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I want to work with pcl_ros in a package but I don't know how to include it in the CMakeLists.txt file. I tried to use:

find_package(catkin REQUIRED
    roscpp
    sensor_msgs
    pcl_ros
)

Unfortunately it is not working. I get an error when compiling.

I am using ROS Hydro (catkin system) but the perception package (pcl_ros) was downloaded manually and is inside my workspace.

I would appreciate if you can help me.

[EDIT]

CMake Error at /home/summitxl/catkin_ws/build/Compilados/pcl_msgs-hydro-devel/cmake/pcl_msgs-genmsg.cmake:53 (add_custom_target):
  add_custom_target cannot create target "pcl_msgs_generate_messages_cpp"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/summitxl/catkin_ws/src/pcl2_to_scan".  See documentation for policy
  CMP0002 for more details.
Call Stack (most recent call first):
  /home/summitxl/ros_catkin_ws/install_isolated/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  Compilados/pcl_msgs-hydro-devel/CMakeLists.txt:14 (generate_messages)    

CMake Error at /home/summitxl/catkin_ws/build/Compilados/pcl_msgs-hydro-devel/cmake/pcl_msgs-genmsg.cmake:100 (add_custom_target):
  add_custom_target cannot create target "pcl_msgs_generate_messages_lisp"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/summitxl/catkin_ws/src/pcl2_to_scan".  See documentation for policy
  CMP0002 for more details.
Call Stack (most recent call first):
  /home/summitxl/ros_catkin_ws/install_isolated/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  Compilados/pcl_msgs-hydro-devel/CMakeLists.txt:14 (generate_messages)


CMake Error at /home/summitxl/catkin_ws/build/Compilados/pcl_msgs-hydro-devel/cmake/pcl_msgs-genmsg.cmake:147 (add_custom_target):
  add_custom_target cannot create target "pcl_msgs_generate_messages_py"
  because another target with the same name already exists.  The existing
  target is a custom target created in source directory
  "/home/summitxl/catkin_ws/src/pcl2_to_scan".  See documentation for policy
  CMP0002 for more details.
Call Stack (most recent call first):
  /home/summitxl/ros_catkin_ws/install_isolated/share/genmsg/cmake/genmsg-extras.cmake:299 (include)
  Compilados/pcl_msgs-hydro-devel/CMakeLists.txt:14 (generate_messages)

CMake Error at /home/summitxl/ros_catkin_ws/install_isolated/share/dynamic_reconfigure/cmake/extras.cmake:60 (add_custom_target):
  add_custom_target cannot create target "pcl_ros_gencfg" because another
  target with the same name already exists.  The existing target is a custom
  target created in source directory
  "/home/summitxl/catkin_ws/src/pcl2_to_scan".  See documentation for policy
  CMP0002 for more details.
Call Stack (most recent call first):
  perception_pcl-hydro-devel/pcl_ros/CMakeLists.txt:43 (generate_dynamic_reconfigure_options)

CMake Warning at navigation-hydro-devel/costmap_2d/CMakeLists.txt:143 (find_package):
  By not providing "Findgtest.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gtest", but
  CMake did not find one.

  Could not find a package configuration file provided by "gtest" with any of
  the following names:

    gtestConfig.cmake
    gtest-config.cmake

  Add the installation prefix of "gtest" to CMAKE_PREFIX_PATH or set
  "gtest_DIR" to a directory containing one of the above files.  If "gtest"
  provides a separate development package or SDK, be sure it has been
  installed.

I have a PointCloud2 topic and I need to access the x, y and z of the points. I have found: pcl::PointCloud<pcl::pointxyzrgb>::ConstPtr

The problem is that I don't know how to use it.

Do you know where can I find some example code describing how to get coordinates in PCL2?

[EDIT]

Now, I am using this code but it is not working properly

void pcl2_to_scan::callback(const sensor_msgs::PointCloud2ConstPtr &pPCL2)
{
        for (uint j=0; j < pPCL2->height * pPCL2->width; j++){
            float x = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[0].offset];
            float y = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[1].offset];
            float z = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[2].offset];
            // Some other operations
       }
}

Thank you.

I have a sensor to detect obstacles that are not visible. I want my robot to avoid them because they are dangerous despite not being visible.

I have a path planning working with my laser sensor. So, I imagine that the best way of avoiding this potentially harmful points is by introducing them in the obstacle map.

Is it possible? How can I do it and prevent the laser clearing them in the map?

Thank you

EDIT:

I am using navigation package with my TOF camera to implement an AMCL and a path planning. The problem I have is that I need to add invisible obstacles (they are recognised by a radio frequency system). My path planning is working properly right now, but I need to introduce more information in the map.

I don't know much about computer vision but what I have to do is pretty simple (At least, it is what I was told).

I want to identify red color on the image, and I have read that the first step is to process the image (before the thresholding) but I don't know which filters or operations are usually made. I have already done the cv_bridge transformation to OpenCV format and the threlholding.

Does anyone know anything about it? Thank you

I have a frame tree in which I have /odom and /map frames.

My EKF publishes in /odom frame. My AMCL algorithm (I think) creates a transformation between /odom and /map frames.

Gazebo gives me the modelStates positions. The problem is that it doesn't specify a frame. By default, it is set to be world_frame. I want to check how good is my AMCL. Because of that I think I should transform my /odom position given by EKF to /map frame and there compare it to gazebo's measurements. However, I don't know where Gazebo is referencing the position.

[QUESTION UPDATE] I have two issues that are explined below:

1) Without any AMCL (and without having /map frame in the tree) I used the Gazebo ModelStates topic to check the EKF result assuming that both were published in /odom frame. Was it Ok?

2) Now I have an AMCL running and because of it /map frame appears in the tree. I want to check how good is my AMCL algorithm comparing the pose shown in /amcl_pose (which is in /map frame) with /gazebo/ModelStates topic. How can I do that? I don't know which frame does gazebo use to reference the data in topic ModelStates. Thank you very much

[EDIT]

I have changed my question because I think what I am trying to do is bit different from what was explained here before.

I have a Callback and I need to read a different topic inside this callback. I don't know if it is possible, but I have to ensure that some part of the code is only executed if the other topic has a particular value.

Any case, I don't know if I can read a topic or execute a particular Callback while I am just executing one callback

Thank you.

I am working on some code that I haven't made. The thing is that I have to work in Hydro and this code was made for Fuerte.

I tried to catkinize the packages changing the manifest.xml and CMakeLists.txt I don't know if it is needed to change anything else but when I try to make the package I get an error.

CMakeFiles/LLtoUTMsNode.dir/src/LLtoUTMsNode.cpp.o: In function `ros::serialization::Stream::advance(unsigned int)':
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: undefined reference to `ros::serialization::throwStreamOverrun()'
CMakeFiles/LLtoUTMsNode.dir/src/LLtoUTMsNode.cpp.o:/home/summitxl/ros_catkin_ws/install_isolated/include/ros/serialization.h:721: more undefined references to `ros::serialization::throwStreamOverrun()' follow
collect2: error: ld returned 1 exit status

make[2]: *** [/home/summitxl/catkin_ws/devel/lib/test_GPS/LLtoUTMsNode] Error 1

make[1]: *** [Ensayos/test_GPS/CMakeFiles/LLtoUTMsNode.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

I've seen the package has changed a lot since I used it the last time.

I have a doubt: Is it correct the structure shown in the picture (with two map frames)?

It is positive, because it has the Z axis going down. I am using this driver: http://wiki.ros.org/microstrain_3dmgx...

I am using 3DM-GX3-5 OEM, which is supported in ROS (It has its own drivers). I think the problem is that the magnetometer is not well calibrated becasuse: 1. The gravity is completely removed in X axis. 2. In the EKF output, the Vy increases continously

I am using the last version of robot_localization.

I have a 3DM-GX3-5 OEM IMU sensor in my robot. I want to remove the effect of gravity in the EKF.

I have set the parameter in the launchfile so to do that. However, my results are not good because (I suppose) the EKF thinks there is some acceleration in Y axis.

I don't know exactcly how does it work, but I can imagine that the filter use the orientation given by the IMU topic to remove the acceleration due to gravity in the 3 axis. If I am right, the problem might be in the orientation calibration.

Any idea of what can be happening?

I can post my configuration file if you want

Hi

I have an autonomous robot using move_base package. When it is moving everything is OK but when it receives a new goal, the initial turn that it makes in place is wrong. It chooses the side that has the biggest angle.

[EDIT] I am using the default planner en move_base package. (not dwa)

Thank you