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2018-04-12 11:14:41 -0500 | marked best answer | Octomap volume estimation Hello Everyone, I am trying to calculate the volume of octomap generated in octomap_server. Also I only want to calculate the volume containing occupied voxels(not the empty ones). Also some voxels overlap each other. So any thoughts on calculate the the volume?. Thank you. |
2017-09-13 19:27:53 -0500 | marked best answer | Compilation error while installing Moveit from source Hello everyone, I was trying to do source based installation of recently released "Moveit". When the installation reached 61% I am getting the following error: [ 60%] Building CXX object moveit_ros/planning/trajectory_execution_manager/CMakeFiles/test_controller_manager.dir/test/test_app.cpp.o Linking CXX shared library /home/karthik/groovy_workspace/moveit/devel/lib/libtest_controller_manager_plugin.so /home/karthik/groovy_workspace/moveit/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp: In member function ‘void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree()’: /home/karthik/groovy_workspace/moveit/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:533:10: error: ‘class shapes::Mesh’ has no member named ‘mergeVertices’ [ 60%] Built target test_controller_manager_plugin Linking CXX executable /home/karthik/groovy_workspace/moveit/devel/lib/moveit_ros_planning/test_controller_manager [ 60%] Built target test_controller_manager make[2]: *** [moveit_ros/planning/planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/src/planning_scene_monitor.cpp.o] Error 1 make[1]: *** [moveit_ros/planning/planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/all] Error 2 make: *** [all] Error 2 Invoking "make" failed I tried uninstalling ROS,reinstalled it again without debian based moveit and it gives the same issue. Please help me on this. |
2016-12-02 16:47:37 -0500 | marked best answer | How to read the x,y,z coordinates of point cloud from the LIDAR SICK LMS 200. Goal: To employ obstacle avoidance by interpreting the data from the LIDAR using PCL Description: Hi everyone, I am working with a LIDAR device for the first time. I used the sick toolbox ros wrapper for reading the values from the LIDAR. I converted the "scan" topic given out by the LIDAR device to point-cloud 2 format. here is the program: This above node gives out the point cloud 2 topic "cloud". I subscribed to this topic in the following program. I was successful in reading the widht and height of the point clouds,but I need some help reading the X,Y,Z coordinates. I also need to know how to access the other objects which might be useful in data processing. Here is the output for that: (more) |
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2015-09-28 01:12:52 -0500 | marked best answer | PCL-ROS run time error while doing plane segmentation. Hello everyone, I am trying to do plane segmentation using PCL and ROS. I am using the sensor Asus xtion pro live. I was able to launch openni_kinect and got the sensor pumping out necessary coordinates. Here is my program:
ros::Publisher pub;
sensor_msgs::PointCloud2::Ptr downsampled,output;
void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
pcl::PointCloud<pcl::pointxyz>::Ptr output_p(new pcl::PointCloud<pcl::pointxyz>);
pcl::PointCloud<pcl::pointxyz>::Ptr downsampled_XYZ(new pcl::PointCloud<pcl::pointxyz>);
output_p->width = 15;
output_p->height = 1;
output_p->points.resize (output_p->width * output_p->height);
downsampled_XYZ->width = 15;
downsampled_XYZ->height = 1;
downsampled_XYZ->points.resize (output_p->width * output_p->height);
pcl::VoxelGrid<sensor_msgs::pointcloud2> sor;
sor.setInputCloud (input);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*downsampled);
// Change from type sensor_msgs::PointCloud2 to pcl::PointXYZ
pcl::fromROSMsg (*downsampled, *downsampled_XYZ);
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
// Create the segmentation object
pcl::SACSegmentation<pcl::pointxyz> seg;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (1000);
seg.setDistanceThreshold (0.01);
// Create the filtering object
pcl::ExtractIndices<pcl::pointxyz> extract;
// Segment the largest planar component from the cloud
seg.setInputCloud (downsampled_XYZ);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
}
// Extract the inliers
extract.setInputCloud (downsampled_XYZ);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*output_p);
std::cerr << "PointCloud representing the planar component: " << output_p->width * output_p->height << " data points." << std::endl;
// Create the filtering object
// extract.setNegative (true);
// extract.filter (*cloud_f);
// cloud_filtered.swap (cloud_f);
pcl::toROSMsg (*output_p, *output);
//Publish the results
pub.publish(output);
}
// Publish the model coefficients
int main (int argc, char** argv)
{
// Initialize ROS
ros::init (argc, argv, "pcs200");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe ("/camera/depth/points", 100, cloud_cb);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::pointcloud2> ("output/points", 100);
// Spin
ros::spin ();
}
so the run time error is: : /usr/include/boost/smart_ptr/shared_ptr.hpp:412: boost::shared_ptr<t>::reference boost::shared_ptr<t>::operator*() const [with T = sensor_msgs::PointCloud2_<std::allocator<void> >, boost::shared_ptr<t>::reference = sensor_msgs::PointCloud2_<std::allocator<void> >&]: Assertion `px != 0' failed. Aborted I am aware of the shared pointer issue through this post http://answers.ros.org/question/39818/ros-pcl-run-time-error-segmenting-planes/ . As a matter of fact the code developed is based on this. I know the answer is very near ,Can you guys please help me out on this?. Thanks. regards, |
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2015-03-05 13:16:52 -0500 | answered a question | Fitting line to pointcloud data It works now!!. I was visualizing it wrongly. The trick is to take the rotation coefficients and convert it into quaternions, which is what RVIZ understands. Here is the modified code snippet which does that: Screenshot from 2015-03-05 13:09:42.png Screenshot from 2015-03-05 13:09:48.png |
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2015-01-08 18:19:40 -0500 | asked a question | Fitting line to pointcloud data Hello Everyone, I am trying to fit a line to a point-cloud data received from a 2D lidar. I am using random sample consus from pcl library to get this done. The first picture when the LIDAR is aligned with the wall, the line fits well. But when lidar is yawed the line deviates by certain degrees.
Here is the code which does it: (more) |
2015-01-07 14:51:23 -0500 | asked a question | ROS Driver for Keyence SZ-16D safety Sensor Hello Everyone, I am working on a Keyence 2D Lidar SZ-16D. The LIDAR communicates with the computer through RS-422A interface. I was wondering if someone has already written the ROS driver for it. If not I would like to write one, it would be really great if someone with a experience of ROS driver development(for lidars)experience could show me the direction. Thank you |
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2014-12-05 17:55:22 -0500 | asked a question | Using the Navigation stack on a larger vehicle Hello Everyone, I have a mobile robot(Rectangle size) of about 10X16 ft. I am trying to make it autonomous in an indoor area. The scene is not gonna be much cluttered. Imagine it is in pose A and I need it go to pose B. I can get encoder data from the Omnidirectional wheels on the base and the laser scan data from the LIDAR. Could you please advise whether its advisable to move ahead with this package for this problem?. Also have anyone out there tried using ros navigation on a larger vehicle?. Please let me know, Thank you. |
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2014-04-20 13:20:58 -0500 | marked best answer | Calculating the distance between two planes in rviz Hello everyone, I am working on a project to calculate the distance between the vehicle's base and the ground. I am working on Ubuntu 11.10 with ROS-electric(with PCL) and using Asus xtion pro live RGB-D sensor. I have successfully filtered two planes. Necessary for the foot placement of a humanoid robot. Here is the video: http://www.youtube.com/watch?v=6x4PLk89mig . Is there an easy way to calculate the distance between these two planes rather than me plugging in formula(or developing a ROS node) to calculate the distance between the planes. thanks, karthik. |
2014-04-20 13:16:54 -0500 | marked best answer | Trouble viewing Lidar data in rviz Hello everyone, I am working on a project where it requires for me to fuse lidar data and also the data from a stereo camera(bumblebee). The main issue for now ,the Lidar data which is being viewed in rviz is not showing the coordinates in the z-axis. Please have a look at this video for more detailed picture of my project: http://www.youtube.com/watch?v=vCrcEc5B6p0&feature=g-crec-u . As you see towards the end of the video the point clouds are set flat on the screen. I want to be able to do 3D rendering like the PR2 does. Also I am using the hokuyo Lidar(URG-04LX),Can it do the 3D rendering as I expect it to?. I think there is a need to have an on-board IMU for this problem. Please share your views. Thank you. karthik |
2014-04-20 13:01:55 -0500 | marked best answer | Implementing SLAM on a car-like robot using the navigation stack in ROS. Hi everyone, I have been assigned to work on Ackermann type robot and my task is to make it autonomous and implement SLAM on it. I did consider ros-navigation stack and I came across this post http://answers.ros.org/question/9059/how-can-i-use-the-navigation-stack-on-a-carlike/. Before I shoot out my questions,I would like to give a picture of whats going on. here is video for my robot:http://www.youtube.com/watch?v=8fZYF8Zn3zA Components of the robot: 1.sdc2130 motor driver 2.encoders from US digital 3.SICK LIDAR(LMS-200) 4.2 lead acid(12 V ) batteries. 5.2 DC motors Goals: 1.To achieve SLAM in unkown environment and also to achieve autonomous navigation and obstacle avoidance. Tasks accomplished: 1.Developed a ros node for the motor control as shown in the video. 2.Developed a ros node for reading the encoder values and pumping out the data to the odometry node. Things yet to be done: 1.identifying the ideal motion primitive and implementing it in the ros-navigation(which I have no clue how to start). 2. Rewriting the local planner. Questions: 1. I would like to know whether the navigation stack could be implemented successfully in this type of robot. 2.Is there any other approach in ROS to achieve SLAM in this type of robot?. I am aware that the files trajectory_planner.cpp ,trajectory_planner.h(Local planner) in navigation/base_local_planner are the ones which need editing. I also need to know how to choose the right motion primitives in SBPL and how to implement it in ros navigation stack. Please share your views on this. Thanks for your time. regards, Karthikeyan Yuvaraj |
2014-04-20 12:55:55 -0500 | marked best answer | Issues controlling the motor controller "Roboteq’s SDC2130" using ROS serial. Hey guys, I need your perspective on the problem,I am facing. I tried to connect with the motor controller SDC2130(from Robotech). Here is the error,I am getting : >>rosrun rosserial_python serial_node.py [INFO] [WallTime: 1340943422.708854] ROS Serial Python Node [INFO] [WallTime: 1340943422.713271] Connected on /dev/ttyACM0 at 115200 baud [ERROR] [WallTime: 1340943424.826012] Failed to parse publisher: unpack requires a string argument of length 2 [ERROR] [WallTime: 1340943437.722695] Lost sync with device, restarting... [ERROR] [WallTime: 1340943437.733680] Failed to parse publisher: unpack requires a string argument of length 2 Is ros serial tuned to work only with arduino boards?. Do I need to interface the arduino board in order to use ros serial for communicating with the motor controller?. Please share your views. Thank you. |
2014-04-20 12:46:08 -0500 | marked best answer | trouble creating launch file hello Guys , I am trying to create a launch file which would execute the command: rosrun ardrone_brown ardrone_driver so here is the launch file: <launch> <node name="ardrone_driver" pkg="ardrone_brown" type="ardrone_driver"/> </launch>
and here is the corresponding output when I execute the launch file:: please give your prespective on this |
2014-04-20 12:28:00 -0500 | marked best answer | How to make opencv and ROS work together? I have been stuck on this issue for days .I am trying to access image using ros and then do simple opencv algorithms like canny edge. I do cmake and when I rosmake this particular issue keeps rising from cv_bridge.H. "//usr/local/lib/libopencv_gpu.so.2.3: undefined reference to `cv::gpu::GpuMat::release()'" I installed the CUDA driver and it says the same error again.What am I doing wrong here? I thought ROS and OPENCV are compatible but it does not seem like that seem that all. Please share your perspective. |
2014-04-20 12:27:57 -0500 | marked best answer | Executable not found in /bin directory Hi guys, I am trying to make ROS and the opencv work together for bringing up the edge detection on a quadrotor called the ardrone. The code compiled successfully and was built using rosmake with 0 failures. But driver file was to found in the bin which was created. I am using ROS-electric,ubuntu 10.10 Any suggestion please. This is my rosmake output:
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2014-04-20 12:27:50 -0500 | marked best answer | problem with opencv and cv_bridge hi guys ,I am trying to interface ROS(diamondback) and opencv. I am working on ubuntu 10.04 . I followed the tutorial in the following link http://www.ros.org/wiki/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages I created a package with the following dependencies sensor_msgs,image_transport,opencv2,cv_bridge,roscpp,std_msgs. I used the same program in the link above and copied it to the "src" folder as a CPP file. I compiled it using rosmake (after being done with cmake). This was my output: [ rosmake ] No package specified. Building ['ardrone_kar'] |