rcj1986's profile - activity

Hi,

I have a problem when I build my package with catkin_make This is my code:

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
  ros::init(argc, argv, "mov_1");

  ros::AsyncSpinner spinner(1);
  spinner.start();

  move_group_interface::MoveGroup group("manipulator");
  group.setRandomTarget();
  group.move();
}

CMakeList.txt:

cmake_minimum_required(VERSION 2.8.3)
project(prueba_movimiento)

find_package(catkin REQUIRED COMPONENTS
  moveit_core
  roscpp
)
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES prueba_movimiento
  CATKIN_DEPENDS moveit_core roscpp
  DEPENDS system_lib
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(mov_1 src/mov_1.cpp)

target_link_libraries(mov_1
  moveit_move_group_interface
)

Error when I run catkin_make :

In file included from /opt/ros/hydro/include/moveit/robot_model/joint_model_group.h:41:0,
                 from /opt/ros/hydro/include/moveit/robot_model/robot_model.h:48,
                 from /opt/ros/hydro/include/moveit/robot_state/robot_state.h:41,
                 from /opt/ros/hydro/include/moveit/move_group_interface/move_group.h:40,
                 from /home/ramon/catkin_ws/src/prueba_movimiento/src/mov_1.cpp:2:
/opt/ros/hydro/include/moveit/robot_model/joint_model.h:47:26: fatal error: Eigen/Geometry: No such file or directory

How can I fix this??

Thanks.

Edited question.

Hi, I'm using UR5 moveit model with a kinect. I followed this tutorial

http://docs.ros.org/hydro/api/pr2_mov...

to add the kinect like a sensor. I add some parameter to do a self robot filter, but when I launch the robot model (roslaunch ur5_moveit_config demo.launch) I get the next error:

[ERROR] [1425487423.826931655]: Transform error: Lookup would require extrapolation into the future.  Requested time   1425487423.780933888 but the latest data is at time 1425487423.751322031, when looking up transform from frame   [forearm_link] to frame [camera_rgb_optical_frame]
[ERROR] [1425487423.827004659]: Transform cache was not updated. Self-filtering may fail.

Anyone know how to solve it?

Thanks.

This is my yaml file:

sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    point_cloud_topic: /camera/depth_registered/points
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filtered_cloud

Hi, I'm using ROS hydro in ubuntu 12.04 and kinect with openni_tracker, and I was wondering if is possible do the tracking without any pose.

Thanks.

Thank you for your reply.

Do you know if it's possible declare the result like a geometry_msgs::Pose or only the "normal" type of variables (float, int, etc)?

Hi, I'm following this tutorial http://wiki.ros.org/actionlib , and my question is,

The server can return a value to the client? How can I do?

thanks!!

Hi, I have a point cloud data from a kinect, and I want to transform this data to a world frame reference.

How can I do this?

Hi, I want to know if it is possible add a new frame by code.

For example a node publishing a frame and modify the position and orientation. Something like static_transform_publisher but doing it by code.

Thanks.

Hi, I'm using a kinect and openni_launch to get the images.

Openni_launch creates several frames, but where is each frame in the real kinect??

Thanks.

Thanks, I'll take a look. but I am still interested.

Hi, I have a calibrated stereo camera and I would like convert images to point cloud.

I'm going to do this with opencv, with the function reprojectImageTo3D, but I need the Q matrix.

I found another function to calculate the Q matrix but I don't know some parameters:

My calibration data:

Right camera:

image_width: 640
image_height: 480
camera_name: 00b09d0100a8cd50
camera_matrix:
  rows: 3
  cols: 3
  data: [618.406355982753, 0, 328.938909311292, 0, 622.618018605044, 192.823847411511, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.46935852500581, 0.495020825022316, 0.0069132704108347, 0.000957659601339344, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.987794979792204, 0.000360084570829607, -0.15575926372586, -0.00147162495744743, 0.999974269489065, -0.00702101700582399, 0.155752727800526, 0.00716454457124124, 0.987770093232116]
projection_matrix:
rows: 3
cols: 4
data: [2536.3424975867, 0, 419.49533700943, 112.802583009304, 0, 2536.3424975867, 207.939946174622, 0, 0, 0, 1, 0]

Left camera:

image_width: 640
image_height: 480
camera_name: 00b09d01009b8da3
camera_matrix:
  rows: 3
  cols: 3
  data: [1303.84092827502, 0, 305.740018425863, 0, 1314.11682894773, 177.738196152231, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
   rows: 1
   cols: 5
   data: [-0.151635456291086, 0.3629641480367, -0.00784184518383463, -0.000413869770118943, 0]
rectification_matrix:
   rows: 3
   cols: 3
   data: [0.98618892981478, -0.00296598739861576, -0.165597698140795, 0.0041481493735406, 0.999968321024829, 0.006793364671487, 0.165572303141417, -0.0073864650230178, 0.986169991718928]
projection_matrix:
 rows: 3
 cols: 4
 data: [2536.3424975867, 0, 419.49533700943, 0, 0, 2536.3424975867, 207.939946174622, 0, 0, 0, 1, 0]

How I obtain the R and T?

stereoRectify(InputArray cameraMatrix1, => camera_matrix_left
              InputArray distCoeffs1, => distortion_coefficients_left
              InputArray cameraMatrix2, => camera_matrix_right
              InputArray distCoeffs2, => distortion_coefficients_right
              Size imageSize, => size of the images
              InputArray R, => ??????
              InputArray T => ??????
              OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q)