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2017-03-24 04:58:03 -0500 marked best answer catkin_ws/ vs share/

Can anyone plaease explain to me what the difference between folders catkin_ws/ and /opt/ros/hydro/share is? what is the purpose of each? thanks!

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2015-03-17 01:02:39 -0500 commented answer Does MRPT_navigation work in HYDRO?

B) generally I dont know how to set this launch file up.

in terminal I get this error : Failed to subtract global_frame (map) from odom_frame (r1/odom)

I am only providing /scan topic and I have a ready map (previously generated in rviz by hector_slam)

I would very much appreciate your help!

2015-03-17 00:52:46 -0500 commented answer Does MRPT_navigation work in HYDRO?

A) Thanks for help, Jose! I tried following but had no luck. So far I used your demo.launch file as a template: 1) I tried feeding my own map (.pgm, .tiff formats) but those didnt load.
2) changed r1/front_laser/scan to just /scan (I provide scan topic) 3) not sure how to set up tf transform

2015-03-14 04:10:54 -0500 commented answer Does MRPT_navigation work in HYDRO?

Hi Jose! thanks for your help again!

Another question: Does mrpt_localization package rely on odometry messages from robot? I used a slam method to generate a map that doesnt need odometry, since my robot doesnt provide odometry data.

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2015-03-11 07:02:24 -0500 commented answer Does MRPT_navigation work in HYDRO?

Thank you Very much, Jose! that helped.

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2015-02-10 23:20:10 -0500 asked a question Does MRPT_navigation work in HYDRO?

I tried to follow the steps described here: http://wiki.ros.org/mrpt_navigation/T... but catkin_make gives me errors. My steps are: 1)sudo apt-get install libmrpt-dev 2)cd /src 3)git clone https://github.com/mrpt-ros-pkg/mrpt_... 4)cd .. 5)catkin_make

After that, when building mrpt_navigation it gives me this:

[ 50%] Building CXX object mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/src/point_cloud2.cpp.o
Building CXX object mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/src/point_cloud.cpp.o
/home/arms/catkin_ws/src/mrpt_navigation/mrpt_bridge/src/pose.cpp: In function ‘mrpt::poses::CPose3D& mrpt_bridge::convert(const tf::Transform&, mrpt::poses::CPose3D&)’:
/home/arms/catkin_ws/src/mrpt_navigation/mrpt_bridge/src/pose.cpp:87:10: error: ‘class mrpt::poses::CPose3D’ has no member named ‘setRotationMatrix’
/home/arms/catkin_ws/src/mrpt_navigation/mrpt_bridge/src/point_cloud2.cpp: In function ‘bool mrpt_bridge::copy(const mrpt::slam::CSimplePointsMap&, const Header&, sensor_msgs::PointCloud2&)’:
/home/arms/catkin_ws/src/mrpt_navigation/mrpt_bridge/src/point_cloud2.cpp:108:55: note: #pragma message: TODO: "Implement pointcloud2 mrpt2ros"

[ 52%] Building CXX object mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/src/laser_scan.cpp.o

[ 55%] Building CXX object mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/src/map.cpp.o

make[2]: *** [mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/src/pose.cpp.o] Error 1

make[2]: *** Waiting for unfinished jobs....

Linking CXX shared library /home/arms/catkin_ws/devel/lib/libmrpt_localization_core.so
[ 55%] Built target mrpt_localization_core
Scanning dependencies of target mrpt_localization

[ 61%] [ 61%] Building CXX object mrpt_navigation/mrpt_localization/CMakeFiles/mrpt_localization.dir/src/mrpt_localization/mrpt_localization_parameters.cpp.o
Building CXX object mrpt_navigation/mrpt_localization/CMakeFiles/mrpt_localization.dir/src/mrpt_localization/mrpt_localization.cpp.o
make[1]: *** [mrpt_navigation/mrpt_bridge/CMakeFiles/mrpt_bridge.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX shared library /home/arms/catkin_ws/devel/lib/libmrpt_localization.so

[ 61%] Built target mrpt_localization

make: *** [all] Error 2

Invoking "make" failed

In my src/mrpt_navigation there are multiple mrpt folders and when I run roslaunch mrpt_localization demo.launch it gives me: Error: cannot launch node of type [mrpt_localization/mrpt_localization_node]: cant locate node in package
Could anyone please help?

I am using ROS Hydro, Ubuntu 12.04

[edit] added full error message

2015-01-28 23:55:56 -0500 commented answer Loading 2D raw data

I know this is an old thread, but I cant get this method to work. I have the pgm file on my desktop, and I run rosrun map_server map_server mymap.pgm, but it cant open the file. Any help would be appreciated. Thanks!

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2014-12-22 14:29:41 -0500 marked best answer urg_node vs hokuyo_node

I am new to ROS and what I want to do is create maps for my robot with hokuyo lidar range sensors. I installed urg_node and hokuyo_node on my precise Hydro distribution of ROS.

I dont understand what the difference between these 2 nodes is and which one should I use. Is it true that urg_node is simply a new version of hokuyo_node and I shouldn't have installed hokuyo_node?

Also, some of the tutorials that explain how to use hokuyos only use hokuyo_node, so I'm a bit lost. My hokuyo device keeps being assigned a device name /ttyACM1 instead of /ttyACM0 which is why urg_node no longer works and I can't get laser data in rviz.

Can anyone please HELP!!??

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2014-11-04 01:57:32 -0500 commented question cannot find log files

Hi aswin, I am facing the exact same problem, My process dies, and the developer is asking for the log file, which I cannot find. Were you able to find that file? or how didi you debug?

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2014-11-03 01:38:06 -0500 commented answer How can I merge scan topics

al-dev So I created new question with more detail http://answers.ros.org/question/19653...

2014-11-02 23:43:33 -0500 asked a question Node crashes

Hi, ROS community. I need your help! So I was trying to run the ira_laser_tools https://github.com/iralabdisco/ira_la... package on my robot computer (kuka youbot with ubuntu 12.04 32-bit and HYDRO ROS) but it just keeps crashing. However on my PC (with ubuntu 12.04 64-bit and HYDRO ROS) it runs well and works as a part of my project. When I compiled this package with catkin_make on the robot I noticed some warnings like:

/home/youbot/catkin_ws/src/ira_laser_tools-master/src/laserscan_multi_merger.cpp: In member function ‘void LaserscanMerger::laserscan_topic_parser()’: /home/youbot/catkin_ws/src/ira_laser_tools-master/src/laserscan_multi_merger.cpp:113:13: warning: format ‘%ld’ expects argument of type ‘long int’, but argument 8 has type ‘std::vector<ros::subscriber>::size_type {aka unsigned int}’ [-Wformat] /home/youbot/catkin_ws/src/ira_laser_tools-master/src/laserscan_virtualizer.cpp: In member function ‘void LaserscanVirtualizer::virtual_laser_scan_parser()’: /home/youbot/catkin_ws/src/ira_laser_tools-master/src/laserscan_virtualizer.cpp:109:13: warning: format ‘%ld’ expects argument of type ‘long int’, but argument 8 has type ‘std::vector<ros::publisher>::size_type {aka unsigned int}’ [-Wformat]

Running just one laserscan_multi_merger node of this package gives me next error:

[laserscan_multi_merger-1] process has died [pid 16008, exit code -11, cmd /home/youbot/catkin_ws/devel/lib/ira_laser_tools/laserscan_multi_merger __name:=laserscan_multi_merger __log:=/home/youbot/.ros/log/6a789f88-6310-11e4-9d7c-000bab4510aa/laserscan_multi_merger-1.log].
log file: /home/youbot/.ros/log/6a789f88-6310-11e4-9d7c-000bab4510aa/laserscan_multi_merger-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

ALSO THIS FILE IS NONEXISTENT: /home/youbot/.ros/log/6a789f88-6310-11e4-9d7c-000bab4510aa/laserscan_multi_merger-1*.log. SO I CAN'T EVEN FIND THE LOG FILE TO DEBUG

rosrun ira_laser_tools laserscan_multi_merger gives me this:

laserscan_multi_merger: malloc.c:2451: sYSMALLOc: Assertion `(old_top == (((mbinptr) (((char *) &((av)->bins[((1) - 1) * 2])) - __builtin_offsetof (struct malloc_chunk, fd)))) && old_size == 0) || ((unsigned long) (old_size) >= (unsigned long)((((__builtin_offsetof (struct malloc_chunk, fd_nextsize))+((2 * (sizeof(size_t))) - 1)) & ~((2 * (sizeof(size_t))) - 1))) && ((old_top)->size & 0x1) && ((unsigned long)old_end & pagemask) == 0)' failed.
Aborted (core dumped)

Anyone know what the problem is?

2014-11-01 10:41:11 -0500 marked best answer How can I merge scan topics

Hi all! I am trying to get a map from using 2 hokuyo lidars at the same time(for a 360 degree view). So far i did 2 tries: 1)I used a launch file that uses two hokuyo_node's to publish to the same 'scan' topic. I rotated one laser's frame 180 degrees around base_link. But that gave me inconsistent maps with a lot of drifting (maps would overlap, jump from 1 place to another and so on). Changing parameters didnt really help.

2)Then I tried to use 1 hokuyo_node to publish to 'scan' and another hokuyo_node to publish to 'scan_1'. (Again I roatated one lasers frame around the base_link). I also used two hector_mapping nodes that subscribed to those 'scan' and 'scan_1' separately but published to the same 'map' topic which is used by rviz. However in rviz I can only see 1 map at a time (they switch between each other in time) with no jumping or drifting.

So now I want to use two hokuyo_nodes that publish to 'scan' and 'scan_1' separately with frames rotated correctly. After that I need to merge those scan and scan_1 topics into one topic which will be used by one hector_mapping node. My question is how can I do that? Do I have to write a c++ code ? and can anyone help me with that? I am not very experienced in programming

Update: I was finally able to merge scan topics. there is a really good package provided by ira labs as al-dev mentioned in the answer. That package basically does what I needed. Now my problem is that I cant run that package on my robot computer, however it worked on my PC.

2014-11-01 05:30:34 -0500 commented answer How can I merge scan topics

1) Hi thank you for the reply! I successfully used the package you suggested on my ubuntu 12.04 computer. But when I tried to do the same thing on a different computer with same ubuntu 12.04 hydro ROS I keep getting this error ( node dies)

2014-11-01 05:27:48 -0500 commented answer How can I merge scan topics

3) log file: /home/youbot/.ros/log/17d2a87e-61b1-11e4-b568-000bab4510aa/laserscan_multi_merger-2*.log

I tried reinstalling the package but nothing helps. I would appreciate it so much if you could help me with this problem

2014-11-01 05:27:34 -0500 commented answer How can I merge scan topics

2) [laserscan_multi_merger-2] process has died [pid 3884, exit code -11, cmd /home/youbot/catkin_ws/devel/lib/ira_laser_tools/laserscan_multi_merger __name:=laserscan_multi_merger __log:=/home/youbot/.ros/log/17d2a87e-61b1-11e4-b568-000bab4510aa/laserscan_multi_merger-2.log].