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2014-06-25 23:55:29 -0600 commented answer make a map error with Asus Xtion Pro Live

Thanks a lot for your reply! I had test with the 30m laser and his very better! The map is correct and the accuracy is very good. Thanks

2014-06-25 02:04:07 -0600 answered a question turtlebot autonomous navigation with multiple goals

Hi, I want to know if you had make this (turtlebot autonomous navigation with multiple goals), and how did you process? thanks a lot

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2014-06-18 20:44:53 -0600 answered a question make a map error with Asus Xtion Pro Live

Yes, I walk around in my classroom with my robot in the corridor. The corridor it's a square, but we can see on the picture there are no right lane and do not join themselves when making the whole tower.

  • The dimensions of the room are : 35m * 22m and the larger of corridor is 2m to 3m. My robot run in the middle of the corridor.
  • I think the texture of the wall is laminated stickers, and the color is orange and white.
  • For the odometry, I don't know how I collect the data (because i'm on internship and the project was already started, and my party is to install the lidar and kinect for make a map and autonomous navigation). But I have seen on the kobuki guide, the odometry is made probably by one wheel but i'm not so sure!
  • I try to make a map with the kinect and with the lidar, and after i confronte the results. I thinks the big problem is the odometry,because i have the same problem with the lidar. When I want to calibrate my odometry ( previously I posted another question) the command don't work. After I try to use Hector_slam for working without odometry but, I don't no why, I can't make a map because the data are superimposed.

Can you help me,I do not really know or looking to solve this problem, what should I do?

Thank's a lot for your fast and very interresting reply because I'm not asking all these questions!

2014-06-18 10:52:42 -0600 received badge  Popular Question (source)
2014-06-18 04:38:41 -0600 asked a question make a map error with Asus Xtion Pro Live

Hi, I have a problem when I make a map with my asus xtion. http://zupimages.net/up/14/25/l08m.png

When I move my bot around a classroom " it's a square" , i have a problem because the robot create another way! what is the problem? Gyro? Odometry? My asus?

thanks for your help

2014-06-17 20:52:51 -0600 asked a question Problem TurtleBot Odometry and Gyro Calibration

Hi, i have a little problem when I launch calibration for my turtlebot : " roslaunch turtlebot_calibration calibrate.launch "

I have this error on my screen :

  File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 250, in <module>
    main()
  File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 228, in main
    robot = CalibrateRobot()
  File "/home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py", line 69, in __init__
    self.has_gyro = rospy.get_param("turtlebot_node/has_gyro")
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py", line 452, in get_param
    return _param_server[param_name] #MasterProxy does all the magic for us
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/msproxy.py", line 117, in __getitem__
    raise KeyError(key)
KeyError: 'turtlebot_node/has_gyro'
================================================================================REQUIRED process [turtlebot_calibration-15] has died!
process has died [pid 6846, exit code 1, cmd /home/sr1/turtlebot/src/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py imu:=mobile_base/sensors/imu_data_raw cmd_vel:=mobile_base/commands/velocity scan_angle:=scan_angle odom:=odom __name:=turtlebot_calibration __log:=/home/sr1/.ros/log/b326776c-f689-11e3-bbee-6c881460500c/turtlebot_calibration-15.log].
log file: /home/sr1/.ros/log/b326776c-f689-11e3-bbee-6c881460500c/turtlebot_calibration-15*.log
Initiating shutdown!
================================================================================
[turtlebot_calibration-15] killing on exit
[scan_to_angle-14] killing on exit
[depthimage_to_laserscan-13] killing on exit
 [camera/disparity_registered_hw-12] killing on exit
[camera/points_xyzrgb_hw_registered-10] killing on exit
[camera/depth_registered_rectify_depth-9] killing on exit
 [camera/depth_metric_rect-6] killing on exit
[camera/rectify_ir-4] killing on exit
[camera/disparity_depth-11] killing on exit
[camera/rectify_color-3] killing on exit
[camera/depth_rectify_depth-5] killing on exit
[camera/driver-2] killing on exit
 [camera/camera_nodelet_manager-1] killing on exit
Traceback (most recent call last):
  File "/usr/lib/python2.7/site.py", line 562, in <module>
[camera/depth_points-8] killing on exit
[camera/depth_metric-7] killing on exit
    main()
  File "/usr/lib/python2.7/site.py", line 544, in main
    known_paths = addusersitepackages(known_paths)
  File "/usr/lib/python2.7/site.py", line 271, in addusersitepackages
    user_site = getusersitepackages()
  File "/usr/lib/python2.7/site.py", line 246, in getusersitepackages
    user_base = getuserbase() # this will also set USER_BASE
  File "/usr/lib/python2.7/site.py", line 235, in getuserbase
    from sysconfig import get_config_var
  File "/usr/lib/python2.7/sysconfig.py", line 124, in <module>
    _PROJECT_BASE = os.path.dirname(_safe_realpath(sys.executable))
  File "/usr/lib/python2.7/sysconfig.py", line 119, in _safe_realpath
    return realpath(path)
  File "/usr/lib/python2.7/posixpath.py", line 367, in realpath
    resolved = _resolve_link(component)
  File "/usr/lib/python2.7/posixpath.py", line 392, in _resolve_link
    dir = dirname(path)
  File "/usr/lib/python2.7/posixpath.py", line 120, in dirname
    i = p.rfind('/') + 1
KeyboardInterrupt
[camera/driver-2] escalating to SIGTERM
[camera/rectify_ir-4] escalating to SIGTERM
[camera/rectify_color-3] escalating to SIGTERM
[camera/camera_nodelet_manager-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

Thanks for your help!

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2014-06-09 04:19:05 -0600 answered a question How to crate a map with gmapping and hokuyo laser

This is my file gmapping_demo.launch :

> <launch>   <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
>     <arg name="rgb_processing" value="false" />
>     <arg name="depth_registration" value="false" />
>     <arg name="depth_processing" value="false" />
>     <!-- We must specify an absolute topic name because if not it will be
> prefixed by "$(arg camera)".
>          Probably is a bug in the nodelet manager:
> https://github.com/ros/nodelet_core/issues/7
> --> 
>     <arg name="scan_topic" value="/scan" />   </include>  
> <include file="$(find
> turtlebot_navigation)/launch/includes/gmapping.launch.xml"/>
> <include file="$(find
> turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
> </launch

I want to change for my hokuyo but how ?

Thanks

2014-06-09 02:45:09 -0600 asked a question How to crate a map with gmapping and hokuyo laser

I have already install my hokuyolaser ( urg_node ) and it's working perfectly when I see the data on rviz. But when I launch " roslaunch turtlebot_navigation gmapping_demo.launch" , after i had launch roscore - minimal.launch - urg_node , it's my kinect data on the screen.

I want to save a map with my lidar and not with my kinect.

How should I do to save a map with my Hokuyo and not with my kinect? This is my file gmapping_demo.launch :

<launch> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="rgb_processing" value="false"/>
<arg name="depth_registration" value="false"/>
<arg name="depth_processing" value="false"/>

<arg name="scan_topic" value="/scan"/> </include>
<include file="$(find turtlebot_navigation)/launch/includes/gmapping.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
</launch<>

I want to change for my hokuyo but how ?

Thanks a lot


I have create my file : laser_gmapping_demo.launch and now, my laser working and I can make a map. Thanks for all answer.

<launch>


  <node pkg="urg_node" type="urg_node" name="laser_scan">
    <param name="port" value="/dev/ttyACM0"/>
    <param name="frame_id" value="base_link"/>
    <param name="calibrate_time" type="bool" value="true"/>  
    <param name="intensity" type="bool" value="false"/>
    <param name="min_ang" value="-2.356194437"/>   
    <param name="max_ang" value="2.35619443"/>    
    <param name="cluster" value="1"/>
    <remap from="scan" to="base_scan" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_base_laser_link" args="0.058 0 0.125 0.0 0.0 3.1416 /base_link /base_laser_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0 0 0  /base_footprint /base_link 100" />


  <!-- Run self-filter -->
  <node name="gmapping" pkg="gmapping" type="slam_gmapping" args="scan:=base_scan" output="screen">
    <param name="linearUpdate" value="0.1" />
    <param name="angularUpdate" value="0.05" /> 
    <param name="xmin" value="-20" />   
    <param name="ymin" value="-20" />
    <param name="xmax" value="20" />    
    <param name="ymax" value="20" />
    <param name="maxUrange" value="6" />        
  </node>

  <!--- Run gmapping -->
  <include file="$(find turtlebot_navigation)/config/gmapping.launch.xml" >
    <arg name="scan_topic" value="scan_filtered" />
  </include>

  <!--- Run Move Base and Robot Pose EKF -->
  <include file="$(find turtlebot_navigation)/laser/move_base_laser.launch" />

</launch>
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2014-06-03 00:00:31 -0600 commented answer Save a map with Lidar

Yes I had run "rosparam set use_sim_time true " after roscore and before gmapping and rosbag. I follow exactly the tutorial. It's the same problem.

2014-06-03 00:00:05 -0600 answered a question Save a map with Lidar

Yes I had run "rosparam set use_sim_time true " after roscore and before gmapping and rosbag. I follow exactly the tutorial.

2014-06-02 22:26:34 -0600 asked a question Save a map with Lidar

I follow this tutorial for save a map : http://wiki.ros.org/slam_gmapping/Tut... I create my own bag, and i see on rviz the Lidar data. But when I launch the command " rosrun gmapping slam_gmapping scan:=base_scan " there are nothing on my terminal. is normal? After that, I wrote "rosbag play --clock nameofmybag.bag" --->>> it's done, and " rosrun map_server map_saver". On my terminal, there are writing "waiting for de map" but nothing after that. What's the problem?

(When i launch the last command, in my another terminal " rosrun gmapping .." they are write : TF_OLD_DATA ignoring data from the past for frame base_footprint at time .... )

Thanks for your Help

2014-05-27 19:02:52 -0600 asked a question waiting for the map problem

I follow the tutorial " slam_gmapping Tutorials MappingFromLoggedData " , and when I enter this command " rosrun map_server map saver " , I have this message " waiting for the map " and after there are nothing. What is the problem, I had forgot a step, or any configuration?

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2014-05-22 21:13:36 -0600 asked a question Can not find the ros-launch-OpenNI-launch package

hi, I have problem, when I write on my terminal : sudo apt-get install ros-launch-openni-launch I have this message : "Can not find the paquet ros-launch-openni-launch"

I have installed openni, Nite, Sensorkinect without problem, and i had follow the wiki ros to instal ros on linux 12.04.

What is the problem, and how can i resolve this? thanks

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2014-05-11 15:18:26 -0600 commented answer How to instal my asus xtion pro live on unbuntu 12.04?

but why there are a blanc for my device 003? he is installed but no detected?