IFLORbot's profile - activity

I want to use the distance traveled and the avg velocity for a fitness evaluation for my robot. I can't find that information anywhere, though. Does anybody know of a package that publishes this information? I was hoping it was going to be part of move_base

I really want to be able to send a goal to move base that is it's current position, but a different orientation/ rotation. I know I can send a twist command to rotate the robot, but I was wondering how someone would do it via MoveBase?

Is there a way to subscribe to the information output to the screen by Gmapping? It prints out a lot more information that it allows subscriptions to or services for. I want to be able to get that information without modifying the Gmapping code.

There seems to be a lack of information on callbacks, or at least hard to find, so I was wondering if someone here could understand them. Right now, they seem like magical functions. I'd never heard of them before, and the Internet hasn't been entirely helpful.

I'm trying to add a bit more localization to the Turtlebot during gmapping via RFID tags, so I have them publishing on the vo for robot_pose_ekf. I have noticed that gmapping runs through the certainty of it's pose in order to determine where it is / read the paper. Is there any way to subscribe to this like it's a topic? I can use this value to train my robot when to trust the RFID tags and when to not, since it's concurrently using them for localization and assigning them positions.

Edit: I'm basically doing SLAM with RFID tags.

I'm trying to use a callback for the current location to update a global variable I have that's just a tuple. However, the callback is working fine, but the global variable is never updated.

I normally use a callback as a loop to run whatever it is I want to do, but in this case I have a separate loop choosing locations to navigate too. I want this loop to gain access to the current location.

Also, I'm not sure I understand exactly how callbacks work, and this may be me problem.

So I'm working on moving to a random location on the map while GMapper is running. So, I'm choosing a random int in map.data and making sure it's not unoccupied or explored. I then want to translate this position in the list to an x,y coordinate goal that I send to move base. Is there a transform or function that converts the map.data[point] into an X,Y coordinate? I know it's in row-major order, but because of the offset of the origin, there needs to be negative values as well.

Edit: Basically, I'm trying to get the robot to move to a randomly chosen, known area.

Edit2 : Thanks Lorenz,

It was this: x = map.map.info.origin.position.x + int(point%map.map.info.width) * map.map.info.resolution y = map.map.info.origin.position.y + int(point/map.map.info.width) * map.map.info.resolution

Width is not what I was expecting it to be.

Thanks

Basically, I'm implementing a grid of RFID tags on the floor. The Turtlebot drives over each during mapping and assigns each a location based on base_footprint. HOWEVER, the SLAM gmapping algorithm sometimes updates the Map and rotates it, making my tags now in the wrong location. I was wondering what transform causes this rotation so I can apply the same function to my list of tags, hopefully updating them as well. It's not necessarily a problem, as once the map is actually built, I can run over the out of place tags again and update them, but I would like to not have to do this.

I'm running electric.

Thanks!

Every day I start up my turtlebot, I have the same problem with minimal.launch. Every day, I have to fix it, seemingly through random chance. I get it working, but it takes a significant amount of time everyday. I've looked through every post on the subject many times, and have added rules to give permissions to udev, but every day I have the same problem and simply have to get lucky in reboot.

Even if the create USB is assigned USB0, sometimes it doesn't work.

Can I go in and change the minimal launch so that it's looking for a SYNNAME for create instead of just looking at ttyUSB0?

Then making a rule in udev/rules.d like this:

KERNEL=="ttyUSB*", SYSFS{idVendor}=="0403", SYSFS{idProduct}=="6001", SYSFS{serial}==SERIAL_OF_USB_CABLE, SYMLINK+="turtlebot"

So my real question is if I do this in minimal.launch, are there going to be problems in the code later where instead of looking for turtlebot, the code is simply looking for ttyUSB0.

Thanks

I'm trying to plot a custom message with rxplot on my desktop while my Turtlebot runs. However, this fails and asks if I've built my messages? How can I build custom messages on my desktop computer?

EDIT: You can't copy and paste from turtlebot to the desktop because the directories are different. Make files only work if they're in the proper directory. I can't roscreate a new package on the desktop in the ROS directory. I can make it anywhere else on the machine, but when I try roscreate-pkg, it's denied, and when I sudo it, roscreate-pkg the command is not found.