jackcviers's profile - activity

When a package is generated using catkin_create_package -m "John Doe" -a "John Doe", the package.xml that is generated contains <author> and <maintainer> tags with @todo.todo email addresses. Is there some config file somewhere that needs to be modified or an environment variable set or some usermod/groupadd step that needs to be run?

@Akif

rosnode list /amcl /east_north_up_publisher /fake_east_north_up_rtklibdata /fake_laser_publisher /fake_razor_imu /joint_state_publisher /map_server /move_base /move_base_test /robot_pose_ekf /robot_state_publisher /rosout /rtklib_odometry_publisher

@Akif - afk at the moment, but none of my nodes are publishing

move_base_test:
   * /move_base/status
   * /move_base/feedback
   * /move_base/result
   * /move_base:
   * /move_base_simple/goal

So I assume it is up. I'll run a check when I get back to my desk and add it.

I have been following the tutorials for the navigation stack setup for my robot. I have the robot situated on a map, with a valid tf tree according to view_frames. My roswtf output is:

WARNING: Package "libg2o" does not follow the version conventions. It should
 not contain leading zeros (unless the number is 0).                       
Loaded plugin tf.tfwtf
No package or stack in context
============================================================================
====                                                                       
Static checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING You are missing core ROS Python modules: rosinstall -- 
WARNING You are missing Debian packages for core ROS Python modules: rosinst
all (python-rosinstall) --                                                 

============================================================================
====                                                                       
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /tf_static
 * /move_base_test:
   * /move_base/status
   * /move_base/feedback
   * /move_base/result
 * /move_base:
   * /move_base_simple/goal
   * /tf_static
 * /robot_pose_ekf:
   * /tf_static

I am using robot_pose_ekf, and joint_state_publisher and robot_state_publisher. I have a valid map (a simple square bitmap). I am using amcl. I have a laser scan publishing to the scan topic and odometry being published. I have an initial pose published to the action client, and I have set a goal. I do not receive any messages on the cmd_vel topic.

I have debug logging set up, and I get this tf error warning :

[ WARN] [1450055002.619956377]: canTransform returned after 0.100896 timeout was 0.1.. canTransform returned after 0.100751 timeout was 0.1.. canTrans

(shortened because it repeats forever)

Has anyone run into this warning, and is there a way to solve it? Does it have anything to do with the cmd_velocities not publishing?

catkin_make --force-cmake 
Base path: /home/jackcviers/Development/ros_piksi_ws
Source space: /home/jackcviers/Development/ros_piksi_ws/src
Build space: /home/jackcviers/Development/ros_piksi_ws/build
Devel space: /home/jackcviers/Development/ros_piksi_ws/devel
Install space: /home/jackcviers/Development/ros_piksi_ws/install
####
#### Running command: "cmake /home/jackcviers/Development/ros_piksi_ws/src -        DCATKIN_DEVEL_PREFIX=/home/jackcviers/Development/ros_piksi_ws/devel -DCMAKE_INSTALL_PREFIX=/home/jackcviers/Development/ros_piksi_ws/install" in    "/home/jackcviers/Development/ros_piksi_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/jackcviers/Development/ros_piksi_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/hydro
-- This workspace overlays: /opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jackcviers/Development/ros_piksi_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.88
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - piksi_sensor_msgs
-- ~~  - piksi_driver
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'piksi_sensor_msgs'
-- ==> add_subdirectory(piksi_sensor_msgs)
CMake Error at piksi_sensor_msgs/CMakeLists.txt:47 (add_message_files):
  Unknown CMake command "add_message_files".


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

-- Relevant CMakeLists.txt:

OS: Ubuntu 13.04

ROS: Hydro

Any ideas what is causing this issue? I'd love to show you the cmake file, but for some reason it thinks I'm trying to post a link if I do and I don't have enough karma...

So I have a urdf for my robot, with the tree root as base_link.

However, I am using robot_pose_ekf, which has a hard-coded transform for base_footprint. Assuming a simple square base_footprint, should I make it the root:

base_footprint
  base_link ... rest of model

EDIT:

After adding a base_footprint link and joint to base_link:

robot name is: Thumperbot_Simplistic
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
    child(1):  base_link

I still get the following error:

Node: /robot_pose_ekf
Time: 12:35:35.441279569 (2014-09-16)
Severity: Debug
Published Topics: /robot_pose_ekf/odom_combined, /rosout, /tf

Could not transform imu message from base_link to base_footprint. Imu will not be activated yet.

Location:
/tmp/buildd/ros-indigo-robot-pose-ekf-1.11.11-0trusty-20140805-0105/src/odom_estimation_node.cpp:OdomEstimationNode::imuCallback:234

----------------------------------------------------------------------------------------------------

Perhaps it is not receiving my urdf that have in the launchfile? Here is the launchfile:

<launch>
  <param name="robot_description" textfile="$(find thumperbot_description)/urdf/thumperbot_description.urdf" />
  <node name="gps_conv" pkg="gps_common" type="utm_odometry_node">
    <remap from="odom" to="vo" />
    <remap from="fix" to="/gps/fix" />
    <param name="rot_covariance" value="99999" />
    <param name="frame_id" value="base_link" />
  </node>
  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <rosparam>
      odom_used: false
      imu_used: true
      vo_used: true
      debug: true
      self_dignose: true
    </rosparam>
  </node>
  <include file="$(find piksi_driver)/launch/piksi_driver.launch" />
  <include file="$(find razor_imu)/launch/razor-pub.launch"/>
</launch>

Here razor_imu and piksi_driver are drivers for the razor imu sensor and the piksi gps sensor. Both sensors output their data correctly.