Reza Ch's profile - activity

Part 1: Hi, I already posted nearly same question but I ended up with sth new. I am using gmapping (localization and map) to run the navigation by move_base node and I have this famous error :

[ WARN] [1350293255.494001686]: The origin for the sensor at (-0.16, 0.68) is out of map bounds. So, the costmap cannot raytrace for it.

I am running a simple differential robot, gmapping node, laser node, and move_base.

As I found from some discussions, it seems that I didn’t realise that I had to configure the map to put its origin as in stage; so can it be the reason? if yes then the question is that how can I configure that?

Thanks in advance.

Part 2: Thanks for your answers. Now I am putting the global costmap static_map parameter to true. and the local costmap static_map parameter to false. and rolling_window to false as well and I set no map parameter in the yaml files. So it should take all from map_server. In my saved map file, the origin is [-10, -10] for a 20X20 map. but again I am receiving the out of map bound error!

The map is from map server (including map parameters of course). the laser data is going from the laser. the localization from gmapping. it is putting the robot foot print on origin so my laser will be out bound. How can I get rid of it then? Well generally how this map updating should go now? I want to have a implementation like the implementation in the link: http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

I mean to have the general map and also have the online updating of the obstacles (not an updated map though).

Hi, I am using gmapping (localization and map) to run the navigation by move_base node and I have this famous error :

[ WARN] [1350293255.494001686]: The origin for the sensor at (-0.16, 0.68) is out of map bounds. So, the costmap cannot raytrace for it.

I am running a simple differential robot, gmapping node, laser node, and move_base.

I searched a lot to find a solution through many links available but nothing clearly explained where is the problem coming from. I appreciate any help. Thanks

Here are my yaml files:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.279, -0.225], [-0.279, 0.225], [0.479, 0.225], [0.479, -0.225]]
robot_radius: 0.20
inflation_radius: 0.15

observation_sources: laser_scan_sensor
# point_cloud_sensor

laser_scan_sensor: {sensor_frame: laser_link, data_type: LaserScan, expected_update_rate: 0.2, topic: scan, marking: true, clearing: true}

# point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}

local_costmap:
  map_type: costmap
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

global_costmap:
  map_type: costmap
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false

Edit: rxconsole output for the warning:

Node: /move_base
Time: 1350389366.400216263
Severity: Warn
Location: /tmp/buildd/ros-electric-navigation-1.6.5/debian/ros-electric-navigation/opt/ros/electric/stacks/navigation/costmap_2d/src/costmap_2d.cpp:Costmap2D::raytraceFreespace:739
Published Topics: /rosout, /cmd_vel, /move_base/current_goal, /move_base/goal, /move_base/global_costmap/obstacles, /move_base/global_costmap/inflated_obstacles, /move_base/global_costmap/unknown_space, /move_base/global_costmap/robot_footprint, /move_base/global_costmap/parameter_descriptions, /move_base/global_costmap/parameter_updates, /move_base/NavfnROS/plan, /move_base/NavfnROS/NavfnROS_costmap/obstacles, /move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles, /move_base/NavfnROS/NavfnROS_costmap/unknown_space, /move_base/NavfnROS/NavfnROS_costmap/robot_footprint, /move_base/local_costmap/obstacles, /move_base/local_costmap/inflated_obstacles, /move_base/local_costmap/unknown_space, /move_base/local_costmap/robot_footprint, /move_base/local_costmap/parameter_descriptions, /move_base/local_costmap/parameter_updates, /move_base/TrajectoryPlannerROS/global_plan, /move_base/TrajectoryPlannerROS/local_plan, /move_base/TrajectoryPlannerROS/cost_cloud, /move_base/TrajectoryPlannerROS/parameter_descriptions, /move_base/TrajectoryPlannerROS/parameter_updates, /move_base/result, /move_base/feedback, /move_base/status, /move_base/parameter_descriptions, /move_base/parameter_updates

The origin for the sensor at (0.50, -0.01) is out of map bounds. So, the costmap cannot raytrace for it.

Hello, I have been using slam_gmapping package to have localization frame of my differential robot and use it for the move_base package for path planing. But here I doubt on something about transformation frames which I couldn't see in gmapping tutorials.

Normally there are two things: one is that there is a frame we attach to the system ( this is just a definition), another thing is our estimate of their location and transformation among them. In my system I have the transformations (tf tree)as followed:

/map --> /odom --> /base_link --> /laser_link

I am giving the odometry data to base_link; but after localization there is no newly created localized frame of my robot base. So in which way the move_base navigation package is getting a guess of my robot position as a result of my SLAM node?

I hope I could open my question clearly.

I changed the transport hint in Image tab at rviz from 'raw' to 'tf' and it crashed. Now I am facing this error while opening it. Re-installation and recompilation did not work. How to pass through it? Thanks

[ERROR] [1338181335.401547975]: Caught exception while loading: Unable to load plugin for transport 'tf', error string:
According to the loaded plugin descriptions the class image_transport/tf_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are  image_transport/compressed_sub image_transport/raw_sub image_transport/theora_sub

Hi,

I am quite new to ROS and also programming :) and facing a problem during making executable for node for converting laser scan to get point cloud from my laser scanner data. Can you please have a look on the error and tell me what can be the reason. I also added the dependencies. Everything looks to be fine. Thanks in advance.

CMakeFiles/my_scan_to_cloud.dir/src/tfToPointcloud.o: In function `laser_geometry::LaserProjection::transformLaserScanToPointCloud(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::LaserScan_<std::allocator<void> > const&, sensor_msgs::PointCloud_<std::allocator<void> >&, tf::Transformer&, int)':
/home/Reza/ros_workspace/laser_geometry/laser_geometry/include/laser_geometry/laser_geometry.h:212: undefined reference to `laser_geometry::LaserProjection::transformLaserScanToPointCloud_(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, sensor_msgs::PointCloud_<std::allocator<void> >&, sensor_msgs::LaserScan_<std::allocator<void> > const&, tf::Transformer&, double, int)'
CMakeFiles/my_scan_to_cloud.dir/src/tfToPointcloud.o: In function `LaserScanToPointCloud':
/home/Reza/ros_workspace/laser_geometry/laser_geometry/src/tfToPointcloud.cpp:22: undefined reference to `laser_geometry::LaserProjection::~LaserProjection()'
CMakeFiles/my_scan_to_cloud.dir/src/tfToPointcloud.o: In function `~LaserScanToPointCloud':
/home/Reza/ros_workspace/laser_geometry/laser_geometry/src/tfToPointcloud.cpp:8: undefined reference to `laser_geometry::LaserProjection::~LaserProjection()'
/home/Reza/ros_workspace/laser_geometry/laser_geometry/src/tfToPointcloud.cpp:8: undefined reference to `laser_geometry::LaserProjection::~LaserProjection()'

What about printing this data in C++. How to write this code in C++ ?

Hello, I have the question of other way round. How to get rotations of a quaternion to RPY? I mean in my code I use a /tf listener. So after lookupTransform, now I need to call the rotations and have themin RPY. So how to call and convert them? Any wiki link is also appreciated.

I was trying the source from http://bitbocket.org not from http://github.com and I have a ubuntu 10.04 as operating system. Why I tried to get it from source was cause I couldnt not get it from command line. after updating apt-get, the sudo apt-cache search can not find it even. Thanks

Hi, I wanted to get a marker detector like ar_track_alvar but after running

sudo apt-get install ros-fuerte-ar-track-alvar

it says the package can not be found. It is not also available from source code link

https://bitbucket.org/sniekum/ar_track_alvar.git

May you guide me how to download it or even I appreciate if you know any other marker detection package in ROS?

Thanks in advance.

Hi I tried to get the PR2 Pick and Place Demo working. In the compiling part after running "rosmake pr2_tabletop_manipulation_gazebo_demo" I got this out put:

root@reza2-laptop:~/Downloads# rosmake pr2_tabletop_manipulation_gazebo_demo
[ rosmake ] Packages requested are: ['pr2_tabletop_manipulation_gazebo_demo']                                                                                
[ rosmake ] Logging to directory/home/reza2/.ros/rosmake/rosmake_output-20130301-154404                                                                      
[ rosmake ] Expanded args ['pr2_tabletop_manipulation_gazebo_demo'] to:
['pr2_tabletop_manipulation_gazebo_demo']                                            
[ rosmake ] Checking rosdeps compliance for packages pr2_tabletop_manipulation_gazebo_demo.  This may take a few seconds.                                    
Failed to find stack for package [rosgraph_msgs]
Failed to load rosdep.yaml for package [rosgraph_msgs]:Cannot locate installation of package rosgraph_msgs: [rospack] couldn't find package [rosgraph_msgs]. ROS_ROOT[/opt/ros/cturtle/ros] ROS_PACKAGE_PATH[/home/reza2/pr2_tabletop_manipulation_overlay/model_database:/home/reza2/pr2_tabletop_manipulation_overlay/wg_robots_gazebo:/opt/ros/cturtle/stacks:/opt/ros/cturtle/ros]
Failed to find stack for package [gazebo_msgs]
Failed to load rosdep.yaml for package [gazebo_msgs]:Cannot locate installation of package gazebo_msgs: [rospack] couldn't find package [gazebo_msgs]. ROS_ROOT[/opt/ros/cturtle/ros] ROS_PACKAGE_PATH[/home/reza2/pr2_tabletop_manipulation_overlay/model_database:/home/reza2/pr2_tabletop_manipulation_overlay/wg_robots_gazebo:/opt/ros/cturtle/stacks:/opt/ros/cturtle/ros]
[rosstack] couldn't find dependency [bullet] of [wg_robots_gazebo]
[rosstack] missing dependency
[ rosmake ] rosdep check passed all system dependencies in packages                                                                                          
[rosmake-0] Starting >>> pr2_tabletop_manipulation_gazebo_demo [ make ]                                                                                      
[rosmake-1] Starting >>> roslang [ make ]                                                                                                                    
[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang
 No Makefile in package roslang                                                              
[rosmake-1] Starting >>> roslib [ make ]                                                                                                                     
[rosmake-1] Finished <<< roslib ROS_NOBUILD in package roslib                                                                                                
[rosmake-1] Starting >>> xmlrpcpp [ make ]                                                                                                                   
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp                                                                                            
[rosmake-1] Starting >>> rosconsole [ make ]                                                                                                                 
[rosmake-1] Finished <<< rosconsole ROS_NOBUILD in package rosconsole                                                                                        
[rosmake-1] Starting >>> roscpp [ make ]                                                                                                                     
[rosmake-1] Finished <<< roscpp ROS_NOBUILD in package roscpp                                                                                                
[rosmake-1] Starting >>> rosout [ make ]                                                                                                                     
[rosmake-1] Finished <<< rosout ROS_NOBUILD in package rosout                                                                                                
[ rosmake ] All 22 linesr2_tabletop_manipulation_gazebo_demo: 0.1 sec ]                                                             [ 1 Active 8/9 Complete ]
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  [rosbuild] Building package pr2_tabletop_manipulation_gazebo_demo
  Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests pr2_tabletop_manipulation_gazebo_demo
  [rospack] couldn't find dependency [gazebo_msgs] of [pr2_tabletop_manipulation_gazebo_demo]
  [rospack] missing dependency


  CMake Error at /opt/ros/cturtle/ros/core/rosbuild/public.cmake:113 (message):


    Failed to invoke rospack to get compile flags for package
    'pr2_tabletop_manipulation_gazebo_demo'.  Look above for errors from
    rospack itself.  Aborting.  Please fix the broken dependency!

  Call Stack (most recent call first):
    /opt/ros/cturtle/ros/core/rosbuild/public.cmake:183 (rosbuild_invoke_rospack)
    CMakeLists.txt:12 (rosbuild_init)


  -- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package pr2_tabletop_manipulation_gazebo_demo written to:
[ rosmake ]    /home/reza2/.ros/rosmake/rosmake_output-20130301-154404/pr2_tabletop_manipulation_gazebo_demo/build_output.log
[rosmake-0] Finished <<< pr2_tabletop_manipulation_gazebo_demo [FAIL] [ 0.19 seconds ]                                                                       
[ rosmake ] Halting due to failure in package pr2_tabletop_manipulation_gazebo_demo. 
[ rosmake ] Waiting for other threads to complete.                     
[ rosmake ] Results:                                                                                                                                         
[ rosmake ] Built 9 packages with 1 failures.                                                                                                                
[ rosmake ] Summary output to directory                                                                                                                      
[ rosmake ] /home/reza2/.ros/rosmake/rosmake_output-20130301-154404

I have Cturtle installed on Ubuntu 10.04 and already installed arm-navigation for using ompl by:

 sudo apt-get install ros-cturtle-arm-navigation

I have for example gazebo_msgs but it is under fuerte installation. So is there is any general package missing in my cturtle here or shall I get those missing dependencies one by one? Thanks in advance.

I have a Debian 5.0 Lenny patched with xenomai. For some reasons, I am not able to change my system versions or upgrade it in any case since I have some driver already installed and can't access them again in case of loosing those.

I have now the python 2.6.5 installed. By this specifications, in which case I can have at least roscore running on my system (ignoring all graphical tools)?

Thanks in advance.