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2017-03-30 03:24:48 -0600 commented answer ros_control fails (couldn't find the expected controller_manager)

hi!,

The last year, I have been working in a different project since, so i have not made any progress with this, sorry. For me the solution was to use a different computer. I still dont know why. Maybe you can open a new question with your case. Btw, i didnt try the yin solution yet.

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2016-06-29 03:37:12 -0600 commented answer global costmap position

The problem here, if i remember correctly, is that op didnt have a static map, so his only option was to use static map false

2016-06-29 03:35:35 -0600 commented answer global costmap position

@bsk yes sure, he is right. The thing is that for navigation with gmapping you can use static map false, which mean that your system is in charge of constructing the map while navigation, or static map true, which means that you already have the map of the environment and the navigation use that map

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2016-02-25 10:47:35 -0600 answered a question ros_control fails (couldn't find the expected controller_manager)

I have tried the same package in other computer (quite better than the one i am using), and the control works, at least all the controllers are loaded... So i dont know why this happened, i will try to see if i can find what is failing in my old computer, and post here the solution. Anyway thanks to @asagitov for all the help!

2016-02-25 10:01:16 -0600 commented question ros_control fails (couldn't find the expected controller_manager)

I will try to find a solution, but if the problem persists maybe use a github repository for sharing the code can be an option :D. Anyway any help still welcome!

2016-02-25 09:59:56 -0600 commented question ros_control fails (couldn't find the expected controller_manager)

Thanks for all the help!, yes i can run the rrbot tutorials. I also confirmed that although it says that the gazebo_ros_control is loaded, none of the actuals controllers are loaded in the robot, since there are no controllers topics as happens with the rrbot.

2016-02-25 07:01:05 -0600 commented answer how to localize my robot

So i think you should find some way to transform the x,y coordinates you obtain from amcl, to the occupancy grid of the map, and get the cell you are every moment. If after give it you still have the problem, you can open another question related to it

2016-02-25 06:59:00 -0600 commented answer how to localize my robot

Hi! Right now i am not quite sure about how to exactly doing that. What i know is that gmapping publish a map in the format of a occupancygrid msg see the msg documentation.

2016-02-25 04:59:02 -0600 commented answer how to localize my robot

You should then, just subscribe/publish to that topics and use that information, for that the following tutorial could help you. Tutorial

2016-02-25 04:57:28 -0600 commented answer how to localize my robot

As you can see in the wiki documentation, the map is published in the /map topic, in the type of message Occupancy grid, while the pose of the robots is published in the topics /amcl_pose.

2016-02-25 04:52:16 -0600 commented answer ros_control fails (couldn't find the expected controller_manager)

I update the question with some info if that helps :D

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2016-02-25 03:44:06 -0600 commented answer ros_control fails (couldn't find the expected controller_manager)

Hi! Yes! i already have it in my urdf, and it is detected by ROS, since, as adolfo said in this question question , without this plugin the controller services i paste in my question, should not being published.

2016-02-25 03:39:45 -0600 commented answer how to localize my robot

Or if you want to do a rosrun directly this should work:

rosrun amcl amcl _use_map_topic:=true
2016-02-25 03:38:12 -0600 commented answer how to localize my robot

If you are you using gmapping, try set the param "use_map_topic" to true, this way the amcl node will read the information from the topic /map published by gmapping. To do this adding the following line in your launch should be enough:

 <param name="use_map_topic " value="true" />
2016-02-24 16:32:00 -0600 commented answer ros_control fails (couldn't find the expected controller_manager)

Hi! thank you for the answer!, but i have already installed that package, also as as i said the ros controllers are started, but it seems that they cant be loaded to the robot. I do not why.

2016-02-24 10:56:19 -0600 marked best answer Unvailable Gazebo easy tasks tutorials PR2 robot

Hi! i have the following problem,

It looks like the package used by the tutorials pr2_simulator gazebo tutorials http://wiki.ros.org/pr2_simulator/Tut... and http://wiki.ros.org/pr2_simulator/Tut... , are no longer available, the repositories dont work, and i couldnt find the source coude in the web neither.

The problem comes, because at the moment im working in a project with gazebo, and for that i need to have some humanoid robot with some basics tasks preprogrammed in Gazebo to start with (like the ones in the tutorials for example). So my question is if you know some other way to get that packages, or, if this is not possible some other simulated humanoid robot in Gazebo with already some preprogrammed easy task that i could use too.

2016-02-24 10:55:02 -0600 asked a question ros_control fails (couldn't find the expected controller_manager)

Hi!

I am trying to run a custom humanoid robot (foo) in Gazebo. I have the urdf running correctly (in Rviz and Gazebo the robot spawns without problems. However i am not able of doing the correct set up of the control in Gazebo. When the robot spawns it falls to the ground. The only warning i have is the following:

[WARN]  Controller Spawner couldn't find the expected controller_manager ROS interface.

So i suppose the problem is that the control is not loaded. I have searched for similar problems, and i have made sure that the plugin is correctly configured. The output of rosservice list | grep controller_manager is

/foo/controller_manager/list_controllers
/foo/controller_manager/load_controller
/foo/controller_manager/reload_controller_libraries
/foo/controller_manager/switch_controller
/foo/controller_manager/unload_controller

I have also checked the namespaces, but i can not see anything wrong. I have the following code for the spawn of the robot:

   <!-- Joint trajectory controllers -->
   <rosparam command="load" file="$(find foo_control)/config/joint_trajectory_controllers.yaml"/>         
   <param name="robot_description" command="$(find xacro)/xacro.py $(find foo_gazebo_description)/robots/foo_humanoid.urdf.xacro" /> 

  <node pkg="gazebo_ros" type="spawn_model" name="spawn_$(arg robot_name)" args="-param robot_description 
    -urdf
    -x $(arg robot_initial_pose/x)
    -y $(arg robot_initial_pose/y)
    -z $(arg robot_initial_pose/z)
    -R $(arg robot_initial_pose/roll)
    -P $(arg robot_initial_pose/pitch)
    -Y $(arg robot_initial_pose/yaw)
    -model $(arg robot_name)
    -robot_namespace /foo"
     respawn="false">
  </node>

The following for the control:

  <!-- Force-torque sensors controller -->
  <rosparam file="$(find foo_control)/config/effort_controller.yaml" command="load"/>

  <!-- Controllers that come up started
   <node name="bringup_controllers_spawner"
        pkg="controller_manager" type="spawner" output="screen"
        args="force_torque_sensor_controller
              joint_state_controller" /> -->
  <!-- load the controllers -->

  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/foo" args="
    waist_yaw_position_controller 
    waist_pitch_position_controller (etc..)"/> 

<!-- Robot state publisher -->
 <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
 <param name="publish_frequency" type="double" value="50.0" />
 <param name="tf_prefix" type="string" value="" />
 <remap from="/joint_states" to="/foo/joint_states" />

I think all the stuff is loaded in the foo namespace. If any of you have any clue about why this could be happenning, you will be welcome.

Thank you in advance!

UPDATE

Added the terminal info when lauching my simulation:

image description

Although it says ros_control is loaded there are no controllers spawned by the controller (no controller topics)

2016-02-24 08:40:46 -0600 commented answer how to get real-time access to grid data from map generated by gmapping?

Hi!, did you look at the content of the OccupancyGrid Message?, following the documentation this message, " represents a 2-D grid map, in which each cell represents the probability of occupancy.". So i think it should be a 2D info. Are you sure you are looking at the correct topic?

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2016-02-22 06:36:38 -0600 answered a question how to localize my robot

Hi!

First, i think that the package gmapping already does the localization for you, since gmapping is design to work with SLAM (Simulataneos localization and mapping), you can check this in the wiki http://wiki.ros.org/gmapping. If your robot is not being localized maybe you should check your tf tree, and make sure that there is a transformation between the frame /odom (the one where gmapping "publish" the localization information), and the base frame of your robot (by default should be /base_link and it should be connected, at the same time, to the other parts of your robot).

Anyway if you are searching for packages in ROS to perform the localization, the amcl package http://wiki.ros.org/amcl, is one option.

Hope this helps!

2016-02-22 06:19:29 -0600 answered a question how to get real-time access to grid data from map generated by gmapping?

hi!,

I think that the information you are looking for, is published in the topic /map. If you take a look to the gmapping documentation http://wiki.ros.org/gmapping , you will see that gmapping, publish the occupancy grid information, in the format of a message of the type http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html, in the topic /map. So, you should just subscribe to that topic, to get the information you are looking for.

Hope this helps you!

2016-02-22 06:04:52 -0600 answered a question catkin_make error when using mavros.

Hi!

There are two different possibilities than can cause this error.

  1. You have not installed the control_toolbox package. To do this the following command should be enough.

    sudo apt-get install ros-indigo-control-toolbox

  2. If this is not the case and you already have installed it. Then there is a problem with the sourcing of that package. You have to make sure that the route where that package is installed is in the $ROS_PACKAGE_PATH. Just do a echo $ROS_PACKAGE_PATH to see the paths in your ROS_PACKAGE_PATH.

I hope this helps!

2016-01-26 02:56:47 -0600 commented answer roslaunch python

Oh yes! sorry, I thought they refer to the sintaxis in the chmod call. Didnt read it carefully, my fault. Thank you for the note

2016-01-25 04:30:27 -0600 answered a question roslaunch python

Also i don't know if this was your problem. But when you launch a node, the type parameter is the name of the executable to launch. Therefore since python does not need a compiler, and the executable is the own .py file. You need to just specify the .py file. This means something like this.

<node name="search" pkg="searching_tobot" type="search.py" output="screen">

I had a similar problem and this worked for me.

Hope this helps to anyone!

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2015-11-18 04:14:04 -0600 answered a question Using move_base for navigation, obstacle cannot be cleared timely

Hi!

If you have time problems with the obstacle upate in your costmap, i think you should increase the publish frequency in your local_costmap params, since this is the frequency at the map the robot uses is updated. If this doesnt help maybe there is a problem with the sensor.

Hope this helps!

2015-11-16 05:42:03 -0600 commented answer Load map to map_server from MatLab

Change the topic, Its quite simple you just need to use the remap option when you launch your Matlab or Map_server node in your launch file, you have some info here. Good luck with the project!

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2015-11-13 05:59:03 -0600 answered a question Load map to map_server from MatLab

Hi!.

I think your problem is (if i correctly understood you) that you are using two different maps, the one generated with ROS in the map_server (probably from some of your nav topics) and the one generated with Matlab. The thing is as you said, that when you try to publish your Matlab map in the /map topic it gets overwritten by the one generated with map_server, since map_server is always sending map messges through that topic. So you have different options:

  1. If you want to use both maps, just create a new topic for the Matlab map (/mat_map for example) and send there your map. Then you just need to change the subscribed topics for the nodes that you want to use that map from "/map" to "/mat_map".
  2. If you want to use only the map from matlab, you can just change the topic where map_server poublish the map (/map), to some weird name that no node is gonna use like (/junk_topic). This is a quite bad not optimal solution but is an easy one and works :D. Other option is just delete de map_server node.

Both options asuumes that the map generated with Matlab is in the correct format in ROS (nav_msgs/OccupancyGrid.msg for example).

I hope this helps! :D

2015-11-12 04:02:14 -0600 answered a question Create a 2d map to place a robot

Hi!

I think you should star searching about 2d simulators in ROS. Since it seems what you are trying to do is just a simple 2d simulation. Gazebo is the most used simulator in ROS, but is for 3d environments, so you should search some altenatives, and learn how to use them with the wiki.

2015-11-12 04:01:45 -0600 commented question Create a 2d map to place a robot

No problem :D.I will add this comment as an answer then to let other people know that your problem has been solved.

2015-11-10 09:37:03 -0600 commented question Create a 2d map to place a robot

Hi! i think you should star searching about 2d simulators in ROS. Since it seems what you are trying to do is just a simple 2d simulation. Gazebo is the most used simulator in ROS, but is for 3d environments, so you should search some altenatives, and learn how to use them with the wiki.