage/player as mentioned in here. However, I keep getting the same error. Any help is much appreciated.