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2021-09-22 04:17:08 -0600 commented answer How does LGSVL tf2 transformation works?

Yeah, that _is_ confusing. Are you sure the localization actually works as expected?

2021-09-21 04:53:10 -0600 answered a question How does LGSVL tf2 transformation works?

I don't really know how LGSVL implements odometry, but in my mind odom is not a fixed frame. My understanding aligns wit

2021-03-24 05:36:24 -0600 commented question Can´t install Autoware.Auto

Just an update, the fix is already in review and will soon be released.

2021-03-24 04:59:18 -0600 commented question Can´t install Autoware.Auto

This is a different error from before and is probably a bug I introduced. Let me see why this is happening. If you feel

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2015-11-28 16:24:08 -0600 marked best answer openni_launch crashes with "Failed to set USB interface"

Hi all!

I am running Ubuntu 12.10 and ROS Groovy. My problem is that my new Asus laptop only has the usb 3.0 ports. This causes a couple of issues with running openni_launch command with ASUS Xtion.

The errors were as follows:

terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
  what():  unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/buildd/ros-groovy-openni-camera-1.8.8-0quantal-20130326-0647/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:

Image: PrimeSense/SensorV2/ Failed to set USB interface!

[camera_nodelet_manager-2] process has died [pid 18616, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/olga/.ros/log/4920e3d2-99e4-11e2-8532-08606e0b1d34/camera_nodelet_manager-2.log].
log file: /home/olga/.ros/log/4920e3d2-99e4-11e2-8532-08606e0b1d34/camera_nodelet_manager-2*.log

It throws another bunch of errors after a couple of seconds, stating that other processes were not able to start properly, but I guess they are not really relevant here. Though I can of course attach them if needed.

Now, I have already done some digging. I have seen this post and did everything stated there, but this didn't help. I have also seen another post on google groups, but it didn't help either. And there was another ROS question in which they say I had to either apply a kernel patch or update a kernel, which I did with no luck.

Does anyone have any idea of how can this be fixed? Or any advices from those able to run kinect on the usb 3.0. It really sucks having a new i7 laptop and not being able to run the camera on the machine. Thanks in advance!

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2015-07-14 03:43:59 -0600 answered a question catkin build autocompletion

As pointed out in one of the comments by @joq - I have been using catking tools 0.2.0, while there has been an update to 0.3.0. After performing:

sudo pip install --upgrade catkin_tools

the issue has disappeared. Thanks!

2015-07-14 03:42:19 -0600 commented question catkin build autocompletion

oh, @joq, I didn't realize it has been updated. Did an upgrade - this solved the issue. I will point to your comment in a solution. Thanks.

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2015-07-13 03:18:59 -0600 commented question catkin build autocompletion

@joq, it has been working for me for quite a while too, but then I missed the moment when it stopped. So the intention behind this question is to find if somebody else had the same issue, or, at least to find somebody who just knows more than I do.

2015-07-10 04:55:35 -0600 asked a question catkin build autocompletion

Hello everyone. This is not an urgent issue, but is quite annoying at time. So, the problem is the following. I am using the python catkin_tools instead of ordinary catkin_make in ros indigo. When I do:

catkin build [tab][tab]

I expect to have the completions of the packages currently in the workspace to pop up, but this is not happening. I am not 100% sure, but I guess I had the indended behaviour before. Instead I get

catkin build usage: catkin [-h] [-a] [--test-colors]
          [build | clean | config | create | init | list | profile] ...
catkin: error: unrecognized arguments: --no-color --unformatted --quiet
usage: catkin [-h] [-a] [--test-colors]
              [build | clean | config | create | init | list | profile] ...
catkin: error: unrecognized arguments: --no-color --unformatted --quiet

So the question is - where should I look for it? Any pointer appreciated. Thanks!

2015-06-25 11:43:07 -0600 commented answer Triclops SDK Function Breaks ros::NodeHandle

I can confirm the bug that is very alike. I do not even call any function from the point grey code. Moreover, I don't even include their stuff. The memory corruption occurs right after linking. So a single change in CMake causes the bug. If I do not link against it - I run everything ok

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2015-02-10 02:38:01 -0600 commented answer custom message from other host

Avoiding the hacks is exactly the reason for posting this question! :)

Thanks for the nice idea, I didn't think of putting the messages into a separate package, it seems to fit the need.

2015-02-09 06:44:14 -0600 asked a question custom message from other host

Hello everyone,

this is a small design question. I have a Rasberry PI that runs ros and gets everything from the sensors on the robot. It is all working great while sending standard messages, but I bumped into an issue with the custom ones.

Say, I want to send a string name of the button, a boolean of its state and a timestamp. I would need to define a new msg for this purpose. The question is: how can I include this message's header, when receiving this message on another machine?

Can I just create a message with the same parameters in the recipient package? I believe this cannot work, because the type will be different.

Any ideas are greatly appreciated.

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2014-04-20 06:52:12 -0600 marked best answer point cloud is transformed wrong

Hi all,

I'm not sure what information would be sufficient for this question, so please feel free to ask about any details.

The problem is as follows: I have recorded a dataset with kinect, based on the PR2, which provides the tf topic. I then construct the point clouds from depth images and want to translate those point clouds into the world frame. I know, that the world frame is represented by /odom_combined and camera frame by /head_mount_kinect_rgb_link, so I lookup the transform:

listener.lookupTransform("/head_mount_kinect_rgb_link", "/odom_combined", time, transform);

And apply it to the point cloud via


This works, but gives some strange results. As I have recorded the dataset with the robot, I definitely know how it looks and that the camera was only rotating with the robot base, so the floor should normally stay horizontal, while in my case whenever the robot turns the floor starts turning so it starts to look like a wall and then eventually as ceiling. I know this may be a bad way to explain the situation, but for now it's the best I can do.

Does anyone have any idea what happens there and what can be done to avoid keep the floor horizontal?

Thanks in advance.

UPD: It seems like the wrong rotation is performed on the point cloud. So, when the robot turns around the y axes the point cloud is turned around the x (??) axes. And that seems to be the problem. Could maybe anyone suggest how to deal with that?

UPD2: Added the tf_frames.pdf on my google drive

2014-04-20 06:50:56 -0600 marked best answer weird behavior of rviz ros-fuerte

Hi all!

This question is heavily related to this one. After tons of magic I've been finally able to read depth information from my ASUS kinect. So, I have to open 1 terminal, print

killall XnSensorServer

in other terminal I start the camera

roslaunch openni_launch openni.launch

then when I open rviz in one more terminal I am able to view depth image from the camera. But, here comes the weird stuff: if I move the camera window in rviz I get an error in roslaunch terminal:

terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
  what():  virtual void openni_wrapper::OpenNIDevice::startDepthStream() @ /tmp/buildd/ros-fuerte-openni-camera-1.8.0/debian/ros-fuerte-openni-camera/opt/ros/fuerte/stacks/openni_camera/src/openni_device.cpp @ 257 : starting depth stream failed. Reason: Xiron OS got an event timeout!
[camera_nodelet_manager-2] process has died [pid 20183, exit code -6, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet manager __name:=camera_nodelet_manager __log:=/home/igor/.ros/log/68736576-b16d-11e1-882b-d0df9aa0a99d/camera_nodelet_manager-2.log].
log file: /home/igor/.ros/log/68736576-b16d-11e1-882b-d0df9aa0a99d/camera_nodelet_manager-2*.log

The same if I try to choose the color_image topic from the camera in rviz. Maybe this would help to localize the bug that definitely is somewhere there.

2014-04-20 06:50:56 -0600 marked best answer openni ros-fuerte ubuntu 12.04 anyone?

Hi all. I have posted a couple of questions already considering execution of

roslaunch openni_launch openni.launch

in ubuntu 12.04 under ros fuerte. It produces plenty of errors, that you may find in threads: this and this

Though, now I'm not asking to dig into anything.

I would really like to know if there actually are any people who are able to use the command provided above in ros fuerte under ubuntu 12.04 or alike?

Thanks. Waiting for your responses.

2014-04-20 06:50:16 -0600 marked best answer Which topics to use?

Hi all!

I am currently deciding which topics from the kinect camera should I use. As I am absolutely new to ROS I thought that maybe someone with more experience could suggest an appropriate way.

In the end I need data, which would contain color and depth information for each pixel of recordered images. I also need to represent this information as a 4D array (or 3D for color + 1D for depth) of raw numbers as I need to process them afterwards.

By now I recorded a bag file with topics:

  • /camera/rgb/image_raw
  • /camera/depth/image_raw

But then I found this article and am considering to record a new bag file with topics:

  • /camera/rgb/image_color -- this gives me a color image
  • /camera/depth/image_raw -- this gives me depth in mm

I am thinking of then converting image_color via this (part 1.5) method to a cv::Mat format.

I would be very grateful if anyone would say if I'm thinking in the right direction. Thank you in advance.

2014-04-20 06:50:14 -0600 marked best answer ‘TopicQuery’ is not a member of ‘rosbag’

Hi all!

When I try to build my package via rosmake I get an error

error: ‘TopicQuery’ is not a member of ‘rosbag’

The line that generates an error:

rosbag::View view(bag, rosbag::TopicQuery(topics));

The bag file and topics are initialized as follows:

rosbag::Bag bag;"test.bag", rosbag::bagmode::Read);
std::vector<std::string> topics;

I am new to ROS, so maybe someone could suggest what seems to be the problem? P.S. I followed this tutorial

2014-04-20 06:49:55 -0600 marked best answer Ubuntu 12.04 beta install ROS desktop full

Hi all! I am new with ROS and I came upon such a problem: when I try to install ROS desktop full I get:

sudo apt-get install ros-electric-desktop-full

Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-electric-desktop-full : Depends: ros-electric-slam-gmapping (= 1.2.5-s1331966280~oneiric) but it is not going to be installed
                             Depends: ros-electric-vision-opencv (= 1.6.11-s1331999864~oneiric) but it is not going to be installed
                             Depends: ros-electric-perception-pcl (= 1.0.2-s1331960978~oneiric) but it is not going to be installed
                             Depends: ros-electric-image-pipeline (= 1.6.4-s1332000899~oneiric) but it is not going to be installed
                             Depends: ros-electric-simulator-gazebo (= 1.4.12-s1331968141~oneiric) but it is not going to be installed
                             Depends: ros-electric-image-transport-plugins (= 1.4.2-s1332000717~oneiric) but it is not going to be installed
                             Depends: ros-electric-navigation (= 1.6.5-s1331963038~oneiric) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

When I then manually try to install missing dependencies I end up with 2 packages: libtiff4-dev and libjpeg62-dev which delete one another when installed. So if I try to install one it automatically removes another.

I understand that this problem related on my using beta distribution, but maybe someone already faced this thing and knows how to deal with it? Thanks in advance.

2014-01-28 17:28:25 -0600 marked best answer openni_tracker "Find user generator failed"

Hi all!

I try to run openni_tracker as follows:

rosrun openni_tracker openni_tracker

after I have launched

roslaunch openni_launch openni.launch

The problem is that when I run the tracker I get an error:

[ERROR] Find user generator failed: This operation is invalid!

Just in case: if I try to run it once more I get no respond and then:

[ERROR] InitFromXml failed: Got a timeout while waiting for a network command to complete!

I believe that "find user" error is generated from the line 150 of the file openni_tracker.cpp in /opt/ros/fuerte/stacks/openni_tracker/src:

149: nRetVal = g_UserGenerator.Create(g_Context);
150: CHECK_RC(nRetVal, "Find user generator");

Which goes to a macro:

#define CHECK_RC(nRetVal, what)                                    \ 
    if (nRetVal != XN_STATUS_OK)                                      \
    {                                                                 \
        ROS_ERROR("%s failed: %s", what, xnGetStatusString(nRetVal)); \
        return nRetVal;                                               \

So g_UserGenerator.Create(g_Context) for some reason returns not XN_STATUS_OK.

Maybe someone had that issue and knows how to resolve it. As you may have noticed I run ros-fuerte. Ubuntu 12.04

PS. I'm still fairly new to ROS, so any suggestions of actions that I can take are welcome :) I tried to change the file openni_tracker.cpp and recompile openni_tracker via rosmake openni_tracker, but that doesn't actually do the trick. Would be gratefull if someone could point me my mistakes. I know that there are a couple of questions that look like this one, but none of those is solved, though it's an important part of ros, I think. Thanks in advance.

UPD: I also experience this error on another ubuntu 12.04 PC in my lab. So it seems like this is fuerte+Ubuntu 12.04 issue. I don't have this error on Ubuntu 10.04 and ros-fuerte.

2014-01-28 17:28:01 -0600 marked best answer turtle tf tutorial fails to work

Hi all,

I am fairly new to ros and was going through the tf tutorials and stumbled upon a strange error. After fiddling around for an hour or so I'm still not able to understand the behavior. I'm doing everything exactly as stated in these tutorials, using C++. The code is exactly as stated there. I'm on fuerte, and ubuntu 12.04.

The problem is that the second turtle goes in circles instead of approaching the first one. The broadcaster works well, so, I would guess, that the issue is in the listener in the "lookupTransform" method. In the end the angular speed appears to be wrong.

I also attach the image of how the turtle moves. This happens on 2 different machines of the same configuration with fresh ros-fuerte installed.

image description

Any ideas what could explain such a behavior?