Dear All. I want to use a c++ program to enable and disable gravity of an object.Who can give a bit help? Gazebo Ros How to use SetModelState in a C++ to enable and disable gravity of an object

Who can provide a web link to tell me how to install Roboearth in fuerte in ubuntu 12.04???

Dear All, Since in our lab, we can not communicate with socket between two computer, is there a public ROS master available? Thus we can use two or more computer in my lab to connect this public ros MASTER,then to communicate with ros message or service. export ROS_MASTER_URI=http://pulbic:11311 Best regards. Zhenli

Dear All. Who can tell me how to install How to install roboearth on ubuntu 12.04 ros fuerte 64 bit. Following website: http://www.ros.org/wiki/roboearth I can not finish the installation.

Step 1.

rosinstall ~/ros /opt/ros/fuerte 'http://www.ros.org/wiki/roboearth?action=AttachFile&do=get&target=roboearth.rosinstall'

No problem.

Step 2:

sudo apt-get install ros-fuerte-ias-common ros-fuerte-perception-pcl-addons ros-fuerte-simulator-gazebo ros-fuerte-vision-opencv ros-fuerte-octomap-mapping ros-fuerte-client-rosjava-jni.

but there is not a package named ros-fuerte-perception-pcl-addons. So I cannot finish

step 3:

rosmake roboearth

Then I try to download and install from svn. There are two errors.

One is it need pcl_visualization

While I compile pcl_visualization it said it need eigen.

I think there is an easy way for us to install and use roboearth.

Dear All. Today |I buy a xbox360 Kinect, install it on ubuntu 11.04 ros electric. Everything is fine. But when I run
roslaunch openni_launch openni.launch rosrun rviz rviz I can see the rgb image. But I can not see the depth image. I add one pointcloud2.
Set the Fixed Frame (top left of rviz window) to /camera_depth_optical_frame.

Add a PointCloud2 display, and set the topic to /camera/depth/points. I can not see any information. How to solve the problem. I am sure the hardware s good,and it is normally from another computer.Only it is not worked for my laptop and desktop. Linux 11.04, ros electric. I also try the kinet+mouse demo. it works. Without depth information, I cannot try the roboearth package. Thanks any help.

Since we can use Cartesian controller to control the arm of PR2 to move, but how to get the current position of the arm in the simulator? Is it in robot coordination or in world coordination? If we have a world coordination how to convert to pr2 robot coordination?

I am try to control pr2 simulator to grasp some object on the table. The robot is fixed as it in the beginning, now I want to know how to convert the object coordination to robot coordination, then we can use Cartesian controller to drive the right arm to reach the object , and grasp the object. Normally we know the object coordination on the table, so how we set the target for arm Cartesian controller coordination to reach the object. Also how to keep the orientation of the gripper vertical to the table, thus make the grasp easily. Besides, is there an documentation for the coordination of pr2 simulator and pr2 arm.

I try to use the keyboard control the pr2 simulator, but Ĩ can not get a clear idea about the mean setting of orientation.

cmd.pose.orientation.x=-0.00244781865415;
cmd.pose.orientation.y=-0.548220284495;
cmd.pose.orientation.z=0.00145617884538;
cmd.pose.orientation.w=0.836329126239;

That is in the demo source code. How can I set this value to make the gripper is vertical face the table so as to grasp the object on the table.

Dear All. While read the following documentation, I can not know how to use it to create c++ program to add or delete object in ros gazebo automatically by program. http://www.ros.org/wiki/simulator_gazebo/Tutorials/SpawningObjectInSimulation

Dear All. while I try to Starting the Manipulation Pipeline. I just based on the following website: http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Starting%20the%20Manipulation%20Pipeline

The step is: 1. rosmake pr2_tabletop_manipulation_launch 2. roscore 3. export ROBOT=sim 4. roscd pr2_tabletop_manipulation_launch 5. modify the pr2_tabletop_manipulation.launch just

<include file="$(find household_objects_database)/launch/objects_database_remote_client.launch"/>

Just make it connect as a client for object database running on remote server at Willow Garage 6 cd ~ 7. roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch The I got the following information:

Mainly is said that :

do I need more step to run this demo? I am using ubuntu 11.04 or 10.04, 64 bit electric ros. The problems are the same. Thanks for any help. Best regards. Zhenli

[collider_node-11] process has died [pid 22887, exit code -11]. log files: /home/administrator/.ros/log/ff64f9c2-58cb-11e1-953f-18f46a4fafa8/collider_node-11.log respawning... [collider_node-11] restarting process process[collider_node-11]: started with pid [23024] [collider_node-11] process has died [pid 23024, exit code -11]. log files: /home/administrator/.ros/log/ff64f9c2-58cb-11e1-953f-18f46a4fafa8/collider_node-11.log respawning... [collider_node-11] restarting process process[collider_node-11]: started with pid [23157]

Dear All. when I use ubuntu 11.04 or 10.04 to install ros pr2 electric package, I try to use the psql database with the following link: http://www.ros.org/wiki/sql_database/Tutorials/Installing%20a%20PostgreSQL%20Server But unfortunately, willow can not log in psql. 1. sudo apt-get install postgresql 2. psql 3. CREATE ROLE willow LOGIN CREATEDB CREATEROLE PASSWORD 'willow'; 4.add the following into pg_hba.conf # willow user can connect locally with password local all willow md5 5. restart computer 6. psql --username willow --password --dbname postgres The result is that:

root@ubuntu:~# psql --username willow --password --dbname postgres Password for user willow: psql: FATAL: Ident authentication failed for user "willow"

Whether I use postgres or other os user to log in ubuntu, the result is the same. It seems that I did not create the willow user. What I do is just start the server use psql or psql --username postgres Then I create the user and the \q.
So I didnot know how to solve this problem. OR where can I get a good demo instruction to run the grasp and place demo on ubuntu 11.04 0r 10.04. The problem is how to setup the database. Best regards. Zhenli

Dear All. While I try to develop the demo of following website, I meet a problem in the first step. http://www.ros.org/wiki/pr2_simulator/Tutorials/SimpleGraspingDemo sudo apt-get install ros-cturtle-pr2all Then I got the following information: administrator@ubuntu:~$ sudo apt-get install ros-cturtle-pr2 Reading package lists... Done Building dependency tree
Reading state information... Done E: Unable to locate package ros-cturtle-pr2

I am using ubuntu 11.04.64 bit electric ros. I install the sudo apt-get install ros-electric-pr2-desktop and sudo apt-get install ros-electric-desktop-full That is no problem. IS there some change of the package? How to develop this demo in PR2 simulator? Best regards. Zhenli

After the following steps I got the above error, robot can move its arm but can not detect table and object. I use the remote database,ubuntu 11.04 64 bit electric ros. 1. export ROS_MASTER_URI=http://localhost:11311 export ROBOT=sim 2. roslaunch pr2_gazebo pr2_empty_world.launch 3. rosrun gazebo spawn_model -urdf -file table.urdf -model table -x 1.0 -y 0.5 -z 0.3 4.rosrun gazebo spawn_model -gazebo -file rospack find gazebo_worlds/objects/coffee_cup.model -model coffee_cup -x 1.2 -z 1 5. roslaunch pr2_tabletop_manipulation_launch pr2_tabletop_manipulation.launch 6. rosrun pr2_pick_and_place_demos pick_and_place_demo.py 7. input start or d enter det to detach the object in the gripper q to quit press enter to continue d [INFO] [WallTime: 1329522623.706395] [811.514000] detecting objects [INFO] [WallTime: 1329522623.706753] [811.514000] calling tabletop detection [ERROR] [WallTime: 1329522624.229342] [811.621000] tabletop detection failed with error NO_TABLE, trying again [ERROR] [WallTime: 1329522624.584169] [811.659000] tabletop detection failed with error NO_TABLE, trying again [ERROR] [WallTime: 1329522624.986114] [811.751000] tabletop detection failed with error NO_TABLE, trying again [ERROR] [WallTime: 1329522624.986445] [811.751000] tabletop detection failed too many times. Returning. type:

Dear All. while I following the step from the website: http://www.ros.org/wiki/pr2_simulator/Tutorials/Teleop%20PR2%20arm%20in%20simulation

1. roscore
2. roslaunch pr2_gazebo pr2_empty_world.launch
3. roslaunch jtteleop.launch Then from the terminal I find the following information administrator@ubuntu:~$ roslaunch jtteleop.launch ... logging to /home/administrator/.ros/log/ea179d4e-5728-11e1-af87-18f46a4fafa8/roslaunch-ubuntu-19389.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:58130/

SUMMARY

PARAMETERS * /r_cart/joint_max_effort/r_forearm_roll_joint * /r_cart/pose_command_filter * /r_cart/joint_max_effort/r_shoulder_pan_joint * /r_cart/joint_feedforward/r_shoulder_lift_joint * /r_cart/joint_feedforward/r_elbow_flex_joint * /r_cart/joint_max_effort/r_wrist_flex_joint * /r_cart/joint_max_effort/r_upper_arm_roll_joint * /r_cart/joint_feedforward/r_shoulder_pan_joint * /rosdistro * /r_cart/vel_saturation_trans * /r_cart/joint_feedforward/r_wrist_roll_joint * /r_cart/cart_gains/trans/d * /rosversion * /r_cart/joint_max_effort/r_shoulder_lift_joint * /r_cart/cart_gains/trans/p * /r_cart/type * /r_cart/tip_name * /r_cart/vel_saturation_rot * /r_cart/joint_feedforward/r_forearm_roll_joint * /r_cart/cart_gains/rot/p * /r_cart/root_name * /r_cart/jacobian_inverse_damping * /r_cart/joint_max_effort/r_elbow_flex_joint * /r_cart/k_posture * /r_cart/cart_gains/rot/d * /r_cart/joint_max_effort/r_wrist_roll_joint * /r_cart/joint_feedforward/r_upper_arm_roll_joint * /r_cart/joint_feedforward/r_wrist_flex_joint

NODES / stop_r_arm (pr2_controller_manager/pr2_controller_manager) spawn_cart (pr2_controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[stop_r_arm-1]: started with pid [19407] process[spawn_cart-2]: started with pid [19408] [stop_r_arm-1] process has finished cleanly. log file: /home/administrator/.ros/log/ea179d4e-5728-11e1-af87-18f46a4fafa8/stop_r_arm-1*.log [ERROR] [WallTime: 1329237265.196718] [254.818000] Failed to load r_cart

I am in ubuntu 11.10 , electric ros package. I also rosmake pr2_controller_manager and download the source code from svn teleop_controllers. Thanks for any help. Zhenli

Dear All. Is there a C client program that can make me send and receive information from ROS server? What I need it is that I want to use C program to develop some program and use it as a client of ROS server. Best regards. Zhenli zhenli.lu@ua.pt

Dear All. I am trying to setup a interface between one c Program with ROS. IS there some helpful information? The idea is that we run C program independent and use this interface send and receive information with ROS server to control PR2 simulator (ROS+Gazebo+PR2) The framework is shown as following : C program +interface with ROS +ROS +Gazebo+PR2. Best regards. Zhenli LU Email. zhenli.lu@ua.pt

Update:

Dear DimitriProsser. Thank you very much for your email. In fact my C program does not expose any methods of communication. So Is there a C program client demo for ROS server. Thus I can use it for my project. In fact I am a new hand for ROS and PR2. I want to start from studying the interface with C program. Or how to develop the client program with C program to communicate with ROS server. Thus I can intergrate this client demo with my work in C program. Normally I use YARPmin.c and YARPmin.h as the interface to communcate with another middle ware YARP(Yet Another Robot Platform). Best regards. Zhenli