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2014-01-28 17:21:44 -0500 marked best answer What is the accuracy of the Kinect sensor?

How accurate is the depth map of the Kinect sensor?

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2013-02-05 04:58:17 -0500 answered a question rosdoc generation for wiki

The documentation generated by rosdoc_lite should be the same as the documentation generated locally. I think the reason that you're getting the "srv" and "cfg" namespaces to show up is because you're running rosdoc_lite on a package that has been built. As such, there are a bunch of auto-generated header files that Doxygen is processing that aren't run by the automated doc system.

Do you have a specific package in mind that you're seeing this for? If I know what you're trying to replicate, I can double check that this is, indeed the case.

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2012-12-28 11:21:34 -0500 answered a question Groovy Beta install error on OSX

It looks like you're trying to generate a rosinstall file for a wet stack with the dry toolchain. Can you try this instead?

http://packages.ros.org/web/rosinstall/generate/raw/groovy/ros_comm

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2012-04-20 07:08:04 -0500 answered a question Lost admin password for geographicinfo_devel@kforge.ros.org

I somehow missed this post. The list password has been reset, turns out you need to ask an administrator to do that for you, and the ticket closed.

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2012-02-21 12:53:35 -0500 answered a question Best practices: checking a path with Costmap2DROS

You should be able to use the CostmapModel class in the base_local_planner package to allow you to check if a given pose is in collision. You can find documentation on the class here.

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2012-01-05 05:13:54 -0500 answered a question ros electric navigation

On Ubuntu, you should be able to install the navigation stack as follows:

sudo apt-get install ros-electric-navigation

For details on installing ROS in general, please have a look at: http://ros.org/wiki/ROS/Installation

2012-01-05 04:52:22 -0500 answered a question Navigation Stack does not use a map from Gmapping?

Just to clarify. The costmap_2d is capable of taking updates to the static map from a SLAM system such as gmapping. Any time a new map comes in over the /map topic, the static map used by the navigation stack is re-initialized. Are you sure that the global costmap of the navigation stack is configured to subscribe to this map? If so, you should be seeing the move_base node as subscribed to the /map topic.

2012-01-05 04:43:05 -0500 commented question ros electric navigation
Can you be more specific as to what you mean here? Are you looking for documentation? Help on installing the navigation stack? Or something else?
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2011-12-06 04:23:55 -0500 commented answer costmap_2d TrajectoryPlannerROS cost_cloud not being published
Whoops, thanks Eric, I dropped the ball on that one. As far as the cloud_cost topic goes, has it been advertised by move_base at least? Also, I'd highly recommend downsampling the cloud from the kinect with something like a voxel grid filter before passing it to the nav stack to improve performance.
2011-12-05 06:13:40 -0500 commented answer Initializing a costmap_2d with a static_map
All global planners adhere to this interface: http://ros.org/wiki/nav_core#BaseGlobalPlanner. So, the simplest thing to do is probably to write some code that uses that interface, loads a planner plugin, and hooks it up to the map server. There's nothing I know of that does this out-of-the-box.
2011-12-01 05:29:24 -0500 answered a question move_base/base_local_planner maximum velocity

OK, I finally took some time to check this out. After playing around a bit I was able to get a robot, in an empty environment in simulation, to achieve very, very, high velocities. I'm not sure that the navigation stack is an awesome way to control an outdoor robot at high speeds, but I can at least give an explanation of why you were likely having trouble:

The local planner doesn't consume the entire global path for planning, instead it is given a region of the path that fits inside of a local window that based on the size of the local costmap. By default, the local costmap is centered at the robot and sized at 6m x 6m. This means that the goal point for the local planner is never going to be more about 3 meters away from the robot. As such, the cost function will actually limit the speeds the robot chooses to be slower because its planning to a point that is only a couple of meters away. Furthermore, as you increase the maximum velocity for the local planner, you're also increasing the size of the steps between simulated velocities. For example, 10 steps between 0 and 1 m/s would give 0.1 m/s increments, but 10 steps between 0 and 10 m/s would give 1.0m/s increments. As such, you could end up with slower velocities chosen for the 10 m/s max than the 1 m/s max because its at a coarser resolution. One solution here would bet to increase vx_samples, but this has performance implications as the planner will simulate a lot more trajectories.

I ended up changing my local map size to something absurdly large, it should be noted that this will also have some performance implications, and ran the local planner again with a high velocity limit. Lo and behold, the robot achieved its max velocity. To hit max velocity even faster, I upped the acceleration limits a bit, reduced the pdist_scale parameter to zero to allow the robot to just pursue its goal point, and switched to Trajectory Rollout from DWA since it consideres accelerations over the entire sim_time for the velocities it commands as opposed to DWA which just considers acceleration over the first simulation step.

I'm not sure this will make for the most reliable or robust planner for your application, but at least it explains what was happenning and I hope it helps.

2011-11-28 06:03:18 -0500 commented question Turtlebot navigation tf error
It seems like AMCL is not publishing the transform from map to odom in the case where you see the warning. Are you sure that its getting odometry and laser data and running correctly?
2011-11-23 04:07:19 -0500 commented answer move_base/base_local_planner maximum velocity
Hmmm... that is indeed strange, especially since I really did just go into the code for the equation. I'll try to take a look at things in more detail, run some tests of my own, and get back to you. It might take until Monday though because I've got a plane to catch for Thanksgiving weekend.