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2016-10-10 07:03:30 -0500 commented question Asctec Pelican rotating in reverse direction when speed above 32.7 deg/s?

hi @gvdhoorn, thanks for your response. You hit the nail in the head. I've taken a look to the insights of the SDK of our UAV and although input units are in deg/s they are internally converted to millideg/s. As the value is stored as short... well, you were right! Thank you!

2016-10-03 03:11:03 -0500 asked a question Asctec Pelican rotating in reverse direction when speed above 32.7 deg/s?

Hi all:

After solving some issues with controlling our Astec Pelican via asctec_mav_framework we updated the firmware of the HL board and until now it seemed to work just fine.

But recently we discovered another annoying issue and we have no expanation for it. It turns out that when we start sending angular velocity commands the UAV starts rotating over the Z axis (until here everything works as expected); but when we increase the angular speed over 32.7 deg/s it starts rotating in the opposite direction.

So far we've tried this sending these commands with the asctec_mav_framework utility called "ctrl_test" and using a dummy node that publish messages to /fcu/control. The behavior is the same in both cases.

Anyone has experienced this before, or have a clue about where to start looking for a solution?

Thank you in advance. Best regards, Adrián

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2016-05-26 03:49:31 -0500 asked a question Body frame cmd Asctec Pelican

Hi everyone:

We are facing an unexpected issue while sending commands to an Asctec Pelican through the asctec_mav_framework package. Any command is formed by a linear velocity vector (vx, vy, vz) and an angular velocity (vyaw). It turns out that the linear velocity is interpreted in the global frame, resulting that when sending a positive vx it is alway executed in the same direction regardless the orientation of the vehicle.

We have taken a look to the documentation and when building the command it is possible to put a parameter which should make the UAV to interpret the commands in body frame (this is, a positive vx should mean to advance in the heading direction), but this is not working. Anyone has experienced this issue before? Any idea about how to solve this?

EDIT:

Hi all again:

We have been doing some additional tests regarding to the problem of the Pelican ignoring commands sent in body frame. This is the current situation:

  • asctec_mav_framework provides a mode to send commands in body frame (if you look at the mesagge type values, values 4 and 5 correspond to velocities and positions sent taking as reference the body of the UAV).

  • However when we specify any of these two options, the Pelican just do nothing in response. This happens both using our code and the tests implemented in the asctec_mav_framework package. Changing the message type to any value between 1-3 works well, but this is not the behavior that we want.

Are we missing something here? Any help would be appreciated. Thanks so much,

Adrián

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2015-10-23 12:06:34 -0500 asked a question How to simulate an octomap file (.ot) in gazebo?

Hi all:

I have a map defined by an Octomap file (.ot extension) wich I can visualize properly in rviz using octomap_server. However, I couldn't find an easy way to import this map into gazebo in order to simulate collisions and camera vision. So far, I have tried to write some code which creates a .world file from the occupied cells, but after trying to load it in Gazebo it seems to freeze the simulator at the beginning and the general performance is awful.

Thank you in advance.

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2015-07-23 06:14:51 -0500 asked a question Remapping arguments of topics

Hi all:

I have a question about remapping topics in launch files. I have a controller which is subscribed to the topics: /pelican/pose and /pelican/twist, expecting a Pose and a Twist respectively. Gazebo publishes both information in the topic /gazebo/model_states, so I expected do do the following remappings:

/gazebo/model_states/pose[1] to /pelican/pose

/gazebo/model_states/twist[1] to /pelican/twist

Doing the remap of /gazebo/model_states works well, but the ones before do not work. Anyone knows how can I do that, or something similar?

Thank you in advance

2015-07-02 09:48:45 -0500 commented answer Error launching remote node: not a valid URL

good point! All logs (as you see) show the http:// but it was not present in ROS_MASTER_URI. Correcting that made the trick. Thank you!

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2015-07-02 05:00:12 -0500 commented answer Error launching remote node: not a valid URL

ok, i have substituted the IP by the hostnames and the result is the same

error launching on [ctdesks46-0, uri http://ctdesks46:52649/]
[...]
File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/network.py", line 91, in parse_http_host_and_port

I can't see anything weird

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2015-07-02 03:50:03 -0500 asked a question Error launching remote node: not a valid URL

Hi all:

I have an issue launching a single talker and listener in two machines. It seems like one of the nodes is launched properly but with the other one (launched in the remote machine) is unable to start due to an error parsing the URI of the host. I tried to find some more information about the error but I have found nothing on the Internet.

This is the log of the roslaunch process: seems like both machines are connected properly and roslaunch tries to execute the listener node in the remote machine after launching the talker node successfully, and then it fails:

    [roslaunch][INFO] 2015-07-02 10:23:40,469: ... successfully launched [talker_java-1]
    [roslaunch][INFO] 2015-07-02 10:23:40,470: launch_nodes: launching remote nodes ...
    [roslaunch][INFO] 2015-07-02 10:23:40,568: [172.16.243.46-0]: launching nodes...
    [roslaunch][ERROR] 2015-07-02 10:23:40,633: error launching on [172.16.243.46-0, uri http://172.16.243.46:44845/]: ERROR: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/server.py", line 331, in launch
    succeeded, failed = runner.launch()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/launch.py", line 646, in launch
    self._setup()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/launch.py", line 622, in _setup
    self._launch_master()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/launch.py", line 386, in _launch_master
    validate_master_launch(m, self.is_core, self.is_rostest)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/launch.py", line 81, in validate_master_launch
    if not rosgraph.network.is_local_address(m.get_host()):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/core.py", line 272, in get_host
    host, _ = rosgraph.network.parse_http_host_and_port(self.uri)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosgraph/network.py", line 91, in parse_http_host_and_port
    raise ValueError('not a valid URL')
ValueError: not a valid URL

[roslaunch][ERROR] 2015-07-02 10:23:40,633: Launch of the following nodes most likely failed: beginner_tutorials/listener
[roslaunch][INFO] 2015-07-02 10:23:40,633: ... launch_nodes complete
[more unrelated log lines here after the error...]
[roslaunch.pmon][INFO] 2015-07-02 10:23:47,637: ProcessMonitor exit: killing 172.16.243.46-0
[roslaunch][INFO] 2015-07-02 10:23:47,637: [172.16.243.46-0] killing on exit
[roslaunch.remoteprocess][INFO] 2015-07-02 10:23:47,651: remote[172.16.243.46-0]: closing ssh connection
[roslaunch.remoteprocess][INFO] 2015-07-02 10:23:47,729: remote[172.16.243.46-0]: ssh connection closed
[roslaunch][INFO] 2015-07-02 10:23:48,037: process[talker_java-1]: SIGINT killed with return value 130

This is the .launch file I am trying to test:

<launch>

<machine name="adrian-laptop" address="172.16.243.46" user="adrian" env-loader="rosws/adrian-laptop-envloader.sh"/>
<machine name="ctdesks50" address="172.16.243.5" user="adrian.gonzalez" />

<node pkg="rosjava_tutorial" name="talker_java" type="execute" args="com.github.rosjava.rosjava_tutorial.my_pub_sub_tutorial.Talker" machine="ctdesks50"/>
<node pkg="beginner_tutorials" name="listener_C" type="listener" output="screen" machine="adrian-laptop"/>

</launch>

And the env-loader in the remote machine is this one:

#!/bin/bash
export ROS_MASTER_URI=172.16.243 ...
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2014-05-13 20:17:16 -0500 marked best answer Octomap + Rosjava?

First of all, sorry if the question is a foolishness. I am going to substitute Player (which I use with PlayerClient) by ROS (which I ment to use with Rosjava).

In the current implementation I use a custom-defined map type, but I need to change it by Octomap. I know that there is a Octomap plugin to use with ROS, but I need to know if it is possible to recover the map using Rosjava and obtain information about it.

Thank you in advance.

2014-05-13 01:29:40 -0500 commented answer Collision detection with Octomap

thank you @AHornung. For my problem, I finally will require to iterate over a local bounding box over the occupied voxels, because I need to weight all the obstacles in a region around the robot according to several parameters of my application. Thank you for your response.

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2014-05-05 07:21:55 -0500 edited question Collision detection with Octomap

Hi all:

I am recently introduced in Octomap. I am trying to implementa motion planner but I need two things:

  • given the robot shape and its pose, check if there is a collision given an stored octree
  • given the robot shape and its pose, retrieve the nearest obstacle in the octree

¿Is there anything implemented that I can use?

Thank you in advance

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