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2015-04-21 23:31:21 -0500 commented answer KUKA LBR iiwa real-time control

Hi,

I'm currently trying to use the first link, but I get stuck at running the Kuka Hardware Manager. It says "Assignment not possible while KS is running", do you guys have the same problem? If you're using the same thing, that is?

2014-01-28 17:23:32 -0500 marked best answer Using multiple arduinos / running multiple nodes

Hi, I have two arduinos (Uno and Duemilanove) and I want to use the two of them in parallel on one machine. However, rosserial_python does not accept multiple /dev files as parameters, so I cannot give the addresses of both arduinos to one rosserial_python node.

The other option is running multiple rosserial_python nodes with each having different parameters, but ROS does not allow that since there are multiple nodes with the same name. It should be possible to run multiple nodes on one machine, but I don't know how. Any help is appreciated, thanks in advance!

2014-01-28 17:23:30 -0500 marked best answer Creating models for household_objects_database

Hi, I'm trying to add a new model in a local version of the household_object_database so I can recognize my own objects with the tabletop_object_detector.

I made a model in Solidworks and exported it to STL format, which I exported again to PLY format using Blender. Then I deleted all models from my local database and used insert_model.cpp to add my own model and added it manually to a model set, the database seems fine now. The problem is, when I launch tabletop_complete.launch I get the following error:

terminate called after throwing an instance of 'std::bad_alloc'  
what(): std::bad_alloc

Everything works when I use the original models from the database, so I suspect that the model I made is faulty. Is there a better way to create models? I also tried 3DSom as described in the link below, but 3DSom is licensed and doesn't work properly for me. Are there any other ways to create 3D models? Thanks in advance!

http://www.ros.org/wiki/household%20objects

2014-01-28 17:23:27 -0500 marked best answer Run tabletop_collision_map_processing node

Hi, does someone know how to run the tabletop_collision_map_processing_node from the tabletop_collision_map_processing package? I try to use the tabletop package to create collision maps and to detect objects for my own made robot, which uses a Kinect camera. The robot needs to detect objects and has to grab the object when it's near.

This is what I've tried so far:

roslaunch image_processing database.launch
roslaunch tabletop_object_detector tabletop_complete.launch
rosrun tabletop_collision_map_processing tabletop_collision_map_processing_node

When I do this, I get the following error:

[INFO] [1325000064.590086400]: waitForService: Service [/collision_map_self_occ_node/reset] has not been advertised, waiting...

However, I don't know which node advertises this service.. Do I have to advertise this myself?

image_processing is my own package, I imported the database from svn and the launch file looks like this:

<launch>
    <!-- load database connection parameters -->
    <rosparam command="load"
        file="$(find image_processing)/config/household.yaml"/> 
    <!-- start the database wrapper node -->
    <node pkg="household_objects_database" name="objects_database_node" 
    type="objects_database_node" respawn="true" output="screen"/>
</launch>

The yaml file looks like this:

household_objects_database:
  database_host: localhost
  database_port: 5432 
  database_user: willow
  database_pass: willow
  database_name: household_objects

Thanks in advance!

2013-11-07 00:19:08 -0500 commented answer joint_state_controller problem loading.

Hi EduardoMaciel, could you tell me how you fixed this problem? I'm facing the same issue, would be great if you explained what the problem is. Thanks.

2013-10-18 12:56:47 -0500 commented question ld searches in wrong folder for libraries when cross-compiling

Hi, sorry for the late reply, I just noticed this post.. I never succeeded in solving this problem, so I can' t help you with this unfortunately. I basically gave up on this, but mainly because of the switch from rosbuild to catkin, so it became rather useless for me to try this anymore.

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2013-03-01 13:02:01 -0500 answered a question How to use Fuzzy logic in ROS..?

Hi, I use http://code.google.com/p/fuzzylite/ for my own project where I need to implement a fuzzy controller for collision avoidance. This library is fairly easy to use and only relies on STL, so it's also easy to install. See main.cpp in the src folder for a simple example on how it works. It's not specifically for ROS though, but ROS supports the use of third party libraries. Just link the library to your executable using target_link_libraries in the CMakelists of your project. As far as I know, there is no ROS package dedicated to fuzzy logic.

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2013-02-13 12:12:47 -0500 asked a question ld searches in wrong folder for libraries when cross-compiling

Hi guys,

I'm trying to cross-compile my own packages for armv7, so far I've been able to specify the correct toolchain by using the rostoolchain.cmake file. I also fixed a lot of other things I've had trouble with, but the only thing I'm having trouble with right now is specifying the correct folder for ld to search for libraries. I have stored all the ARM-compiled .so files I need in /opt/armv7/usr/lib, but ld still tries to look for libraries in /opt/ros/groovy/lib and /usr/lib. Since the files in those directories are compiled for Intel, that doesn't work of course. This is the error I get when I try to compile:

/opt/armv7/bin/../lib/gcc/arm-v7a8-linux-gnueabi/4.4.1/../../../../arm-v7a8-linux-

gnueabi/bin/ld: skipping incompatible /opt/ros/groovy/lib/libroscpp.so when searching for -lroscpp
/opt/armv7/bin/../lib/gcc/arm-v7a8-linux-gnueabi/4.4.1/../../../../arm-v7a8-linux-gnueabi/bin/ld: cannot find -lroscpp

How do I specify the correct folder for ld to look into? So far, I've tried the following "solutions" with no success:

  • Adding /opt/armv7/usr/lib to LD_LIBRARY_PATH, which didn't work. Seems like the directories I added were ignored completely.

  • Adding lines like set(CMAKE_SYSTEM_LIBRARY_PATH ...) or set(CMAKE_LIBRARY_PATH) to rostoolchain.cmake with the same result as with the LD_LIBRARY_PATH solution.

  • Setting the LD_PRELOAD variable, which gave me:

    ERROR: ld.so: object '/opt/armv7/usr/lib/libroscpp.so' from LD_PRELOAD cannot be preloaded: ignored.

  • Using the /etc/ld.so.conf.d and /etc/ld.so.conf files, which gave the same results as the first and second solutions (in other words, no results..)

  • Linking manually using target_link_libraries, which helped for direct dependencies of my project, but not for the second level dependencies. For example, if I manually link /opt/armv7/usr/lib/libroscpp.so then it is able to find libroscpp.so, but not /usr/lib/libboost_date_time-mt.so.

  • Replacing the whole lib folder in /opt/ros/groovy by my own lib folder, except for rospack.so because ROS needs that in order to make use of the Makefile. This didn't work since ld still looks for libraries in /usr/lib. I prefer not to replace my /usr/lib folder for the arm libraries..

  • Only replacing specific Intel library files I need by their ARM counterparts, which worked for those libraries, but not for the rest of course. This solution is actually the same as the one above, except that I'm not replacing everything altogether. I do not prefer to replace all the libraries one by one..

I think I tried even more, but I forgot.. At least these are the most important things I tried. I'm stuck for weeks now so I'd really appreciate it if someone is able to help me. My rostoolchain.cmake file looks like this by the way:

set(CMAKE_SYSTEM_NAME Linux)
set(CMAKE_C_COMPILER /opt/armv7/bin/arm-v7a8-linux-gnueabi-gcc)
set(CMAKE_CXX_COMPILER /opt/armv7/bin/arm-v7a8-linux-gnueabi-g++)
set(CMAKE_FIND_ROOT_PATH /opt/armv7/usr ...
(more)
2013-02-06 14:24:09 -0500 commented answer Creating models for household_objects_database

I'm aware you're not talking about the roboearth website.. But as I tried to explain, the answer to your question is probably: No, the household_object_database cannot be used for RoboEarth, since RoboEarth probably uses another format for 3D models.

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2013-01-29 23:18:39 -0500 commented answer Creating models for household_objects_database

Also, the models in the houdehold_object_database are in a different format than the models used for RoboEarth and the general structure of the database is different, so I don't think that you can use the household_object_database in combination with RoboEarth, at least not in a simple way.

2013-01-29 23:15:56 -0500 commented answer Creating models for household_objects_database

As far as I know, the household_object_database only works with the tabletop_object_detector. Roboearth has its own database and you can easily add your own models to it. Check out Roboearth's website or google it for more info, been a long time since I used it so I don't quite remember.. :P

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