Robotnik's profile - activity

I have solved it by changing the return-delay param

~/catkin_ws/src/dynamixel_motor/dynamixel_driver/scripts$ python set_servo_config.py --port=/dev/ttyUSB1 --baud=57600 --return-delay=4 1 {'baud': 57600, 'return_delay': 4, 'max_voltage_limit': None, 'min_voltage_limit': None, 'baud_rate': None, 'ccw_angle_limit': None, 'cw_angle_limit': None, 'port': '/dev/ttyUSB1'} Configuring Dynamixel motor with ID 1 Setting return delay time to 8 us done

Solved. The problem was related with the collision matrix generated from the setup_assistant. Just manually disabling some additional joints on the SRDF file, the following code does work:

 // Collision check
  robot_state::RobotState& current_state = planning_scene_ptr_->getCurrentStateNonConst();
  current_state = *kinematic_state_;
  collision_detection::CollisionRequest collision_request;
  collision_detection::CollisionResult collision_result;
  collision_request.group_name = "arm_tcp";  
  collision_request.distance = true;
  collision_result.clear();
  planning_scene_ptr_->checkSelfCollision(collision_request, collision_result, current_state);
  if (collision_result.collision) ROS_ERROR("Robot in SELF-COLLISION");
  ROS_INFO("Collision result %5.10f", collision_result.distance);

Hi,

I am using Groovy with Ubuntu 12.04.

I am trying to call the planning_planning_scene::PlanningScene::distanceToCollision functions, but the returned value is always a constant huge number. The call to selfCollisionCheck does work perfectly.

... // Collision check

robot_state::RobotState& current_state = planning_scene_ptr_->getCurrentStateNonConst(); current_state = *kinematic_state_; collision_detection::CollisionRequest collision_request; collision_detection::CollisionResult collision_result; collision_request.group_name = "arm_tcp";
collision_result.clear(); planning_scene_ptr_->checkSelfCollision(collision_request, collision_result, current_state); if (collision_result.collision) ROS_ERROR("Robot in SELF-COLLISION");

double distance_to_collision = planning_scene_ptr_->distanceToCollision( current_state);

...

a working example measuring the distance to the nearest collision would be much appreciated.

Thanks and best regards,

Roberto

I get the same fault after rviz starts, but when pressing the Display->Add button.

Hi, I have the same problem. Did you solve it?

Hi,

yes, you just need to modify the height of the laser link

<joint name="hokuyo_laser_joint" type="fixed"> <axis xyz="0 1 0"/> <origin xyz="0.226 0 0.120"/>
<parent link="base_link"/> <child link="hokuyo_laser_link"/> </joint>

"it works" means that I am able to see the measurements in rviz, so the data is being published correctly. "any more" means that I was able to see the rays in the ROS electric version.

'it works' means that the laser is measuring correctly, as I can see in rviz. So the messages are published correctly. 'any more' means that the laser rays were visible in electric but not in fuerte.

Hi,

I am spawning urdf robot models in gazebo that include laser rangers, and it works (the sensor is working), but the laser rays are not displayed any more.

Any idea?

Roberto

Is there a way to configure move_base to follow paths forward and backward?

I have been able to create paths composed of forward and backward segments with SBPL, but move_base tries always to complete the path rotating and moving forward.

Thanks,

Robert

We had exactly the same error message. Deleting the entire .rviz directory in the home directory fixed the problem for us.

Hi everybody,

I am trying to run rviz and get this response. I have upgraded libpng, but with no result:

trurl@trurl:/opt/ros/electric/stacks/visualization/rviz$ rosrun rviz rviz
[ INFO] [1316992589.920372061]: rviz revision number 1.6.4
[ INFO] [1316992589.920459084]: ogre_tools revision number 1.6.2
[ INFO] [1316992589.920486881]: compiled against OGRE version 1.7.3 (Cthugha)
[ INFO] [1316992589.969539903]: Loading general config from [/home/trurl/.rviz/config]
[ INFO] [1316992589.969961674]: Loading display config from [/home/trurl/.rviz/display_config]

[ WARN] [1316992589.973563250]: wxWidgets Warning [Application was compiled with png.h from libpng-1.2.42]

[ WARN] [1316992589.973616050]: wxWidgets Warning [Application  is  running with png.c from libpng-1.4.3]

[ WARN] [1316992589.973658653]: wxWidgets Warning [Incompatible libpng version in application and library]

[ERROR] [1316992589.973709637]: wxWidgets Error [Couldn't load a PNG image - file is corrupted or not enough memory.]

Best Regards,

Robert