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2015-07-24 01:07:54 -0600 commented answer Using hokuyo node in a remote computer while HectorSlam in master

Thank you so much! I did as you said... at the end, the error was the simplest one. The clock sync. Thanks!

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2015-07-22 09:27:15 -0600 asked a question Using hokuyo node in a remote computer while HectorSlam in master

Good day fellow members, I have the following problem:

I'm using two computers, a laptop and a raspberry pi2. Both are running Ubuntu 14.04 and ROS Indigo. My laptop is my master. I make sure to define the hostname and master uri to the IP in this computer. In the Rpi2 I'm defining the hostname with Rpi2's IP and the master uri with the laptop's IP. Therefore, I can run the roscore in the laptop, run hokuyo_node in the Rpi2 and rviz it in the laptop. My network is not a problem at this point that I can think of. I even use ssh for everything up to here.

In a single computer setup, I'm use __HectorSLAM__ with my own launch file. Everything works fine. The problem comes when I'm in the network setup, and I start the hokuyo node in the Rpi2. I check the rostopic list and in both setups I've got the same topics. Everything is exactly the same but the physical connection of the LRF. I receive the following error message:

lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame

Therefore, I cannot SLAM. Do you have any ideas or suggestions? My sole objective is to use the Rpi2 to launch the LRF remotely, while on the laptop perform the "heavy" processing. Please all the help is much appreciated.

2015-06-22 01:29:01 -0600 marked best answer Kinect for Windows Install Ubuntu 13.04 w/Hydro

Good day everyone,

I've been trying different settings to achieve this, with no success. My settings are as follow:
Ubuntu 13.04
ROS version Hydro Medusa
freenect_stack install as in (can't insert link) the install instructions of the wiki
Kinect for Windows 1517 fully functional (tested with Microsoft SDK)

I've tried in two different computers, same settings, the difference between them is:

  1. XPS Dell - 2 USB port 3.0 + 1 USB/eSATA combo port.
  2. Assembly computer with 6 USB port 3.0

So far, what I've read is that, as I'm using Ubuntu 13.04 I don't need to do the kernel update to fix USB 3.0 (can't insert link yet) . Nevertheless the result is exactly the same wheter I use the 3.0 ports or the combo one. After using the command roslaunch freenect_launch freenect.launch I get the following error:

[ INFO] [1393001100.077038281]: No devices connected.... waiting for devices to be connected
[ INFO] [1393001103.079356057]: No devices connected.... waiting for devices to be connected

Using the command usbls I get the following:

Bus 001 Device 002: ID 8087:8008 Intel Corp.
Bus 002 Device 002: ID 8087:8000 Intel Corp.
Bus 003 Device 008: ID 045e:02c2 Microsoft Corp.
Bus 003 Device 002: ID 05af:1023 Jing-Mold Enterprise Co., Ltd
Bus 003 Device 003: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 003 Device 004: ID 22b8:710f Motorola PCS
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 011: ID 045e:02be Microsoft Corp.
Bus 003 Device 012: ID 045e:02bf Microsoft Corp.

My guess is that the Microsoft Corp devices are the Kinect Audio, Camera and Aux (The ID 045e corresponds to it).

Any help, suggestion, recommendation with this? It's really driving me crazy. Let me know if I can give you any more information. Thank you!


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2015-06-01 22:54:38 -0600 commented question Hector SLAM, matching algorithm

Thanks for stopping by @felixwatzlawik ! Yeah, it seems like that, but then, how come it's possible for the algorithm to actually map correctly?

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2015-05-31 09:11:27 -0600 commented question Sick S300 and HectorSlam

Hello Feliz. Using your open invitation...

Which is pretty satisfying :) contact me if u need help! :)

I can see you are working with Hector. Could you give a look to my last question? I'm having some issues with it's performance. Thank you!

2015-05-31 08:58:20 -0600 asked a question Hector SLAM, matching algorithm

Hello everyone.

I'm using the package to perform some tests of SLAM. I'm currently using a simulation (V-REP) of a mobile robot in a corridor-like featureless environment (only two walls) and I don't get a map. Nevertheless, if I move in a sinewave motion, I'm able to get a map. Moreover, if I have an additional feature, the algorithm even shows the real path as long as this feature is seen (back wall as seen in the right part of the image), otherwise it shows a very weird-looking oscillatory path which does not resemble a sinewave at all. Something important to notice is that when measuring directly in RVIZ, the width of the map is pretty accurate (real=4m, map's=4.014m), and the length of the movement is also somehow accurate (real=15m, map's= 15.47). I'm using the model of the Hokuyo URG-04LX ROS enabled, no odometry, no IMU. I'm running in Ubuntu 14.04 and using ROS Indigo. Generated map

I more or less understand how Hector works, but I have no idea about why I'm getting this map and specially trajectory. Could someone help me explaining the scanmatching part of it?

Thank you.

2015-05-18 23:12:15 -0600 answered a question installing polar_scan_matcher wrapper

If you install Scan_tools you could use the Polar Scan Matching directly. Check the wiki and enter to the git files for clearer install instructions. You'll find everything from the previous link.


2015-04-29 00:23:24 -0600 commented answer Nothing shown in rviz when doing hector_slam mapping tutorial

When you add by topic, it automatically selects the information to be displayed. When you add by types, in the Display menu, you have to choose among the different topic that publishes to map (which in your case should only be 1). If it works now, mark the question as answered please.

2015-04-28 01:46:31 -0600 commented answer Nothing shown in rviz when doing hector_slam mapping tutorial

In the rviz window, in the left part you see Displays. Below of that you find the Global options, which you already have correctly. Below of that, you find an Add button, click it. In the new window, choose by topic and choose map. Hope it works. Let us know.

2015-04-27 04:35:27 -0600 answered a question Nothing shown in rviz when doing hector_slam mapping tutorial

Have you checked all the Displays are correctly setup or subscribed to the proper topic??

Global Options -- map (according to your file, you already have this one)

Map -- /map (add using Topic and add /map)

Those should be the more important ones for map I think.


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2014-11-19 23:21:23 -0600 commented answer Errors at catkin_make for laser_scan_matcher

The libgs10-dev is the library to compile correctly the package with catkin_make. That was the main problem.

Thank you Angus!

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2014-11-19 03:54:55 -0600 commented question Errors at catkin_make for laser_scan_matcher

@dornhege Yes, the package has its proper xml files thank you!

@Angus Thank you so much, you should have written your post as answer! I missed to install the compiling library. I didn't know about it though. Now it's running and time for some tests using the real thing. Thank you!

2014-11-18 05:32:09 -0600 asked a question Errors at catkin_make for laser_scan_matcher

Good day everyone,

I'm trying to work with Polar Scan Matcher and Canonical Scan Matcher (laser_scan_matcher) from Scan_tools. So far, I've been able to run the demo.launch for PSM, but not (yet) to use my own LRF. Nevertheless, when trying to use the CSM demo, I receive an error as follows:

ERROR: cannot launch node of type [laser_scan_matcher/laser_scan_matcher_node]: can't locate node [laser_scan_matcher_node] in package [laser_scan_matcher]

Reading, I found out that the problem is because there is no executable ready. I tried once more to do catkin_make (I did it once when installing scan_tools), and pay attention to the output. I found this:

-- Configuring incomplete, errors occurred! See also "/home/antonio/PSM/build/scan_tools/laser_scan_matcher/csm/src/CMakeFiles/CMakeOutput.log". make[2]: *** [scan_tools/laser_scan_matcher/csm/stamp/csm_src-configure] Error 1 make[1]: *** [scan_tools/laser_scan_matcher/CMakeFiles/csm_src.dir/all] Error 2 make: *** [all] Error 2 Invoking "make" failed

I've also tried rosrun laser_scan_matcher and tried to see the options with tab but none appears.

My settings are ROS Indigo in Ubuntu 14.04.

This is what I've got so far with my little knowledge. I hope someone can help me fix this.

Thank you!

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2014-03-11 21:22:22 -0600 answered a question Kinect for Windows Install Ubuntu 13.04 w/Hydro

Good day everyone. I've been working so far with this problem and I've got a answer. Maybe it's not the most convenient one, but I got results.

So far, everything I've been reading says only Kinect, never specifing which type of Kinect. In my lab we had the previously described one. Today, I went to a friends house and borrowed his Kinect for Xbox 360 (model 1414). I tried all the previous instructions, and checked as instructed by expelliarmus the OpenNi_launch page. Finally, Kinect is working with Linux, is being recognized and I can start testing ASAP.

Summarizing, use a Kinect for Xbox 360.

However, take into consideration that this version does not include a USB, so you need to use an adapter which supplies power to the Kinect and also enables the USB (e.g. The one supplied with Kinect for Windows, which I'm using ATM)

2014-02-27 14:24:19 -0600 commented answer kinect green light keeps freshing. Seems no driver

Any update, anyone?

2014-02-27 14:20:41 -0600 commented answer Kinect for Windows Install Ubuntu 13.04 w/Hydro

Sorry for taking so long to try this. As you said, I didn't have the package installed. Nevertheless with the roslaunch openni_launch openni.launch I still get the "No devices connected..." I also tried the roslaunch freenect_launch freenect-xyz.launch with same results. I think the problem is that lsusb shows the Kinect is pluged in, but it just recognizes it as Microsoft Corp. I don't know if the version of my kinect has something to do with it (Kinect for windows 1517)

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2014-02-21 18:31:21 -0600 commented answer Kinect for Windows Install Ubuntu 13.04 w/Hydro

Thank you. I already check it. Whenever I try to start the **roslaunch openni_launch openni.launch ** I receive an error that reads:
[openni.launch] is neither a launch file in package [openni_launch] nor is [openni_launch] a launch file name
I also tried ** roslaunch freenect_launch freenect-xyz.launch**, but still receive the "No devices connected..." error.

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