ZdenekM's profile - activity

Hi all!

I'm not able to find documentation for parameter "laserRetro" of Gazebo world file. I saw this parameter in some file, but I'm not sure what exactly it means.

Hello,

today I made update of ROS (Ubuntu 11.04, ROS Electric from deb repo), run "roslaunch cob_bringup sim.launch" and then "rosrun rviz rviz", which gave me this error:

[ERROR] [1317112938.826534360, 19.093000000]: Caught exception while loading: Character [-] at element [4] is not valid in Graph Resource Name [cob3-3].  Valid characters are a-z, A-Z, 0-9, / and _.

Before update if worked fine. I'm using git version of cob_simulation stack (with env. variables ROBOT=cob3-2, ROBOT_ENV=ipa-kitchen, SIMX=-r).

Interactive markers to change scale of box marker Hi all. I'm playing around with interactive markers - it's easy to cre

Hi,

I'm just wondering - what is the reason for fact, that Twist message has no timestamp?

There is also TwistStamped message type, but as I know it's not commonly used for commanding robots...

Why I'm asking... Because I would like to do some "postprocessing" to data from bag file and because of missing timestamp in cmd_vel topic, I'm not able to precisely compare influence of different commands on robot motion.

Hello,

in Hydro, are there some working robot simulations? I mean Gazebo models etc. I know only about Turtlebot but I would rather do some experiments with an omnidirectional platform. Unfortunately, PR2 simulator stack is not available (doesn't compile) as well as Care-O-Bot (not released but there is hydro branch on github - need to try it)...

Hello,

I would like to have more URDF models (next to robot's one) displayed in RVIZ (for example ipa-kitchen,cup, table...). How to do it correctly? Models have often same named links (dummy_link)...

This is my current solution, but there are some errors in RVIZ as you can see...

This is my launch file: http://pastebin.com/igmvk7cq

Model looks good in RVIZ, but there are errors in robot model.

As you can see, there are /world_tf/xx transforms and also xx ones. Why?

There is screenshot of rxgraph:

Output of roswtf:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /gazebo:
   * /gazebo/set_model_state
   * /gazebo/set_link_state

WARNING These nodes have died:
 * world/spawn_urdf_world-2


Found 7 error(s).

ERROR Communication with [/rviz] raised an error: 
ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/rxconsole_1319534397534378303] raised an error: 
ERROR Communication with [/world/joint_state_publisher] raised an error: 
ERROR Communication with [/gazebo] raised an error: 
ERROR Communication with [/world/robot_state_publisher] raised an error: 
ERROR The following nodes should be connected but aren't:
 * /world/joint_state_publisher->/world/robot_state_publisher (/world/joint_states)
 * /gazebo->/rviz (/tf)
 * /gazebo->/world/robot_state_publisher (/clock)
 * /gazebo->/world/joint_state_publisher (/clock)
 * /rosout->/rxconsole_1319534397534378303 (/rosout_agg)
 * /gazebo->/rviz (/clock)
 * /gazebo->/gazebo (/clock)
 * /world/robot_state_publisher->/rviz (/tf)

Am I completely wrong with using join_state_publisher and robot_state_publisher (for fixed joints) or is there just some small mistake? Thanks a lot for any useful advice. Cheers :-)

Hello,

I make very basic URDF model of robot (ackermann like) - just box with four wheels and steering joints for front wheels. In RVIZ robot looks OK and there is no error (screenshot: http://mysharegadget.com/106788214). But when spawned in Gazebo it has no wheels and there are just rear wheels joints. Where might be problem? Robot also shakes himself and travel around, which is another problem - is it due to missing gazebo controller? I upload whole my package here.

Update: I make model simpler - without steering joints. Now I can see in Gazebo even front wheels joints, but still no wheels. Model in RVIZ looks still ok. Updated package can be downloaded here.

Thanks for advices.

Haven't tried it yet but there is this one: https://github.com/mcgi5sr2/kinect2_t...

Answered on github: https://github.com/ros/catkin/issues/841

Similar question found: http://answers.ros.org/question/22054... - however in my case I believe that messages are built but module can't be found for some reason.

Hi all,

I have a node and some_test.test file like this:

<launch>
  <include file="$(find some_package)/launch/node.launch"/> <!-- python node using messages from my_msgs -->
  <test test-name="test_node_api" pkg="some_package" type="test_node_api.py" />
</launch>

The node and test script "test_node_api.py" both import messages from some other package (my_msgs). The node itself works fine (roslaunch some_package node.launch). When I run the test like this:

rostest art_db art_db.test

it also works fine (passes). However, when I use "catkin_make run_tests" the node (in node.launch) fails to start with import error of my_msgs.msg module. What might be wrong?

The CMakeLists.txt file looks like this:

cmake_minimum_required(VERSION 2.8.3)
project(some_package)

find_package(catkin REQUIRED COMPONENTS
  my_msgs
  rospy
  roslint
)

set(ROSLINT_PYTHON_OPTS "--max-line-length=250")
roslint_python()
roslint_add_test()

catkin_package(CATKIN_DEPENDS my_msgs)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

if (CATKIN_ENABLE_TESTING)
  find_package(catkin REQUIRED COMPONENTS rostest roslaunch)
  roslaunch_add_file_check(launch)
  add_rostest(tests/some_test.test)
endif()

UPDATE:

Results can be seen here (some_package is actually art_db): http://pastebin.com/qu7SfLK6 - line 143 says "ImportError: No module named art_msgs.msg". However, if I do "catkin_make" several times, the "catki_make run_tests" eventually gives success. Calling "rostest art_db art_db.test" always leads to success. The package can be found here: https://github.com/ZdenekM/ar-table-i... .

Hi all,

I'm trying to use navigation stack with a laser scanner which gives points from at least one meter distance. Move_base works fine but, when the robot (Pioneer) is close to an obstacle, the obstacle disappear from laser data, obstacle is cleared from costmap and robot hits it. Is there any possible solution? I'm using ROS Groovy and hydro-devel branch of navigation stack.

UPDATE:

Right now, I'm working only with simulation. Value range_min seems to be filled correctly.

angle_min: -3.1400001049 angle_max: 3.1400001049 angle_increment: 0.0015335775679 time_increment: 0.0 scan_time: 0.0 range_min: 1.0 range_max: 10.0

These are my settings (not yet transformed to the new format)...

Global costmap:

global_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.025
  origin_x: 0.0
  origin_y: 0.0

Local costmap:

local_costmap:
  global_frame: odom
  robot_base_frame: base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.025
  origin_x: 0.0
  origin_y: 0.0

Common params:

map_type: costmap

transform_tolerance: 0.4
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 1.0
footprint: [[0.3,0.3],[-0.3,0.3],[-0.3,-0.3],[0.3,-0.3]]


observation_sources: velodyne_scan

velodyne_scan: {sensor_frame: velodyne_link, topic: /velodyne/scan, data_type: LaserScan, marking: true, clearing: true}

UPDATE:

It seems that nav. stack ignores range_min in LaserScan msg (https://github.com/ros-planning/navigation/blob/hydro-devel/costmap_2d/plugins/obstacle_layer.cpp#L196).

I haven't tried it under Indigo yet. Our robots run on Hydro. Btw, there is some new API from Microstrain: http://lord-microstrain.github.io/MSCL/ -> it would be great to build ROS driver on top of this.

Ok, I missed that release repository has more branches - there is release/indigo/libuvc branch which contains catkin package.

Hello,

I would like to compile libuvc_camera with current (git) version of libuvc. The libuvc library is released into ROS but I can't find any catkin package for it. There is release repository ( https://github.com/ktossell/libuvc-re... ) and repository with non-ROS library ( https://github.com/ktossell/libuvc ). Do I miss something? How can I compile it as a ROS package - to overlay released version (/opt/ros/indigo/share/libuvc)?

What about MORSE? Or V-REP? Both have integration to ROS and can do 'kinematical' simulation (no CPU intensive physics computations).

For identification, you need some control input (velocity, position, etc). Sine is used quite often for this purposes. Another approach might be pseudorandom binary sequence.

Do you mean something like RFID / NFC?

What kind of representation are you using? You will probably need to write your own code for this. But it should be pretty easy - just use TF for point 0,0 of your matrix and that's it, am I right?

@acp: You need to set "base_global_planner" parameter to "SBPLLatticePlanner" - planner will be loaded at runtime. It's same as with other planners - you don't need to run them separately. See this: https://github.com/trainman419/dagny_nav/blob/master/dagny_nav_launch/dagny_nav.yaml