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2015-03-18 03:21:16 -0500 commented question Network with rosjava RosCore and ubuntu hydro nodes not working

I want to run everything embedded on Android so no Python (at least not easily)

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2015-02-26 03:19:29 -0500 asked a question Network with rosjava RosCore and ubuntu hydro nodes not working

Hi all, I'm trying to run a very simple network consisting of a rosjava MasterServer, and two nodes on a separate Ubuntu 12.04 machine running Hydro.

I start the RosCore with the following code:

public static void main(String [] args) {
    RosCore mRosCore = RosCore.newPublic(11311);
    mRosCore.start();
    try {
        mRosCore.awaitStart(5, TimeUnit.SECONDS);
    } catch (InterruptedException e) {
        e.printStackTrace();
    }
   System.out.println("Ros core started");
   while (true);
}

Then on the Ubuntu machine, I use rostopic to publish / subscribe to a simple String topic. The first time, everything works seamlessly. But when I stop either the publisher or subscriber, I get an error on the Java machine:

févr. 26, 2015 10:02:50 AM org.apache.xmlrpc.server.XmlRpcErrorLogger log
SEVERE: No such handler: system.multicall
org.apache.xmlrpc.server.XmlRpcNoSuchHandlerException: No such handler: system.multicall
    at org.apache.xmlrpc.server.AbstractReflectiveHandlerMapping.getHandler(AbstractReflectiveHandlerMapping.java:214)
    at org.apache.xmlrpc.server.XmlRpcServerWorker.execute(XmlRpcServerWorker.java:45)
    at org.apache.xmlrpc.server.XmlRpcServer.execute(XmlRpcServer.java:86)
    at org.apache.xmlrpc.server.XmlRpcStreamServer.execute(XmlRpcStreamServer.java:200)
    at org.apache.xmlrpc.webserver.Connection.run(Connection.java:208)
    at org.apache.xmlrpc.util.ThreadPool$Poolable$1.run(ThreadPool.java:68)

Then when I try to restart the publisher or subscriber, it fails to contact the master:

Unable to register with master node [http://192.168.1.204:11311]: master may not be running yet. Will keep trying.

And the Master machine spits out those errors in a loop:

egistrationManagerImpl  E  Error during onNodeReplacement call
                        E  java.lang.RuntimeException: java.net.ConnectException: failed to connect to /192.168.1.204 (port 46396) after 60000ms: isConnected failed: ECONNREFUSED
                            (Connection refused)
                        E      at org.ros.internal.node.xmlrpc.XmlRpcClientFactory$1.invoke(XmlRpcClientFactory.java:157)
                        E      at java.lang.reflect.Proxy.invoke(Proxy.java:397)
                        E      at $Proxy0.shutdown(Unknown Source)
                        E      at org.ros.internal.node.client.SlaveClient.shutdown(SlaveClient.java:62)
                        E      at org.ros.internal.node.server.master.MasterServer.onNodeReplacement(MasterServer.java:485)
                        E      at org.ros.internal.node.server.master.MasterRegistrationManagerImpl.obtainNodeRegistrationInfo(MasterRegistrationManagerImpl.java:431)
                        E      at org.ros.internal.node.server.master.MasterRegistrationManagerImpl.registerPublisher(MasterRegistrationManagerImpl.java:97)
                        E      at org.ros.internal.node.server.master.MasterServer.registerPublisher(MasterServer.java:216)
                        E      at org.ros.internal.node.xmlrpc.MasterXmlRpcEndpointImpl.registerPublisher(MasterXmlRpcEndpointImpl.java:92)
                        E      at java.lang.reflect.Method.invoke(Native Method)
                        E      at java.lang.reflect.Method.invoke(Method.java:372)
                        E      at org.apache.xmlrpc.server.ReflectiveXmlRpcHandler.invoke(ReflectiveXmlRpcHandler.java:115)
                        E      at org.apache.xmlrpc.server.ReflectiveXmlRpcHandler.execute(ReflectiveXmlRpcHandler.java:106)
                        E      at org.apache.xmlrpc.server.XmlRpcServerWorker.execute(XmlRpcServerWorker.java:46)
                        E      at org.apache.xmlrpc.server.XmlRpcServer.execute(XmlRpcServer.java:86)
                        E      at org.apache.xmlrpc.server.XmlRpcStreamServer.execute(XmlRpcStreamServer.java:200)
                        E      at org.apache.xmlrpc.webserver.Connection.run(Connection.java:208)
                        E      at org.apache.xmlrpc.util.ThreadPool$Poolable$1.run(ThreadPool.java:68)

Is there something I am completely missing here? I know rosjava is not that mature but I thought my setup is ... (more)

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2014-12-22 06:15:13 -0500 asked a question Best way to rosmaster on Android

Hi all,

I want to start a rosmaster process on Android without any user input and I'm looking for the best way to do it.

Using RosActivity and the MasterChooser is not possible because this requires the user to input information. rosmaster is written in python and I'd rather not try running python stuff on Android. I tried to copy RosActivity and bind to NodeMainExecutorService but the binder in that class is private.

I'm running out of ideas and would appreciate any help from the rosjava / rosandroid guys. Thanks in advance!

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2014-08-14 08:15:34 -0500 asked a question base_local_planner does not respect velocity constraints

I have a custom robot with fairly low vel and acc constraints, especially in theta. To be more precise:

max_rotational_vel: 0.1
max_vel_theta: 0.1
max_vel_x: 0.5
min_in_place_vel_theta: 0.05
min_vel_theta: -0.1
min_vel_x: 0

The problem

When I give a goal to the planner, it usually manages to reach it after a while, but on several occasions just start rotating on itself at high speeds.

My setup

My planners are setup so that the local_costmap is always empty (no sensor used to mark it), and my global_costmap is filled in with a static map which is of decent quality (obtained with a Kinect). I've tested the AMCL localization part and it seems ok, it is a bit jumpy at times but it doesn't look correlated to when the robot decides to rotate on itself.

Some data

After debugging, I've noticed that the planner sends /cmd_vel messages that do not respect the constraints I've given it.

I've rebuilt the navigation stack to show more logs, and I pasted the output of a simple run here

http://pastebin.com/yAHf61f5

On the logs, you'll see sometimes the planner gives me a very high rotational speed command (lines 48 and 87 for example), and for no apparent reason (no recovery behavior triggered)

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2012-04-04 05:14:11 -0500 marked best answer Kinect - no devices connected on openni_node.launch

Hi all, I'm starting with the turtlebot but can't get the Kinect to be recognized. I am runnig diamondback.

I redid sudo apt-get install openni_kinect just to make sure it was there, but didn't solve the problem.

Output of lsusb:

Bus 005 Device 002: ID 13d3:3315 IMC Networks 
Bus 005 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 001 Device 008: ID 045e:02b0 Microsoft Corp. 
Bus 001 Device 007: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 002: ID 13d3:5702 IMC Networks 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

Output of roslaunch openni_camera openni_node.launch:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://turtlebot-laptop:42441/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /openni_node1/use_indices
 * /openni_node1/depth_registration
 * /openni_node1/image_time_offset
 * /openni_node1/depth_frame_id
 * /openni_node1/depth_mode
 * /openni_node1/debayering
 * /rosversion
 * /openni_node1/projector_depth_baseline
 * /openni_node1/rgb_frame_id
 * /openni_node1/depth_rgb_translation
 * /openni_node1/depth_time_offset
 * /openni_node1/image_mode
 * /openni_node1/shift_offset
 * /openni_node1/device_id
 * /openni_node1/depth_rgb_rotation

NODES
  /
    openni_node1 (openni_camera/openni_node)
    kinect_base_link (tf/static_transform_publisher)
    kinect_base_link1 (tf/static_transform_publisher)
    kinect_base_link2 (tf/static_transform_publisher)
    kinect_base_link3 (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [22450]
ROS_MASTER_URI=http://192.168.1.11:11311

setting /run_id to a30405ca-f056-11e0-83fc-5c260a051546
process[rosout-1]: started with pid [22463]
started core service [/rosout]
process[openni_node1-2]: started with pid [22473]
process[kinect_base_link-3]: started with pid [22476]
process[kinect_base_link1-4]: started with pid [22477]
process[kinect_base_link2-5]: started with pid [22478]
process[kinect_base_link3-6]: started with pid [22479]
[ INFO] [1317931571.886741090]: [/openni_node1] No devices connected.... waiting for devices to be connected
[ INFO] [1317931572.887058521]: [/openni_node1] No devices connected.... waiting for devices to be connected
[ INFO] [1317931573.887393253]: [/openni_node1] No devices connected.... waiting for devices to be connected

Thanks in advance for any help!

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2011-12-06 14:43:04 -0500 answered a question Cant get data from Create robot - Error reading from SCI port ttyUSB0

turned out my cable was faulty...

2011-11-28 13:33:00 -0500 commented question Cant get data from Create robot - Error reading from SCI port ttyUSB0
I did sudo chmod a+rw /dev/ttyUSB0 but still no luck :-(
2011-11-28 13:11:41 -0500 commented question Cant get data from Create robot - Error reading from SCI port ttyUSB0
I ran dmesg and it confirmed that the turtlebot is connected to ttyUSB0, which is the one the minimal.launch is looking for it; so I reckon it should be ok 'usb 2-1: FTDI USB Serial Device converter now attached to ttyUSB0'
2011-11-28 12:31:52 -0500 commented question Cant get data from Create robot - Error reading from SCI port ttyUSB0
Thanks I've edited the question
2011-11-28 11:20:44 -0500 asked a question Cant get data from Create robot - Error reading from SCI port ttyUSB0

Hi all,

in the turtlebot-dashboard all the sensors are Stale apart from the Laptop battery one, and when I do roslaunch turtlebot_bringup minimal.launch I get the code below. Weird thing is it worked perfectly yesterday; then I played with Kinect drivers and then it stopped working. So I did a fresh ubuntu install on the turtlebot laptop but I still get the same!

Turtlebot is on and light is green by the way so there is plenty of power. I've also checked /etc/udev/rules.d/52-turtlebot.conf and it has read and write rules (666). I also checked dmesg and the turtlebot is on ttyUSB0. I can also see the leds on the irobot cable light up in both directions so there is traffic.

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.15:49038/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /robot_pose_ekf/sensor_timeout
 * /diagnostic_aggregator/analyzers/sensors/path
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot/name
 * /diagnostic_aggregator/analyzers/mode/timeout
 * /diagnostic_aggregator/analyzers/sensors/timeout
 * /diagnostic_aggregator/analyzers/power/type
 * /turtlebot_node/update_rate
 * /diagnostic_aggregator/analyzers/power/timeout
 * /diagnostic_aggregator/analyzers/mode/type
 * /diagnostic_aggregator/analyzers/digital_io/path
 * /diagnostic_aggregator/analyzers/digital_io/timeout
 * /rosdistro
 * /robot_description
 * /diagnostic_aggregator/base_path
 * /robot_pose_ekf/freq
 * /app_manager/interface_master
 * /robot_pose_ekf/vo_used
 * /diagnostic_aggregator/analyzers/sensors/type
 * /diagnostic_aggregator/analyzers/digital_io/startswith
 * /diagnostic_aggregator/analyzers/power/path
 * /robot_pose_ekf/output_frame
 * /diagnostic_aggregator/analyzers/mode/path
 * /diagnostic_aggregator/analyzers/digital_io/type
 * /diagnostic_aggregator/analyzers/mode/startswith
 * /rosversion
 * /diagnostic_aggregator/pub_rate
 * /robot_state_publisher/publish_frequency
 * /diagnostic_aggregator/analyzers/sensors/startswith
 * /diagnostic_aggregator/analyzers/power/startswith
 * /turtlebot_node/bonus
 * /robot/type
 * /robot_pose_ekf/publish_tf

NODES
  /
    appmaster (app_manager/appmaster)
    app_manager (app_manager/app_manager)
    turtlebot_node (turtlebot_node/turtlebot_node.py)
    turtlebot_laptop_battery (turtlebot_node/laptop_battery.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)

ROS_MASTER_URI=http://192.168.1.15:11311

core service [/rosout] found
process[appmaster-1]: started with pid [14445]
process[app_manager-2]: started with pid [14446]
process[turtlebot_node-3]: started with pid [14447]
process[turtlebot_laptop_battery-4]: started with pid [14448]
process[robot_state_publisher-5]: started with pid [14449]
process[diagnostic_aggregator-6]: started with pid [14450]
process[robot_pose_ekf-7]: started with pid [14451]
Unhandled exception in thread started by <bound method XmlRpcNode.run of <roslib.xmlrpc.XmlRpcNode object at 0xf851d0>>
Traceback (most recent call last):
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 194, in run
    self._run()
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 217, in _run
    self.server = ThreadingXMLRPCServer((bind_address, port), log_requests)
  File "/opt/ros/electric/ros/core/roslib/src/roslib/xmlrpc.py", line 97, in __init__
    SimpleXMLRPCServer.__init__(self, addr, SilenceableXMLRPCRequestHandler, log_requests)
  File "/usr/lib/python2.6/SimpleXMLRPCServer.py", line 539, in __init__
    SocketServer.TCPServer.__init__(self, addr, requestHandler, bind_and_activate)
  File "/usr/lib/python2.6/SocketServer.py", line 400, in __init__
    self.server_bind()
  File "/usr/lib/python2.6/SocketServer.py", line 411, in server_bind
    self.socket.bind(self.server_address)
  File "<string>", line 1, in bind
socket.error: [Errno 98] Address already in use
turtlebot_apps.installed
loading installation data for [turtlebot_apps.installed]
[INFO] [WallTime: 1322529211.211220] Starting app manager for turtlebot
[INFO] [WallTime: 1322529211.301508] Waiting ...
(more)
2011-11-27 13:41:59 -0500 commented answer Kinect - no devices connected on openni_node.launch
Thanks I needed to set the mode to Full in the turtlebot dashboard in order to power up the Kinect.
2011-11-27 13:41:59 -0500 marked best answer Kinect - no devices connected on openni_node.launch

Hi, lsusb should give 3 devices of Microsoft as below.

Bus 002 Device 009: ID 045e:02ae Microsoft Corp. 
Bus 002 Device 008: ID 045e:02ad Microsoft Corp. 
Bus 002 Device 007: ID 045e:02b0 Microsoft Corp.

I mean this is not w r t turtlebot, but in general when connecting Kinect using external power supply. When its disconnected from external supply it gives the one device as in your case.

Thanks, Karthik