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2016-04-25 19:58:42 -0500 commented answer 3D pointcloud to 2d costmap layer projection github repo

Yeah found it myself. I was really wondering why I thought the normal obstacle layer does not do that ~_~

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2016-04-10 21:15:41 -0500 asked a question 3D pointcloud to 2d costmap layer projection github repo

I remember stumbling upon a Github repository which had a costmap layer which basically projects a 3d pointcloud or 3d sensor data (don't quite remember) down to a 2d plane / costmap layer.

I can't find it even anymore (been looking for 30 mins now ._.).

Anybody knows the name of the repo or could give me a link?

2016-03-23 20:35:18 -0500 commented answer Stamped std_msgs

Any improvement planned on this in the future?

It is a problem if you want to plot data from another machine and the machine is not time synchronized. (and you compare it with something which has time stamps)

2015-07-20 05:56:02 -0500 asked a question Is there a way to distinguish between below and above max range for ASUS Xtion?

Just looking at the openni2 driver it seems like it can only return zero in both cases (the image is an 16 bit int value and thus knows nothing about =/- inf or nan).

Can somebody point me to a discussion about this (I was told there is one, somewhere)?

2015-05-26 02:19:42 -0500 answered a question Simulating Small Differential Drive Robot in Gazebo

Try changing the odometrySource parameter of your differential drive plugin from world to encoder.

This fixed it for me.

Edit: This actually breaks the linear velocity you get from odom. See also: https://github.com/ros-simulation/gaz...

2015-01-14 01:23:27 -0500 commented question Is it possible to calibrate the OpenNI depth "raw 16-bit value to mm" equation?

I'm facing the same problem. Can you give some insight on you calibration model / calibration? From my experiments the distortion is dependent on depth

2014-12-14 19:22:50 -0500 commented answer problem mapping with turtlebot at slope area

To make sure it is that problem, put the turtlebot on the lower end of the slope and let it rotate. You should see walls getting added where the slope is. You can also visualize the "laser scanner" of the turtlebot in rviz

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2014-12-11 20:14:27 -0500 commented question problem mapping with turtlebot at slope area

How big is the slope?

2014-12-11 20:14:16 -0500 answered a question problem mapping with turtlebot at slope area

The slope probably is getting detected as an obstacle and amcl is trying to update the position in the map.

When you drive down the slope the area is detected as free space. When you try to drive up the slope the sensor detects it as obstacle because it is on the height of an obstacle. This doesn't fit the internal map which was generated before (the area should be free). So the robot basically thinks his actual position is different than what he thought, thus relocating himself in the map.

It also could be because the robot maybe slides on the slope and the odometry is wrong.

2014-11-28 05:52:32 -0500 commented answer DWA Planner Issue

I'm running indigo but also should work on Hydro, add the parameters publish_cost_grid_pc and publish_traj_pc and set them to true, see here: https://github.com/turtlebot/turtlebo...

2014-11-28 04:43:34 -0500 commented answer DWA Planner Issue

Can you include the global path, the trajectory cloud and the potential map with channel name put to total_cost? Settings should look something like this: http://i.imgur.com/h3xI3JD.png (arrows are odometry) Maybe make a seperate question

2014-11-27 21:39:09 -0500 commented answer DWA Planner Issue

@Nithin What do you mean by fused with yaw? What is yaw? Can you show a screenshot where the global planner plans into an object?

2014-11-27 21:35:14 -0500 commented answer DWA Planner Issue

@Peter Heim What is your map resolution? You have to adjust the forward_point_distance if your resolution is different than 0.05 or the position accuracy of your robot is lower. If it "cuts" corners, set it lower (scale it the same way as the resolution), but at least the the size of the resolution.

2014-11-25 01:37:54 -0500 commented answer costmap_2d::VoxelLayer not clearing

We circumvented that by adding the rgb_scan twice as observation source. One with marking which has a min_obstacle_height heigher than the floor. The other one with only clearing which has a min_bstacle_height lower than the floor

2014-11-24 23:42:13 -0500 commented question DWA Planner Issue

Your local costmap resolution should be the same as the global one (0.05)

2014-11-24 23:39:53 -0500 commented question DWA Planner Issue

What are the dimensions of your robt? And could you add a screenshot which shows the global path in it? Maybe also add the paramater occdist_scale in the dwa_local_planner.yaml and set it to 0.5.

2014-11-24 01:14:24 -0500 commented answer Error in chapter 17 in beginner level: Recording and playing back data

Upvoting and checking my answer would be nice!

2014-11-23 20:07:58 -0500 answered a question Error in chapter 17 in beginner level: Recording and playing back data

Seems to me like it can't find some stuff from ros console?

Are you missing some ros dependencies? -> http://wiki.ros.org/rosdep

Maybe also try roswtf: http://wiki.ros.org/roswtf

2014-11-23 19:58:09 -0500 commented answer Layered costmap
2014-11-23 19:55:22 -0500 commented question Making a hexapod walk down stairs

There is probably nothing out of the box. I guess it is a really hard problem. Mostly legged plaforms have the advantage that they can walk on uneven terrain with reliable odometry. I would search for some papers on it.

2014-11-23 19:36:21 -0500 commented answer Can a node be a subscriber and client at the same time?

At least accept your own answer ;)

2014-11-23 19:34:52 -0500 commented question DWA Planner Issue

Could you maybe check if the robot also hits the edges if you have a round footprint? Could be that there are bugs for rectengular shaped footprints as it is not tested / used that much..

2014-11-06 04:32:24 -0500 commented question Faking Xtion to convert depth and rgb to point cloud.

Maybe take a look at this afterwards: http://answers.ros.org/question/18832... Or check out the nodelet tutorial and maybe the other tutorial also. ROS is not an install and go system...

2014-11-06 04:31:16 -0500 commented question Faking Xtion to convert depth and rgb to point cloud.

Play a bag: http://wiki.ros.org/rosbag/Tutorials/...

The bag uses a non-standard message type though, so you would have to add that yourself ( http://wiki.ros.org/ROS/Tutorials 1.2.5).

2014-11-03 20:38:03 -0500 commented question Clearing free space in costmap at a specific location

worldToMap converts from world to map coordinates and checks if they are valid. If you already have map coordinates don't use it and just use setCost directly.