Michael Stoll's profile - activity

We have migrated our robot base driver to use ros_control.

That works well, execpt for the transmissions. There are transmissions in the URDF Model:

<transmission name="wheel_left_trans">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="wheel_left_joint">
    <hardwareInterface>VelocityJointInterface</hardwareInterface>
  </joint>
  <actuator name="left_motor">
    <mechanicalReduction>12</mechanicalReduction>
  </actuator>
</transmission>

Is there a common practice on how to use this in the RobotHW?

The only example I know of is this tutorial. But there the transmission is not read from the URDF model.

Great, the diagnostics_common_diagnostics package is pretty close to what I've been looking for.

Do you mean rqt_publisher? Well, that's not what I'm looking for. I'lll try to update the question to be more specific.

If the answer to the question is "no", I'm going to do that. Just want to be sure that nothing like this exists yet.

The rqt_robot_monitor listens to diagnostic_msgs. I'm looking for a node to publish them.

I am looking for a node which can monitor the robots health

It should:

• Monitor nodes, topics, tf frames, ...

• Publish diagnostic_msgs messages

• Have a configuration which describes the robot's system (like frames, nodes, etc.)

It might be similar to roswtf, but as a node and with robot specific extensions

UPDATE:

The purpose of the node is to get a operational level (as defined in REP107) of the system. This is trivial for components, which publish diagnostics messages themselves. But other components might be supervised by their external interface (topics, tf frames, ...).

Thanks for the extensive answer. In fact I wanted to distribute the binaries, but you just confirmed all my concerns. So I'm doppping that idea and simply distribute the source code.

Accidential double post: http://answers.ros.org/question/22111...

Is it reasonable to build and deploy a kernel module with catkin and the ros infrastructure? And if so, how could it be achieved? Are there any examples?

In the scenario there's a hardware driver implemented as a kernel module and a ros node using it. While the kernel module is independant of ros, there are other components in the ros repository, which are independant, too. Furthermore deploying the kernel with a separate method would introduce a dependency on an inofficial repository.

Is it reasonable to build and deploy a kernel module with catkin and the ros infrastructure? And if so, how could it be achieved? Are there any examples?

In the scenario there's a hardware driver implemented as a kernel module and a ros node using it. While the kernel module is independant of ros, there are other components in the ros repository, which are independant, too. Furthermore deploying the kernel with a separate method would introduce a dependency on an inofficial repository.

This should be a simple task:

#include <tf2/transform_datatypes.h>
#include <geometry_msgs/PoseStamped.h>

...
geometry_msgs::TransformStamped transform = anything;
geometry_msgs::PoseStamped pose;
tf2::convert(transform, pose);
...

So this code should convert the TransformStamped to PoseStamped (similar to tf::poseTFtoMsg). But the compiler complains that toMsg and fromMsg aren't defined. IMO there are some includes missing. Where are toMsg and fromMsg for PoseStamped defined?