voladoddi's profile - activity

Hello @vooon and @eric-schneider , I'm stuck somewhere similar but my source of the problem is elsewhere I think.

1) I am using Ubuntu 14.04 and mavros for ROS Indigo.

2) FCU I am using 3DR Robotics Iris equipped with Pixhawk.

3) I installed mavros using sudo apt-get install ... . This part is fine. Next, I connect the USB receiver to my computer and I change the "ttyACM0" in the px4.launch file to "ttyUSB0".

4) Then I call the launch file, and I see

[ INFO] [1429900676.296419593]: FCU URL: /dev/ttyUSB0:115200
[ INFO] [1429900676.296568384]: serial0: device: /dev/ttyUSB0 @ 115200 bps
[ INFO] [1429900676.297267179]: GCS bridge disabled
[ INFO] [1429900676.338080124]: Plugin 3dr_radio loaded and initialized
[ INFO] [1429900676.340020654]: Plugin actuator_control loaded and initialized
[ INFO] [1429900676.343256392]: Plugin command loaded and initialized
[ INFO] [1429900676.349410801]: Plugin ftp loaded and initialized
[ INFO] [1429900676.355797673]: Plugin global_position loaded and initialized
[ INFO] [1429900676.358029042]: Plugin gps loaded and initialized
[ INFO] [1429900676.358063670]: Plugin image_pub blacklisted
[ INFO] [1429900676.368613134]: Plugin imu_pub loaded and initialized
[ INFO] [1429900676.371929447]: Plugin local_position loaded and initialized
[ INFO] [1429900676.423800247]: Plugin mocap_pose_estimate loaded and initialized
[ INFO] [1429900676.425444083]: Plugin param loaded and initialized
[ INFO] [1429900676.429073723]: Plugin px4flow loaded and initialized
[ INFO] [1429900676.431786149]: Plugin rc_io loaded and initialized
[ INFO] [1429900676.433578150]: SA: Set safty area: P1(1.000000 1.000000 1.000000) P2(-1.000000 -1.000000 -1.000000)
[ INFO] [1429900676.435489856]: Plugin safety_area loaded and initialized
[ INFO] [1429900676.438453801]: Plugin setpoint_accel loaded and initialized
[ INFO] [1429900676.444126377]: Plugin setpoint_attitude loaded and initialized
[ INFO] [1429900676.448153997]: Plugin setpoint_position loaded and initialized
[ INFO] [1429900676.449946335]: Plugin setpoint_velocity loaded and initialized
[ INFO] [1429900676.455628269]: Plugin sys_status loaded and initialized
[ INFO] [1429900676.458712512]: Plugin sys_time loaded and initialized
[ INFO] [1429900676.459608376]: Plugin vfr_hud loaded and initialized
[ INFO] [1429900676.464448577]: Plugin vision_pose_estimate loaded and initialized
[ INFO] [1429900676.467479429]: Plugin vision_speed_estimate loaded and initialized
[ INFO] [1429900676.470861478]: Plugin visualization loaded and initialized
[ INFO] [1429900676.473968732]: Plugin waypoint loaded and initialized
[ INFO] [1429900676.474017908]: Autostarting mavlink via USB on PX4
[ INFO] [1429900676.474039611]: Built-in mavlink dialect: ardupilotmega
[ INFO] [1429900676.474059391]: MAVROS started. MY ID [1, 240], TARGET ID [1, 50]

Now I wonder if [ INFO] [1429900676.474039611]: Built-in mavlink dialect: ardupilotmega is the problem because when I launch a new terminal and do a rostopic list I can see -

/diagnostics
/mavlink/from
/mavlink/to
/mavros/actuator_control
/mavros/battery
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_vel
/mavros/global_position/local
/mavros/global_position/rel_alt
/mavros/gps/fix
/mavros/gps/gps_vel
/mavros/imu/atm_pressure
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/mag
/mavros/imu/temperature
/mavros/local_position/local
/mavros/mission/waypoints
/mavros/mocap/pose
/mavros/px4flow/ground_distance
/mavros/px4flow/raw/optical_flow_rad
/mavros/px4flow/temperature
/mavros/radio_status
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/safety_area/set
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/att_throttle
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_position/local
/mavros/setpoint_velocity/cmd_vel
/mavros/state
/mavros/time_reference
/mavros/vfr_hud
/mavros/vision_pose/pose
/mavros/vision_speed/speed_vector
/mavros/visualization/track_markers
/mavros/visualization/vehicle_marker
/mavros/wind_estimation
/rosout
/rosout_agg ...

I'm trying to follow this tutorial - http://wiki.ros.org/cv_bridge/Tutoria...

to stream images to a node.

After I added the node see_image.cpp, I'm adding an executable by name image_viewer.

To be clearer, my CMakeLists.txt looks like this -

cmake_minimum_required(VERSION 2.8.3)
project(visual_odometry)

find_package(catkin REQUIRED COMPONENTS
  ardrone_autonomy
  roscpp
  rospy
  sensor_msgs
  cv_bridge
  std_msgs
  image_transport
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(subscriber_test src/subscriber.cpp)
target_link_libraries(subscriber_test
${catkin_LIBRARIES}
)
   find_package(OpenCV REQUIRED)
   include_directories(${OpenCV_INCLUDE_DIRS})
   add_executable(image_viewer src/see_image.cpp)
   target_link_libraries(image_viewer ${OpenCV_LIBRARIES})

And my package.xml looks like this:

<package>
  <name>visual_odometry</name>
  <version>0.0.0</version>
  <description>The visual_odometry package</description>
 <maintainer email="voladoddi@todo.todo">voladoddi</maintainer>
 <buildtool_depend>catkin</buildtool_depend>
  <build_depend>ardrone_autonomy</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
<!--adding build_depend and run_depend according to page http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages Example 1.4 - ROS node-->
  <build_depend>sensor_msgs</build_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>image_transport</build_depend>


  <run_depend>ardrone_autonomy</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
<!--run dependencies for the 4 build dependencies added above-->
  <run_depend>sensor_msgs</run_depend>
  <run_depend>cv_bridge</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>image_transport</run_depend>



  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

After all this, I try to build using catkin_make and I'm getting the following errors:

  Linking CXX executable /home/voladoddi/catkin_ws/devel/lib/visual_odometry/image_viewer
[  5%] Performing install step for 'ardronelib'
make[3]: warning: jobserver unavailable: using -j1.  Add `+' to parent make rule.
[  6%] Completed 'ardronelib'
[  8%] Built target ardronelib
[  9%] Built target subscriber_test
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `main':
see_image.cpp:(.text+0x55): undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
see_image.cpp:(.text+0x81): undefined reference to `ros::spin()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `image_transport::TransportHints::TransportHints(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::TransportHints const&, ros::NodeHandle const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
see_image.cpp:(.text._ZN15image_transport14TransportHintsC2ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_[_ZN15image_transport14TransportHintsC5ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_]+0x53): undefined reference to `ros::NodeHandle::NodeHandle(ros::NodeHandle const&)'
see_image.cpp:(.text._ZN15image_transport14TransportHintsC2ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_[_ZN15image_transport14TransportHintsC5ERKSsRKN3ros14TransportHintsERKNS3_10NodeHandleES2_]+0x84): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `image_transport::TransportHints::~TransportHints()':
see_image.cpp:(.text._ZN15image_transport14TransportHintsD2Ev[_ZN15image_transport14TransportHintsD5Ev]+0x19): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_viewer.dir/src/see_image.cpp.o: In function `ImageConverter::ImageConverter()':
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x47): undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
see_image.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x82): undefined reference to `image_transport::ImageTransport ...