KoenBuys's profile - activity

Has somebody written a conversion method for this?

Hi all, I've checked out rosjava from mercurial in my ros package path. It complains with the import statement of DefaultNodeFactory:

compile:
      [javac] /home/u0062536/ros/raw/kb-home-pkg/HA_android_GUI/build.xml:26: warning: 'includeantruntime' was not set, defaulting to build.sysclasspath=last; set to false for repeatable builds
      [javac] Compiling 2 source files to /home/u0062536/ros/raw/kb-home-pkg/HA_android_GUI/build
      [javac] /home/u0062536/ros/raw/kb-home-pkg/HA_android_GUI/src/rostest.java:6: cannot find symbol
      [javac] symbol  : class DefaultNodeFactory
      [javac] location: package org.ros.node
      [javac] import org.ros.node.DefaultNodeFactory;
      [javac]                    ^
      [javac] 1 error

  BUILD FAILED

This on a easy java code example:

import java.net.URI;
import java.net.URISyntaxException;
import org.ros.address.InetAddressFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.DefaultNodeFactory;

/**
 * The HelloWorldApp class implements an application that
 * simply prints "Hello World!" to standard output.
 */
class RosTestApp {
    public static void main(String[] args) {
        System.out.println("Hello World, trying to get ROS to work, with NF!"); // Display the string.
    }
}

If the DefaultNodeFactory is commented out the code does work perfect. Rosjava compiles fine and is added in the manifest of this package. The goal of the package is to build a android app that uses rosjava to connect to a roscore.

The wiki page doesn't list the options for this yaml file. Where are these listed and read in? I'm having very mixed results.

I have a qt creator .pro file from which my makefile is generated, however now I want to include ROS packages in the project and have my project build in a rosmake kind of way of from the build command in QT Creator. In the project I also make use of a QT designer .ui file. Is there a script/tutorial how to use ROS together with QT? It's not mentioned on the IDE page. I found an old discussion here, but this consists out of modifying the CMake file, it isn't a portable solution.

Is it possible to call the rxbag_plugins from commandline? More specific the plot functionality, I'm thinking of the rxplot api but more specific the CSV export function. Are there any plans on this or similar functionality?

This is linking to an unknown library. It seems that it's octave related but I haven't found the correct Ubuntu 10.10 install. I added octave to the core rosdep.yaml for ubuntu 10.10.

This is my error:

  Linking CXX shared library ../lib/libdpm_wrapper.so
  /usr/bin/ld: cannot find -llapackgf-3
  /usr/bin/ld: cannot find -lblas-3gf
  collect2: ld returned 1 exit status
  make[3]: *** [../lib/libdpm_wrapper.so] Error 1

This is my change for octave in rosdep.yaml:

octave:
 ubuntu: 
  '10.10': octave3.2-headers
  '10.04': octave3.0-headers
arch: octave
macports: octave
centos: octave-devel
debian: octave3.0-headers
opensuse: octave-devel 
fedora: octave-devel
gentoo: sci-mathematics/octave
freebsd: octave

It seems that now it needs to link agains liblapack and libblas instead of the gf version. These

I'm currently looking at the camera_calibration package to use it in our lab. We have a setup with multiple cameras (= more than a dual setup). I would like to know if there are other people with a similar setup and how did you calibrate? I could to the stereo calibration for every camera pair but I'm rather interested in expanding the camera_calibration. One thing I'm mainly interested in is getting the extrinsic calibration correct to reflect the entire lab in stead of just reflecting the stereo setup. Because I also need this information in a tf publisher node for other calculations. Because we have hardware 'configurable' synchronization getting same timestamps should be to much of a problem (I still need to find out what the influence of the NIC will be). Are there people interested in collaborating?

After hearing/reading the question from Morgan I thought to ask around for the tips&tricks you are using in setting up your "terminal comfort zone".

Next to my regular bash_aliases I carry the following ones in my .bash_aliases file:

alias roslatest='source /opt/ros/latest/setup.sh'
alias rosunstable='source /opt/ros/unstable/setup.bash' 
alias rosboxturtle='source /opt/ros/boxturtle/setup.sh'
alias roscturtle='source /opt/ros/cturtle/setup.bash'
alias rosdiamondback='source /opt/ros/diamondback/setup.bash'

alias rospath='export ROS_PACKAGE_PATH=/home/koen/ros:$ROS_PACKAGE_PATH'
alias roslocal='export ROS_MASTER_URI=http://localhost:11311'
alias rospr2='export ROS_MASTER_URI=http://pma-robot-rubens1:11311'
alias rosamigo='export ROS_MASTER_URI=http://amigo1:11311'

alias rosdashboard='rosrun pr2_dashboard pr2_dashboard'
alias tuckarm='rosrun pr2_tuckarm tuckarm.py b'
alias teleop='roslaunch pr2_teleop teleop_joystick.launch'
alias teleopkey='roslaunch pr2_teleop teleop_keyboard.launch'
alias rviz='rosrun rviz rviz'

# This adds the route to the lab
alias pr2route='sudo route add -net 192.168.10.0 netmask 255.255.255.0 gw 10.33.175.57'

alias xacro='rosrun xacro xacro.py'
alias tilthorizontal='rosrun pr2_mechanism_controllers send_periodic_cmd.py laser_tilt_controller linear 1 0 0'
alias tiltscan='rosrun pr2_mechanism_controllers send_periodic_cmd.py laser_tilt_controller linear 4 1 0'
alias facedetector='roslaunch face_detector face_detector.wide.launch'
alias teleopbooth='roslaunch pr2_teleop_booth pr2_teleop_booth.launch'

alias rosenv='env | grep ROS'
alias rossim='export ROBOT=sim'
alias rosreal='export ROBOT=pr2'

I assume the bash wizards among us must have created some more fancy onces, these are mainly to cut down on the typing.

Is there a way to extend the bag file format with a description field that explains how the data was achieved/recorded. Or at least a link to a document that gives this details. I was thinking of something like:

rosbag record /tf -m "this was recorded for IROS paper 2011 with <settings> active and female test person, more info in bag_specs.txt"

Or even a:

--detail-file="_bag_specs.txt"

Perhaps there is such a functionality that I'm not aware of? (and no I don't want to be putting this into a topic which is also recorded)

I want to move from my Cturtle vslam installation to the diamondback version. After doing a sudo aptitude update and a sudo aptitude full-upgrade I try to install the ros-diamondback-vslam package however this fails because of different version dependencies:

koen@pma-09-031 ~ $ sudo aptitude install ros-diamondback-vslam 
The following NEW packages will be installed:
ros-diamondback-vslam{b} 
0 packages upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 155MB of archives. After unpacking 357MB will be used.
The following packages have unmet dependencies:
ros-diamondback-vslam: Depends: ros-diamondback-common-msgs (= 1.4.0-    s1298335197~maverick) but 1.4.0-s1299027564~maverick is installed.
                     Depends: ros-diamondback-driver-common (= 1.2.3-s1298335910~maverick) but 1.2.3-s1299028362~maverick is installed.
                     Depends: ros-diamondback-geometry (= 1.4.1-s1298335454~maverick) but 1.4.1-s1299027844~maverick is installed.
                     Depends: ros-diamondback-image-common (= 1.4.0-s1298338010~maverick) but 1.4.1-s1299029857~maverick is installed.
                     Depends: ros-diamondback-perception-pcl (= 0.9.0-s1298335998~maverick) but 0.10.0-s1299028482~maverick is installed.
                     Depends: ros-diamondback-ros (= 1.4.5-s1298334205~maverick) but 1.4.6-s1298587732~maverick is installed.
                     Depends: ros-diamondback-ros-comm (= 1.4.3-s1298334655~maverick) but 1.4.5-s1299027222~maverick is installed.
                     Depends: ros-diamondback-vision-opencv (= 1.4.1-s1298342629~maverick) but 1.4.1-s1299035380~maverick is installed.
The following actions will resolve these dependencies:

 Keep the following packages at their current version:
 1)     ros-diamondback-vslam [Not Installed]              

 Accept this solution? [Y/n/q/?] n

 *** No more solutions available ***

 The following actions will resolve these dependencies:

 Keep the following packages at their current version:
 1)     ros-diamondback-vslam [Not Installed]              

 Accept this solution? [Y/n/q/?] q
 Abandoning all efforts to resolve these dependencies.
 Abort.

Is this caused by a problem in the package generation?

I'm getting multiple projections of 3d points to the same pixel which don't coincide with the 3D ray but parallel with the image plane. This can be seen here:

I'm unable to find an error in my code or in the re-projection function (CODE API)

This is my code fragment in which I calculate it:

void calculateVoxels (void)
{
 Point2d uv;
 Point3d pt_cv;
 int width, height;
 double vox_number = 0;

 width = cam_model_.reducedResolution().width;
 height = cam_model_.reducedResolution().height;

 cloud_.width    = WORLD_RESOLUTION;
 cloud_.height   = 1;
 cloud_.is_dense = false;
 cloud_.points.resize (WORLD_RESOLUTION);
 ///Only calculate if the image and the camera info are received.
 if(image_rec_ & cam_info_rec_){
 double x, y , z;
 int a=0;
 int b=0;
 int c=0;
 for(x = WORLD_BEGIN_X; x < WORLD_MAX_X; a++){
  b = 0;
  for(y = WORLD_BEGIN_Y; y < WORLD_MAX_Y; b++){
    c = 0;
    for(z = WORLD_BEGIN_Z; z < WORLD_MAX_Z; c++){
      pt_cv = Point3d(x, y, z);

      ///WARNING!: (u,v) in rectified pixel coordinates!
      uv = cam_model_.project3dToPixel(pt_cv);

      ///@todo : check this, might be inverse
      ///Only if it falls on the image plane
      if((uv.x < height) && (uv.y < width) && (uv.x >=0) && (uv.y >= 0)){

        if(current_image_.at<int>(uv) != 0){
          world_[a][b][c] = 255;           ///Start indexing from 0,0,0 in the array!

          ///Also create the pointcloud
          cloud_.points[vox_number].x = x;
          cloud_.points[vox_number].y = y;
          cloud_.points[vox_number].z = z;
          vox_number ++;
        }
        else
          world_[a][b][c] = 0;
      }
      z= z + WORLD_STEP_Z;
    }
    y= y + WORLD_STEP_Y;
  }
  x= x + WORLD_STEP_X;
}

calc_voxels_ = true; 
///Trigger a update of the OpenGL world
if(do_opengl_){
  glutPostRedisplay();
}

///Save the pointcloud
cloud_.width = vox_number;            ///minimize the size of the pointcloud
cloud_.points.resize (vox_number);    ///maximal  vox_number points written
if(save_cloud_){
  pcl::io::savePCDFileASCII (PCL_PCD_SAVE, cloud_);
  ROS_INFO ("Saved %d data points to %s", (int)cloud_.points.size (), PCL_PCD_SAVE);
}

cloud_.header.frame_id = "world";
cloud_.header.stamp = ros::Time::now ();
pub_.publish(cloud_);

}
}

Could anyone give me an idea what the HD space requirements currently are for mirroring the ROS repository? We are currently considering setting up a mirror and looking at the server requirements.