Morteza's profile - activity

Thank you. Based on my search it seems that kinect V2 is not good in daylight but it has acceptable results in cloudy and shadow cases. It seems that Stereo is the best choice. I will state the practical tests results right here under this question.

Thanks for your response. Now the question is that can we extract depth information from a thermal camera. And if we use stereo camera how far objects we can detect (i mean how much is the detection range of stereo camera).

Hi everyone,

I am trying to design and implement a target tracking system on a boat and I am searching to find a suitable sensor to do this. As you know we can not use Kinect outdoors. another option is stereo camera but i am not sure if it works properly or what is the range of detection of target with stereo camera. I would appreciate any help in finding a good approach.

Hi everyone,

I have used rosserial_windows to connect my laptop in windows to a pc in ubuntu and sending some sensor data from windows to linux. Now i need to build the .dll of the rosserial_windows and i used the below but i get the LNK error. i would appreciate any help.

extern "C"
{

ros::NodeHandle nh;
char *ros_master = "192.168.1.4";
std_msgs::Float32 roll_msg;
ros::Publisher roll_pub ("roll", &roll_msg);

  __declspec(dllexport) void InitRosPublish()
  {
    nh.initNode (ros_master);
    nh.advertise (roll_pub);
  }

  __declspec(dllexport) void PublishImuData(double roll, double pitch, double yaw)
  {
        roll_msg.data = roll;
        roll_pub.publish(&roll_msg);
        nh.spinOnce ();
        Sleep (10);
  }

  __declspec(dllexport) void Sum(double a, double b, double& c)
  {
      c = a + b;
  }
}

Edit: Actually i have to add that the first error is:

Error   2   error LNK2019: unresolved external symbol "public: void __thiscall WindowsSocket::init(char *)" (?init@WindowsSocket@@QAEXPAD@Z) referenced in function "public: void __thiscall ros::NodeHandle_<class WindowsSocket,25,25,512,512>::initNode(char

Thanks in advance. That worked nicely.

Hi everyone I am trying to run rgbdslam on pc with kinect data captured with another laptop on network. Firstly i establish the network. Then i run roslaunch openni_launch openni.launch on the laptop which the kinect is conected to it. Then i roslaunch rgbdslam rgbdslam.launch on th PC. The laptop just capture the kinect data and send them on network to PC. But with no error there is no image on rgbdslam GUI and it doesn't work. I appreciate any help.

Hi everyone I am a bit new to linux and ROS and i want to connect two laptops (one in windows and one in ubuntu) to transfer some sensor data. I will appreciate any help.

Hi,

I wonder if it is possible to install the ros diamondback in ubuntu 12.04. I have already seen the installation page, http://wiki.ros.org/diamondback/Insta... , but it seems that it doesn't have the setup for ubuntu 12.04. what should i do? thanks for any help.

Hi everyone,

I have installed hydro and fuerte and having problem when i want to use more than one directory in fuerte. I have made 2 directories named,fuerte_workspace and ros_workspace, and added them to my bashrc. but my ROS doesn't seem to recognize my ros_workspace and I can just roscd to packages in fuerte_workspace. what shoul I do? Thanks for any help. My ending lines in bashrc are as follows:

 source `rospack find gazebo`/setup.bash
 source /opt/ros/fuerte/setup.bash
 export ROS_PAcKAGE_PATH=~/dev/rosbook:$ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=~/ros_workspace:$ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=~/fuerte_workspace/sandbox:$ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=~/drh-robotics-ros/ros/ardros:$ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=~/fuerte_workspace/sandbox/VSLAMDIR:$ROS_PACKAGE_PATH
 export ROS_PACKAGE_PATH=~/fuerte_workspace/sandbox/Navigation_Mohammad:$ROS_PACKAGE_PATH

 source /opt/ros/hydro/setup.bash
 source /opt/ros/hydro/setup.bash

the approach i computed the rotation velocity is that at first i computed the maximum linear velocity of the robot and then doubled it and divide it by the distance between the wheels. 13.736 means that the robot can rotate twice (4 pi) in one second and i think it seems logical.

The wrong commands of the local planner causes the robot to go far from the global path or turn around and hits the obstacles.

Thanks David for edition. No, this is not the problem. I computed the new acceleration and velocity of the robot when using battery and set them in the config. files. the robot doesn't move faster. The planner computes the global path well bu i see that the local planner gives wrong commands.

Hi everyone,

I am using the navigation stack on my own wheeled robot. at first i used a converter to convert 220 v to 14.7 v to run my robot. using this power my robot navigated nicely in the environment. Then i equipped my robot with a 25 v LiPo battery and now when navigating, it hits the obstacles much and when i command it to go to a far distance goal, turn around much. my navigation config is as follow. what should i do? I appreciate any help.

base_local_planners_params.yaml:

max_vel_x: 2.5
min_vel_x: 0.5
max_vel_theta: 13.736
min_vel_theta: -13.736
min_in_place_rotational_vel: 2
escape_vel: -0.5
acc_lim_theta: 3.12
acc_lim_x: 0.568
acc_lim_y: 0.568
xy_goal_tolerance: 0.5
yaw_goal_tolerance: 3
holonomic_robot: false

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[ -0.146,  -0.372],
            [ 0.354, -0.372],
            [ 0.554, 0],
            [0.354, 0.372],
            [-0.146,  0.372]]
robot_radius: ir_of_robot
inflation_radius: 0.6
robot_radius: 0.5

observation_sources: laser

laser: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  static_map: true
  resolution: 0.05
  width: 0
  height: 10

local_costmap_params.yaml:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

Thank you for your response. I downloaded the hydro version and it works well. In fuerte i did what you said but when i ran make, although the libsiftgpu.so was made, i got error.

Also, when i try to start the openni nodes and RGBDSLAM separately with the commands 'roslaunch openni_launch openni.launch' and 'rosrun rgbdslam rgbdslam', I get the following error.

/home/morteza/fuerte_workspace/sandbox/rgbdslam_freiburg/rgbdslam/bin/rgbdslam: error while loading shared libraries: libsiftgpu.so: cannot open shared object file: No such file or directory

Hello,

I am trying to implement SLAM using rgbdslam. But when i run the command "roslaunch rgbdslam kinect+rgbdslam.launch" from the wiki page "http://wiki.ros.org/rgbdslam?distro=fuerte", i get the following error. I appreciate any help.

WARNING: [/home/morteza/fuerte_workspace/sandbox/rgbdslam_freiburg/rgbdslam/launch/kinect+rgbdslam.launch] unknown <node> attribute 'no_launch-prefix'

[ERROR] [1419625375.970080106]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters] [ERROR] [1419625375.977429410]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters] [ERROR] [1419625375.988461110]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]

REQUIRED process [rgbdslam-23] has died! process has died [pid 5256, exit code 127, cmd /home/morteza/fuerte_workspace/sandbox/rgbdslam_freiburg/rgbdslam/bin/rgbdslam __name:=rgbdslam __log:=/home/morteza/.ros/log/f811358e-8d3c-11e4-abdb-08edb96bfa77/rgbdslam-23.log]. log file: /home/morteza/.ros/log/f811358e-8d3c-11e4-abdb-08edb96bfa77/rgbdslam-23*.log Initiating shutdown!