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2014-08-05 05:00:01 -0500 answered a question Warning "No map received" occurs, when trying to visualize map in rviz

My gmapping.launch file that solved the problem:

<launch>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <rosparam>
      odom_frame: odom
      map_update_interval: 0.5
      maxUrange: 30.0
      maxRange: 60.0
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      linearUpdate: 0.5
      angularUpdate: 0.436
      temporalUpdate: -1.0
      resampleThreshold: 0.5
      particles: 80
      xmin: -1.0
      ymin: -1.0
      xmax: 1.0
      ymax: 1.0
      delta: 0.025
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      base_frame: base_footprint
    </rosparam>
  </node>
</launch>
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2014-08-05 04:58:43 -0500 commented answer Warning "No map received" occurs, when trying to visualize map in rviz

Yes, that helped a lot. Tanks. I wrote a launch file, that uses my parameters.

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2014-07-05 08:22:26 -0500 commented answer Warning "No map received" occurs, when trying to visualize map in rviz

when using the remapping i do not get any warnings in my terminal. When not adding it i get the warning: Failed to compute laser pose, aborting initialization ("base_link" passed to lookupTransform argument target_frame does not exist. )

2014-06-30 04:57:31 -0500 asked a question Warning "No map received" occurs, when trying to visualize map in rviz

Hello,

i am trying to visualize a map in rviz using slam_gmapping on my youbot. When adding the display Map to rviz and choosing map as topic the warning "No map received" occurs. I can visualize the sensor data in rviz by adding the display laser scan but it does not create a map. I searched for this error in ros answers but could not find an answer fixing my problem.

The ROS_MASTER_URI is set to my youbot: ROS_MASTER_URI=http: //Jakobs-youBot:11311/

My tf tree is map -> odom -> base_footprint -> scan.

My laser scan topic is scan.

I am starting slam_gmapping with

$ rosrun gmapping slam_gmapping scan:=base_scan

and do not get any output after starting it. Is this supposed to be like that?

I am using a youbot with ubuntu 12.04 and ROS hydro. My the laser i am using is a hokuyo laser.

I really do not have any idea what i am doing wrong. If anyone can help me, i would really appreciate it. If you need any more information, please let me know.

Thanks a lot.

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2014-06-17 10:39:29 -0500 commented answer /base_scan observation buffer has not been updated

yes, thanks a lot

2014-06-17 07:52:08 -0500 answered a question /base_scan observation buffer has not been updated

My updated costmap_common_params.yaml is:

map_type: costmap transform_tolerance:
0.2 obstacle_range: 2.5 raytrace_range: 3.0 inflation_radius:
0.25

observation_sources: base_scan

#base_scan_marking: {sensor_frame: base_scan_link,
#                    data_type: PointCloud2,
#                    topic: /base_scan/marking,
#                    expected_update_rate: 0.2,
#                    observation_persistence: 0.0,
#                    marking: true,
#                    clearing: false,
#                    min_obstacle_height: 0.06,
#                    max_obstacle_height: 2.0}

base_scan: {sensor_frame: laser,
            data_type: LaserScan,
            topic: /scan,
            expected_update_rate: 0.2,
            observation_persistence: 0.0,
            marking: true,
            clearing: true,
            min_obstacle_height: -0.10,
            max_obstacle_height: 2.0}

I think it is running properly now. The result of rostopic info /scan is:

Type: sensor_msgs/LaserScan
Publishers:   * /hokuyo_node (http://J-youBot:XXXXX/)
Subscribers:   * /move_base_node (http://J-youBot:XXXXX/)

The warning stops after receiving info: odom received

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2014-06-13 05:55:12 -0500 answered a question hokuyo_node. Why does Fixed Frame [laser] does not exist?

Found a solution. My wrapper publishes the transformation odom -> base_footprint of my youbot. With this tutorial http:// wiki.ros.org/navigation/Tutorials/RobotSetup/TF wrote a transformation base_footprint -> laser. So now i have the tf tree odom -> base_footprint -> laser

2014-06-13 04:08:11 -0500 commented question /base_scan observation buffer has not been updated

No. It still doesn't work. I changed sensor frame to laser aswell, because i need to chose laser in rviz to see laser scans but this did not solve the problem either. Thougt the issue could be with my tf tree, but it is odom -> base_footprint -> laser...this should be correct too.

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2014-06-11 05:54:14 -0500 commented question /base_scan observation buffer has not been updated

No, it is publishing under /scan.

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2014-06-11 02:40:04 -0500 commented question /base_scan observation buffer has not been updated

Sorry for answering that late. The message appears again and again. What do you mean with "the topic is properly connected?" I am using ros hydro on ubuntu 12.04 by the way. Just in case this is important. Note that i added my costmap_common_params.yaml.

2014-05-29 22:45:06 -0500 asked a question /base_scan observation buffer has not been updated

Hi,

i am trying to get the navigation stack running. Hokuyo is the laser scanner i am using. When i am launching move_base_local.launch i receive the warning

"The /base_scan observation buffer has not been updated for XX.XX seconds, and it should be updated every 0.20 seconds."

My launch file is: <launch>

<param name="T" type="double" value="0.2"/>
<param name="dt" type="double" value="0.1"/>

<node pkg="youbot_navigation_common" type="lowpass_filter" respawn="false" name="lowpass_filter" output="screen">

</node>

<!-- for moving -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    <!-- Load common configuration files -->
<remap from="cmd_vel" to="move_base/cmd_vel"/> 
    <rosparam file="$(find youbot_navigation_common)/config/move_base_params.yaml" command="load" />
    <rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <!--<rosparam file="$(find youbot_navigation)/navigation_common/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />-->

    <!-- Load global navigation specific parameters -->
    <!--<rosparam file="$(find youbot_navigation)/navigation_local/config/move_base_params.yaml" command="load" />-->
    <rosparam file="$(find youbot_navigation_local)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find youbot_navigation_local)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find youbot_navigation_common)/config/base_local_planner_params.yaml" command="load" />
</node>

</launch>

My local_costmap_params.yaml is:

local_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 10.0
height: 10.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0

My global_costmap is:

global_costmap:
publish_voxel_map: true
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 20.0
height: 20.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0

My costmap_common_params.yaml is this:

map_type: costmap
transform_tolerance: 0.2
obstacle_range: 2.5
raytrace_range: 3.0
inflation_radius: 0.25

observation_sources: base_scan

#base_scan_marking: {sensor_frame: base_scan_link,
#                    data_type: PointCloud2,
#                    topic: /base_scan/marking,
#                    expected_update_rate: 0.2,
#                    observation_persistence: 0.0,
#                    marking: true,
#                    clearing: false,
#                    min_obstacle_height: 0.06,
#                    max_obstacle_height: 2.0}

base_scan: {sensor_frame: base_laser_front_link,
        data_type: LaserScan,
        topic: /base_scan,
        expected_update_rate: 0.2,
        observation_persistence: 0.0,
        marking: true,
        clearing: true,
        min_obstacle_height: -0.10,
        max_obstacle_height: 2.0}

What am i missing or doing wrong? Cannot figure it out myself and couldn't find any proper answers online.

Thanks a lot.

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2014-05-26 04:29:48 -0500 asked a question hokuyo_node. Why does Fixed Frame [laser] does not exist?

Hello everyone,

i'm trying to get hokuyo_node running on my youbot (ros hydro, ubuntu 12.04) and i am facing a problem.

I would like to chose /laser as Fixed Frame in Global Options. But it does not exist. I get the warning "Fixed Frame [laser] does not exist" in Global Status when i type it in manually.

Does anyone know how to fix this problem? I'd really much appreciate any help.

Be aware, the main problem i am facing is that i want to get the navigation stack running on my youbot. When starting the navigation stack i am getting two warnings and i think i can solve one of them with this.

Thanks a lot.

2014-05-20 23:50:20 -0500 commented question Why can't youbot_battery_monitor connect to serial port?

Solved it. I changed SUBSYSTEM=="usb" to SUBSYSTEM=="tty". This fixed it. Now it is running how it is supposed to do. Tanks a lot for your help.

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2014-05-19 23:11:51 -0500 commented question Why can't youbot_battery_monitor connect to serial port?

Check edited question...

2014-05-19 22:17:01 -0500 commented question Why can't youbot_battery_monitor connect to serial port?

the lcd_display file has these permissions: lrwxrwxrwx 1 root root The udev rule does start youbot_battery_monitor.sh, which starts the exe. The process is running. But it is beeping the whole time and i think it is beeping because it doesn't get a signal because cannot connect to the serial port??

2014-05-19 03:45:34 -0500 asked a question Why can't youbot_battery_monitor connect to serial port?

Hi,

i am trying to get youbot_battery_monitor running on my youbot. The README (cannot post link, please check yourself on google) says i could run youbot_battery_monitor as standalone program. But when i try to run it with

$ ./home/youbotuser/Software/catkin_ws/devel/lib/youbot_battery_monitor/youbot_battery_monitor /dev/youbot/lcd_display eth1 wlan0 &

it says "could not to connect to serial port: /dev/youbot/lcd_display"

I wrote a udev rule 110-battery.rule:

SUBSYSTEM=="usb", ATTRS{idVendor}=="16d0", ATTRS{idProduct}=="059d", SYMLINK+="youbot/lcd_display", RUN+="/home/youbotuser/Software/catkin_ws/src/youbot_diagnostics/youbot_battery_monitor/youbot_battery_monitor.sh"

My youbot_battery_monitor.sh looks like this:

#!/bin/bash

export ROS_MASTER_URI=http: //localhost:11311

/home/youbotuser/Software/catkin_ws/devel/lib/youbot_battery_monitor/youbot_battery_monitor /dev/youbot/lcd_display eth1 wlan0 &

The udev rule seems to be working. It at least generates the /dev/youbot/lcd_display file. But i am not really sure about using SUBSYSTEM=="usb"?!

I don't use the youbot that long yet. I'd really much appreciate any help. Thanks a lot.


Edited after ahendrix 2nd comment:

I think i finally solved the problem why it cannot connect to the serial port. But it is still not running properly yet. I can execute youbot_battery_monitor.sh by typing "sudo bash youbot_battery_monitor.sh". I obviously needed the root rights i got by adding sudo.

This is the output i get then:

sudo bash youbot_battery_monitor.sh

youbotuser@Jakobs-youBot:~/Software/catkin_ws/src/youbot_diagnostics/youbot_battery_monitor$ try to connect to serial port: /dev/youbot/lcd_display

serial port /dev/youbot/lcd_displayis already open

connected to serial port: /dev/youbot/lcd_display

[W ]

[L ]

[W ]

[L ] ....

Every time it prints [W ] and [L ] it is beeping.