mrtc's profile - activity

I'm looking for a wireless camera solution that could feed what it sees into the usb_cam node. I want to experiment with ar_pose however the camera is to be mounted on a quadcopter and obviously running a cam would be disadvantageous. Is there a camera system that would work over short range (5-10 m or so) that would permit this?

I'm trying to a build a gui using the roscreate-qt-pkg in QtCreator. In trying to generate code using "Go to Slot..." in the template, I get the following:

No documents matching 'ui_main_window.h' could be found. Rebuilding the project might help.

Is this an existing issue or am I forced to manually edit the cpp and hpp files to add buttons, etc?

I've created a node which uses the PySerial library to communicate with an XBee module wirelessly. The only occasional issue I encounter is dropped communication, which I resolved by just setting the node to auto-respawn in the launch file.

It did get me thinking though. I'm not a programming expert so I'm not sure what sort of overhead behind the scenes I'm encountering when I use python to perform serial communication.

My question is would it be better in the long run to use C++ for serial communication (ie would computations be faster, more reliable, etc.) over Python?

I originally posted a question here to which I'm gradually finding the answer to. I'm successfully inputting the data through a vo topic into robot_pose_ekf, however it appears to be ignoring imu_data, also published. Is there a way to verify that robot_pose_ekf is successfully using this data?

EDIT:

I should clarify this appears to be the case since disabling imu_data publishing has no visual effect on the robot's pose, it continues to update the position at the frequency of the localization system with no change in orientation.

I'm working on a controller for a quadcopter. Currently I have 9-DOF IMU data and localization data (just x-y-z). The onboard controller already has an algorithm (DCM) for calculating orientation. However the localization operates at a max frequency of 4Hz or so. Would the robot_pose_ekf package be suitable for fusing the IMU data with this on a quadcopter platform? I performed a brief literature search and it doesn't appear this has been done before with this package, but I have no reason to believe it would not work.

I'm trying to roslaunch the starmac package. I've made some modifications to the launch file but I get following error:

while processing /home/bob/ros/stacks/asctec_mav_framework/asctec_hl_interface/launch/fcu_nodelet.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/bob/ros/stacks/asctec_mav_framework/asctec_hl_interface/launch/fcu_nodelet.launch

I took a peek for the file and it wasn't there any suggestions?

I'm following the tutorial at for moving the PR2 arm to a pose goal (link) but I'm having trouble to transitioning this to a custom non-pr2 robot in simulation.

As I understand it the motion plan request must call an action server. From here I'm sort of lost. Can I use the warehouse planner to initialize the robot, and then run a new node to request a new post?

After doing much back tracing, all I found was that it could not find several of the paramaters when this line is called from any of my programs: get_planning_scene_client.call(planning_scene_req, planning_scene_res). Even just requesting state validity causes the visualizer to crash.

I sort of (but not really) solved the problem. A simulation of the hardware controller is needed, but I think you should still be able to request poses through code if you can do it in rviz, controller or not.

Very helpful! I copied the planning_environment package into my workspace and had it output the data causing false to be returned. The string::bool iterator loop is indicating "floating_rot_w" is false, whatever that means. I see it shows up in planning_models so I'll start digging in there.

All the joint states appear to be published, not sure what a "well-defined" multi-dof joint would qualify as though. The only things running are my planning_scene_warehouse_viewer.launch file, and rosrun'ing the joint goal node. Is there nothing else required?