chris_'s profile - activity

I'm trying to make a launch file that plays back a bag file and launches some data processing nodes. The problem is that rosbag play fails if no master is running. Can I start this process from a launch file?

I'm trying to install a package my supervisor wrote, and he's given me read access to the repo. I can't seem to install it using this method http://answers.ros.org/answers/115386... , but I was hoping it could be done in a more straightforward manner if I have the actual source locally.

How can I install the package from source?

Ubuntu 12.04 LTS / Hydro

EDIT

This is the error I get (when I run wstool update)

~/test/src$ wstool update
[src/pulseon_p400] Fetching https://kal04p@stash.csiro.au/scm/~her16k/pulseon_p400.git (version catkin) to /home/chris/test/src/src/pulseon_p400
Cloning into '/home/chris/test/src/src/pulseon_p400'...
Password for 'https://kal04p@stash.csiro.au': 
remote: Counting objects: 162, done.
remote: Compressing objects: 100% (157/157), done.
remote: Total 162 (delta 87), reused 0 (delta 0)
Receiving objects: 100% (162/162), 48.94 KiB, done.
Resolving deltas: 100% (87/87), done.
WARNING [vcstools] Command failed: 'git checkout catkin'
 run at: '/home/chris/test/src/src/pulseon_p400'
 errcode: 1:
error: pathspec 'catkin' did not match any file(s) known to git.
[/vcstools]
Exception caught during install: Error processing 'src/pulseon_p400' : [src/pulseon_p400] Checkout of https://kal04p@stash.csiro.au/scm/~her16k/pulseon_p400.git version catkin into /home/chris/test/src/src/pulseon_p400 failed.

ERROR in config: Error processing 'src/pulseon_p400' : [src/pulseon_p400] Checkout of https://kal04p@stash.csiro.au/scm/~her16k/pulseon_p400.git version catkin into /home/chris/test/src/src/pulseon_p400 failed.

not quite, it failed at about package 170/200 after a lot of painstaking modification of files in packages that were attempting to be installed. I imagine packages will be fixed up eventually to work, fingers crossed.

Would anyone be able to suggest why I get this error and how I could debug it to try make Hydro from source? In that directory there is __init__py __init__.pyc locale tests. This is at step 2.1.3 here.

-- catkin 0.5.89
/usr/bin/python: can't find '__main__' module in '/Library/Python/2.7/site-packages/em'
CMake Error at cmake/safe_execute_process.cmake:11 (message):

  execute_process(/Users/kal04p/ros_catkin_ws/build_isolated/catkin/catkin_generated/env_cached.sh
  "/usr/bin/python" "/Library/Python/2.7/site-packages/em" "--raw-errors"
  "-F"
  "/Users/kal04p/ros_catkin_ws/build_isolated/catkin/catkin_generated/pkg.develspace.context.pc.py"
  "-o"
  "/Users/kal04p/ros_catkin_ws/devel_isolated/catkin/lib/pkgconfig/catkin.pc"
  "/Users/kal04p/ros_catkin_ws/src/catkin/cmake/em/pkg.pc.em") returned error
  code 1

wasn't aware of this, this explains everything.

When I change some parameters in some octomap_server initialization code, I get a crash which I can't debug.

[octomap_server-2] process has died [pid 22734, exit code -6, cmd /home/chris/ros_ws/devel/lib/octomap_server/octomap_server_node cloud_in:=/cloud __name:=octomap_server __log:=/home/chris/.ros/log/798b4038-b889-11e4-97b4-b8ca3a7c5dcb/octomap_server-2.log].
log file: /home/chris/.ros/log/798b4038-b889-11e4-97b4-b8ca3a7c5dcb/octomap_server-2*.log\

I would normally just use the log file it tells me, but for the node that crashed there is no log file in the directory it specifies. I have grep'd all the source code for exit(-6) etc and can't find anything. Any suggestions how I can actually see why its crashing?

Following this tutorial using Hydro, I can't seem to get ROS to use the the modified package in my workspace. One thing that occured to me is that I typically use setup.sh not setup.bash, but after trying them both out it didn't seem to make a difference. The catkin_make seems to work fine, and the package is built in the correct location in ros_ws/devel/libs.

Any ideas?

As I understand it, octomap_server by default runs with a beam sensor model for use with LIDARs etc. I am trying to use it with a radar, and as such I need to control how the cells are updated in order for it to be vaguely accurate. I'm trying to find some starting point for modifying the default behaviour, but am coming up short. Does anyone know where I could look or how I should go about implementing this behaviour? Would I want to write my own version of the server from scratch, or intercept current messages and try alter the behaviour this way?

I am reading over the code for octomap_server but am struggling to see where the actual sensor model is used. All I have found is where the probabilities of a voxel being occupied is defined as described in the paper (can I alter these at run time?):

m_probHit(0.7), m_probMiss(0.4),
m_thresMin(0.12), m_thresMax(0.97),

In the code linked, line 374 is where the ray tracing model stuff is done, I'm guessing I would modify this section and remake a new version of the server?

Is the transform correct? your remap should be from="cloud_in" to=the topic you publish with the messages

I am using octomap to process some radar data that is stored in a PointCloud2 object. It is working correctly, but I am unclear as to what values the points in the cloud should contain.

For my case, I am storing my data in a cloud of PointXYZI. At the moment I am just trying thresholding the data and setting the intensity of each point either low or high. This doesn't seem to be really altering anything and the octomap generated thinks every point in every cloud is occupied.

Could anyone point me in the right direction? I have read the Octomap paper but can't seem to get it.