Abhishek Jha's profile - activity

Hello Everybody,

I am trying to take images of a moving robot arm simulated in gazebo. I am using gazebo-1.9 and ROS-Hydro.

I tried to take images using a "libgazebo_ros_openni_kinect.so" camera plugin but it takes images continuously. I would like it to take images at some random intervals which I could specify programmatically. How can I do this?

Regards, Abhishek Jha

Hi all, I am trying to capture images of a moving robot arm simulated in Gazebo using the kinect camera controller. A part of my model.sdf for the camera model is as follows:

<sensor name="camera_0" type="depth">
    <camera>
     <horizontal_fov>1.5</horizontal_fov>
      <image>
        <width>1024</width>
        <height>800</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>.1</near>
        <far>20</far>
      </clip>
      <save enabled="true" path="/tmp/camera"/>
    </camera>

<plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
      <cameraName>camera_0</cameraName>
      <alwaysOn>true</alwaysOn>
      <updateRate>10</updateRate>
      <imageTopicName>rgb/image_raw</imageTopicName>
      <depthImageTopicName>depth/image_raw</depthImageTopicName>
      <pointCloudTopicName>depth/points</pointCloudTopicName>
      <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
      <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
      <frameName>second_camera_depth_optical_frame</frameName>
    </plugin>
    <always_on>true</always_on>
    <update_rate>20.0</update_rate>
  </sensor>

As you can see the camera is in 'always On' state.Therefore it keeps on taking images at regular intervals. I want to have control over camera in terms of being able to click images when I want to. How to do this?

Any help is greatly welcome

I was using cmake to build the packages. In that case I was not able to create the executable.

I was able to solve this. I used the rosmake command.

$rosmake {package_name}

It helped create the executable and I was able to run it using rosrun.

Hello all,

I am trying to run a C++ code to move the ur5 robotic arm to random configurations in moveit!. However when I am trying to run the code using rosrun I am getting the following error:

[rosrun] Couldn't find executable named move_group_interface_tutorial below /home/abhi/Desktop/universal_robot/ur_moveit_tutorials

The C++ file is this:

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
  ros::init(argc, argv, "lesson_move_group");

  // start a background "spinner", so our node can process ROS messages
  //  - this lets us know when the move is completed
  ros::AsyncSpinner spinner(1);
  spinner.start();

  move_group_interface::MoveGroup group("manipulator");
  group.setRandomTarget();
  group.move();
}

The CMakeLists.txt file is something like this:

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)



rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/src)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

rosbuild_add_executable(lesson_move_group_1 src/lesson_move_group_1.cpp)
target_link_libraries(lesson_move_group_1 moveit_move_group_interface)

Please tell me how to create the executable and run this code. I am stuck here for quite some time now.

I am trying to add some files to the location /opt/ros/hydro/share. But I am being denied permission. I have installed ROS as a debian package.