dgossow's profile - activity

Do you run this on multiple computers, i.e. ros::Time::now() is not from the same clock as the tf info?

If you assign a (valid) timestamp, the marker should appear but not be moving at all, since it will use the transform fr

This is descibed in the InteractiveMarkerControl mesage definition:

http://docs.ros.org/api/visualization...

# Markers to be displayed as custom visual representation.
# Leave this empty to use the default control handles.
#
# Note: 
# - The markers can be defined in an arbitrary coordinate frame,
#   but will be transformed into the local frame of the interactive marker.
# - If the header of a marker is empty, its pose will be interpreted as 
#   relative to the pose of the parent interactive marker.
Marker[] markers

The calibration needs to compute the inverse Jacobians from your joint chain as described in the paper [1]. If there is only one or no joint in the chain (or joints with parallel axes), the Jabobian will be singular. That would explain why you get a singular matrix error.

I've run into the same problem and added a 'translation' parameter to the 'cov' section in the estimation parameters at some point, which lets you specify a diagonal matrix to add on top of the Jacobian to get an invertible covariance Matrix. This is undocumented unfortunately, like the rest of the calibration pipeline.. :/

my_chain:
  root: base_link
  tip: head_link
    cov:
       joint_angles: [0.01]
       translation: [0.002, 0.002, 0.002]

The calibration pipeline should also publish Markers under the topic "pose_guesses" that give you some introspection into how the calibration converges, and there's a tool called error_visualization.py that you should take a look at.

Good luck!

[1] http://www.willowgarage.com/sites/default/files/calibration.pdf‎

The camera displays have some callbacks registered to set the visibility flags and to hide the image texture in the main view. Also, all render panels need to do view frustum culling on the cpu. That would be my first guesses as to where the performance drops come from.

Try 'sudo apt-get install --reinstall nvidia-current'

I'm talking about tf, which is designed to handle moving coordinate frames. See the tutorials for further explanation: http://wiki.ros.org/tf/Tutorials

RViz wasn't designed with that use case in mind. You should look at ViewController / FramePositionTrackingViewController and their derived classes in RViz on how they set up the camera. There were a couple of changes between fuerte and groovy.

Maybe you're just not getting the right camera in this line:

const Ogre::Camera* camera = scene_manager_->getCameras().begin()->second;

You just need to write a node that publishes a transform from some virtual link (e.g. "world") to your robot (e.g. "base_link"), and set the fixed frame in RViz to "world". If you need interaction, take a look at Interactive Markers.

We had this problem when using two hydra controllers next to each other. If you only have one, it could be interference with an electromagnetic field that comes from somewhere else. Try using the hydra in another place to test this. Otherwise, it might just be broken.

The configure script and the oculus_sdk package both install udev rules. If you've run the install script from a newer sdk version, maybe it has installed an incompatible udev rule. Remove that file from /etc/udev/rules.d so only 90-oculus-hydro.rules is in there.

What's the rviz version?

Please use the tracking system for bug reports: https://github.com/ros-visualization/...

What branch of rviz and ros distro are you using?

Thank you for your comment. Since this is apparently a very emotional issue for you, I'm sure you're motivated enough to fix this and submit a pull request. I will personally review and merge it.

This is due to the rospack library printing to the console where it shouldn't. Please ignore this warning.

The only (hacky) way I see would be to add a 'rosnode kill' on the rviz instance launched by the 3rd party package and an rviz instance with a different config to your own launchfile.

RViz 1.10.3 had this bug, it's fixed in the most recent release.

Might be https://github.com/ros-visualization/rviz/issues/676. What version of RViz are you using? Please post the contents of the log file.

Just add a control with interaction type none and put a mesh or triangle list or points marker or whatever you want to have there in it.

I recently wrote a view controller which does exactly that. It's part of the oculus plugin: https://github.com/ros-visualization/oculus_rviz_plugins/blob/groovy-devel/src/fixed_view_controller.cpp

You need to set base_class_type="rviz::Tool" for RViz to find this.

You could subclass InteractionTool and get the object that's under the mouse from focused_object_. See https://github.com/ros-visualization/rviz/blob/hydro-devel/src/rviz/default_plugin/tools/interaction_tool.h#L73

What is the warning that shows up in the PointCloud2 Display?

In ROS Fuerte and earlier, this message is normal to come up the first time you launch RViz.

After RViz has come up, select File / Save Config and it should disappear next time run RViz.

EDIT: In any case, you will need to explicitly find_package Qt, since you need to run the moc generator on your plugin classes.

See https://github.com/ros-visualization/visualization_tutorials/blob/groovy-devel/rviz_plugin_tutorials/CMakeLists.txt on how to include Qt4 into your CMakeLists.txt.

Could you provide a link to your package.xml / CMakeLists.txt? Apart from that, it seems like RViz doesn't export it's dependencies correctly. As a workaround, you can put a find_package(Qt4 REQUIRED) etc. into your own CMakeLists.txt. I will see how to fix this in RViz.

RViz has been ported to Qt in ROS Fuerte, so you will need to port your plugins as well. There are two issues here:

• The plugin API has been somewhat redesigned, which explains the missing include. See http://ros.org/doc/groovy/api/rviz_plugin_tutorials/html/index.html for some tutorials.

• For the second problem, check that you have the dev packages for Qt installed. Do a rosdep update && rosdep install rviz, which should install libqt4-dev and libqt4-opengl-dev. On how to include Qt4 into your CMakeLists.txt, see https://github.com/ros-visualization/visualization_tutorials/blob/groovy-devel/librviz_tutorial/CMakeLists.txt.