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2019-09-13 04:46:00 -0600 commented answer Image_transport using member function as callback function

The principle is fine, as far as I can tell. The problem is likely in your actual code

2019-09-12 09:22:16 -0600 answered a question Create an Octomap with multiples vehicles

I was looking on the package octomap_server but I don't think that this is the right one for this application I don

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2019-09-12 09:13:53 -0600 edited question 6D pose estimation problem. How to estimate the rotation matrix?

6D pose estimation problem. How to estimate the rotation matrix? I have been trying to estimate the 6D pose of a moving

2019-09-12 09:10:37 -0600 edited answer Image_transport using member function as callback function

I guess your node exits immediately? You need to call ros::spin() at the end of the main function to enter the loop tha

2019-09-12 09:08:14 -0600 answered a question Image_transport using member function as callback function

I guess your node exits immediately? You need to call ros::spin() to enter the loop that checks for new ros messages an

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2019-09-09 11:11:50 -0600 edited question add an array with XmlRpc::XmlRpcValue

add an array with XmlRpc::XmlRpcValue Hello everybody, I would like to add an array in a file thanks to XmlRpc::XmlRpcV

2019-08-29 06:09:10 -0600 commented answer How to use bag_tools

See the wiki tutorial for building. When it is a cmake package (there is a CMakeLists.txt file), my standard approach is

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2019-08-20 09:48:04 -0600 commented answer RGBDSLAM Pointcloud with wrong transformation

"Batch clouds" is a convenience feature that is meant to be used after mapping. When you trigger it all clouds that ha

2019-08-12 07:07:59 -0600 commented answer RGBDSLAM Pointcloud with wrong transformation

May well be, that the cause of the problem is what you say. Since it looks like you are running a simulation, it is als

2019-08-12 07:07:44 -0600 commented answer RGBDSLAM Pointcloud with wrong transformation

May well be, that the cause of the problem is what you say. Since it looks like you are running a simulation, it is als

2019-08-12 07:07:34 -0600 commented answer RGBDSLAM Pointcloud with wrong transformation

May well be, that the cause of the problem is what you say. Since it looks like you are running a simulation, it is als

2019-08-08 09:07:44 -0600 commented answer RGBDSLAM Pointcloud with wrong transformation

I followed @jayess in upvoting your question, as I don't understand why this would be happening. You should get exactly

2019-08-07 07:03:39 -0600 answered a question RGBDSLAM Pointcloud with wrong transformation

It's not quite clear to me what the problem is. One cloud is badly aligned which messes up your octomap? With batch clou

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2018-06-14 09:54:01 -0600 edited answer how to visualize pcd file.??

You can use the pcd_viewer: rosrun perception_pcl pcd_viewer <filename> Starting it without filename will show you

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2017-11-17 08:17:05 -0600 commented answer Ctrl +C can't kill the node

yes, you'd need to do while(ros::ok()){ ... }. My understanding is, that the ros signal handler will make ros::ok() fail

2017-09-20 11:14:55 -0600 received badge  Nice Answer (source)
2017-05-04 10:12:46 -0600 edited answer I'm confused about publishing nav_msgs/Odometry message

Original: It is not clear what you are referring to, there is not geometry_msgs::TransformStamped in the image. Do you

2017-05-03 09:55:58 -0600 answered a question I'm confused about publishing nav_msgs/Odometry message

It is not clear what you are referring to, there is not geometry_msgs::TransformStamped in the image. Do you mean the t

2017-05-03 09:45:47 -0600 commented question 4 frame positioned relative to each other

That looks correct. As does your code. Maybe your 30khz update rate is overburdening rviz.

2017-05-03 05:38:06 -0600 commented question 4 frame positioned relative to each other

What does the pdf output look like if you run rosrun tf view_frames

2017-05-03 05:28:01 -0600 answered a question What do three frames(baselink\odom\map) mean?

Sebastian got 1 and 3 right. For number 2, here is the definition from the REP you reference, with my comments Howev

2017-04-21 06:04:26 -0600 answered a question How to use bag_tools

This is an old question, but I ran into the same problem, so here's my solution: The package is broken (at least for mak

2017-04-13 03:43:02 -0600 commented question Turtlebot error - [mobile_base -6] process has finished cleanly

Thanks for your answer. My problem seemingly was network related (roscore on a different machine than turtlebot). I had not set the environment variable ROS_IP correctly.

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2017-04-12 09:05:18 -0600 commented question Turtlebot error - [mobile_base -6] process has finished cleanly

Did you solve this?

2017-04-12 07:22:36 -0600 answered a question Rosbag API and TF transforming tools

If I remember correctly, tf does interpolate.

In C++ you could create a tf2::BufferCore and use its setTransform method, then query it as usual. Maybe you can do something similar in python?

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2017-04-06 06:00:04 -0600 answered a question Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization?

As NEngelhard says, 1mm is hard to achieve. Check out this paper, where the authors try to achieve maximum accuracy with laser scanners.

Accurate localization requires a precise map, so maybe try an approach as described in this paper

Stereo vision has measurement noise that grows quadratically with distance, therefore you won't get that good accuracy unless the distance to obstacles is always in a specific range.

Laser scanners have different inaccuracies. For example, from what I heard from users, SICK scanners are more accurate than Hokuyo, but this might be model dependent.

Fusion of different sensors usually improves results. But also using more than one of the same type may be advantageous. The guys in the first paper use two laser scanners, with opposite viewing direction, which helps a lot.

2017-03-30 06:35:27 -0600 commented answer rviz segmentation fault on Nvidia Jetson TK1

Works for me, thanks

2017-03-28 10:27:56 -0600 commented answer Ctrl +C can't kill the node

As far as I know, roscpp installs a signal handler for Ctrl-C, which will do a clean exit. I'd guess rospy and other client libraries do the same.

2017-03-27 08:11:27 -0600 commented question add catkin_ws in clion

I don't know whether that is possible, but you can definitely open the individual packages as projects.

2017-03-22 12:54:18 -0600 edited answer from PoseStamped message to tf StampedTransform

Have a look at those:

name: tf::poseStampedTFToMsg
cmd: /^static inline void poseStampedTFToMsg(const Stamped<Pose>& bt, geometry_msgs::PoseStamped & msg)$/
namespace: tf
signature: (const Stamped<Pose>& bt, geometry_msgs::PoseStamped & msg)
filename: /opt/ros/diamondback/stacks/geometry/tf/include/tf/transform_datatypes.h

name: tf::poseStampedMsgToTF
cmd: /^static inline void poseStampedMsgToTF(const geometry_msgs::PoseStamped & msg, Stamped<Pose>& bt)$/
namespace: tf
signature: (const geometry_msgs::PoseStamped & msg, Stamped<Pose>& bt)
filename: /opt/ros/diamondback/stacks/geometry/tf/include/tf/transform_datatypes.h

This is code I used a while ago for the inverse transformation:

  tf::Transform grasp_tf(gripperRotation, gripperOrigin);
  tf::Stamped<tf::Pose> grasp_tf_pose(grasp_tf);
  geometry_msgs::PoseStamped msg;
  tf::poseStampedTFToMsg    (grasp_tf_pose, msg);

Edit:

I just needed to to that exact thing, so I mixed tf::poseStampedMsgToTF and tf::TransformStampedMsgToTF

namespace //anonymous
{ 
using namespace tf;
inline void myPoseMsgToTF(const geometry_msgs::Pose& msg, Transform& bt)
{
  bt = Transform(Quaternion(msg.orientation.x,
                            msg.orientation.y,
                            msg.orientation.z,
                            msg.orientation.w),
                 Vector3(msg.position.x, msg.position.y, msg.position.z));
}

///Sets the child frame fixed to "camera"
inline void myPoseStampedMsgToTF(const geometry_msgs::PoseStamped & msg, StampedTransform& bt)
{
  myPoseMsgToTF(msg.pose, bt); 
  bt.stamp_ = msg.header.stamp;
  bt.frame_id_ = msg.header.frame_id;
  bt.child_frame_id_ = "camera";
  ROS_WARN_ONCE("You are using a path which does not carry the information about the "
                "name of the sensor frame. Using 'camera' as child_frame_id.\n"
                "Make sure the positions in your path are those of the 'camera' frame.");
}
}//anon namespace
2017-03-20 11:11:31 -0600 commented question Empty Octomap in RGBDSLAM

The voxel filter is meant to geometrically downsample the clouds. I guess it should better not be used with octomapping, might work though. Have you set the "store_pointclouds" parameter to false? It is true by default.