aecins's profile - activity

The answer is here. Basically PCL and ROS have incompatible versions of Kinect drivers. You can have one or the other installed but not both. If you want to use PCL with ROS you have to use the ROS version of PCL which is very limited compared to trunk PCL as far as I understand (I have not tested it myself).

I see. Yes, copying to a variable is not necessary at all. Thanks for the info.

Let's say the /joint_states topic published by joint_state_publisher has several joint states:

header: 
  seq: 2855
  stamp: 
    secs: 1347822047
    nsecs: 978094100
  frame_id: ''
name: ['ptu_pan_joint', 'ptu_tilt_joint']
position: [-0.4972690939903259, -0.20195947587490082]
velocity: []
effort: []

I just want to know the position of 'ptu_pan_joint'. How can I get it in C++ code? For now I am using the following:

vector<string> joint_names = joint_state->name;
pan_position_ = joint_state->position[find (joint_names.begin(),joint_names.end(), string(PAN_JOINT)) - joint_names.begin()];

Is there a cleaner solution?

The repository is not public yet but here's a link it's current version (https://dl.dropbox.com/u/4515184/p2os_umd.tar.gz). To run gazebo simulation run roslaunch p2os_description pioneer3dx_gazebo.launch And thanks for the effort!

I am running a modified version of p2os repo code. The main difference is that I am using the differential drive gazebo plugin from erratic robot. I got pioneer3DX to simulate correctly in Diamondback. I am not sure how the p2os repo code will behave under Fuerte.

I am trying to get pioneer 3dx to work in Fuerte but ran into this problem.

I am trying to simulate Pioneer 3dx robot in gazebo (running Fuerte). When I launch the simulation the robot spawns but then the caster wheel starts spinning in place. It accelerates and after some time the back side of the robot starts to "sink" into ground in gazebo window. I can not figure out why. Same urdf model worked fine in Diamondback. I ran erratic robot simulation (which is differential drive as well) in Fuerte and it works fine, but I could not find why it doesn't work for Pioneer.

Here are the urdf files I am using
pionner3dx body
pionner3dx wheel
Differential drive plugin

Hello everyone,

I am using ptu46 driver. It publishes pan and tilt joints to the /ptu/state topic using sensor_msgs/JointState. There are other nodes in my system that publish joint states to /joint_states topic. I want robot_state_publisher to listen to both /joint_states and /ptu/state topics and publish a transform tree. The reason I don't want the PTU driver to publish to /joint_states directly is that there is an action server node that listens to /ptu/state and allows controlling the PTU. Is there a way to get around this problem?

Ok, I have found a solution. You can aggregate JointState messages from several topics into a single /joint_states topic using the source list parameter of joint_state_publisher. You have to make sure that your urdf model has the joint names corresponding to those published in your JointState sources.