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2019-05-24 10:48:12 -0500 marked best answer pointcloud_to_laserscan catkin_make fail

I'm am trying to utilize the Microsoft Kinect for navigation. I am utilizing ROS Hydro on Ubuntu 12.04.

I have not figured out how to use the navigation stack yet, so if you have any pointers on that, send them my way.

I have noticed that most of the navigation packages require /laserscan rather than/pointcloud2, so I have begun to try to get pointcloud_to_laserscan up and running.

I downloaded the package utilizing:

git clone https://github.com/ros-perception/perception_pcl.git

but when I ran catkin_make I received the following error:

CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a configuration file for package tf2_sensor_msgs.

  Set tf2_sensor_msgs_DIR to the directory containing a CMake configuration
  file for tf2_sensor_msgs.  The file will have one of the following names:

    tf2_sensor_msgsConfig.cmake
    tf2_sensor_msgs-config.cmake

Call Stack (most recent call first):
  perception_pcl/pointcloud_to_laserscan/CMakeLists.txt:4 (find_package)



CMake Error at perception_pcl/pcl_ros/CMakeLists.txt:5 (find_package):
  Could not find module Findcmake_modules.cmake or a configuration file for
  package cmake_modules.

  Adjust CMAKE_MODULE_PATH to find Findcmake_modules.cmake or set
  cmake_modules_DIR to the directory containing a CMake configuration file
  for cmake_modules.  The file will have one of the following names:

    cmake_modulesConfig.cmake
    cmake_modules-config.cmake

-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

I'm relatively new at this. Any thoughts?

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2018-01-31 03:55:12 -0500 marked best answer roscore fails to start

I have just recently moved. My project worked before, but I cannot even run roscore now. This is the error I have received. Does anyone know a fix?

ecejames01@ECE521:~$ roscore
... logging to /home/ecejames01/.ros/log/314256dc-9f5b-11e4-96a8-000a9de008e4/roslaunch-ECE521-2982.log
Checkingt log directory for disk usage.  This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage.  Usage is <1GB.

Unable to contact my own server at [http://ECE521:43402/}.
This usually means that the network is not configured properly.

A common cause is that the machine cannot ping itself.  Please check for errors by running:

    ping ece521

For more tips, please see

    http://www.ros.org/wiki/ROS/NetworkSetup

ping ece521 gives me: ping: unknown host ece521

Any help would be much appreciated. Thanks.


EDIT:

In a new terminal window, here are the results from commands:

ecejames01@ECE521:~$ hostname
ECE521
ecejames01@ECE521:~$ echo $ROS_HOSTNAME

ecejames01@ECE521:~$ echo $ROS_IP
68.55.84.72
ecejames01@ECE521:~$ echo $ROS_MASTER_URI
http://localhost:11311

Running ifconfig eth0 gives me inet addr: 10.0.0.9. My localhost is 127.0.0.1.

Forcing ROS using these methods allows roscore to run:

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311
roscore

export ROS_IP=MY_IP_ADDRESS
export ROS_MASTER_URI=http://$ROS_IP:11311
roscore

Thanks gvdhoorn for all your help.

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2016-05-29 07:13:06 -0500 marked best answer slam_gmapping tutorial

I am working through the Robot Setup of the Navigation Tutorial and the slam_gmapping tutorial.

I have downloaded the bagfile and ran slam_gmapping. I did not run the whole bagfile, because it was so long.

When I run map_saver, I get the following:

Waiting for the map

How do I get around this?

Thanks.

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2016-04-18 07:47:42 -0500 marked best answer Run .launch file with arg from .launch file

I would like to use a master .launch file to run another .launch file, but with an arg.

Specifically, I am attempting to create a .launch file which would be equivalent to running:

roslaunch openni_launch openni.launch camera:=openni

This is what I am currently attempting for my .launch file:

<launch>
  <!-- Defining the arguments -->
    <arg name="Kinect" value="1"/>

  <!-- Start the Kinect (openni_camera) -->
    <group if="$(arg Kinect)">
        <include file="$(find openni_launch)/launch/openni.launch" arg="$camera:=openni" />
    </group>

</launch>

The .launch file runs correctly and openni.launch works fine, but it does not seem to be running the arg camera:=openni. I can tell because I cannot view the tf topics in Rviz from openni_tracker.

I am currently using catkin in ROS Hydro with Ubuntu 12.04. I appreciate your help. Thank you.

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2015-06-12 11:31:46 -0500 commented answer map_server error when loading map

Thanks. I originally tried this method, but was not successful. I had not gone back to try it after correcting my .yaml file.

2015-06-11 19:10:06 -0500 commented answer Loading 2D raw data

I used rosrun map_server map_serverrospack find <my_map_package>/mymap.yaml.

Be sure you have the correct file_path within the argument for your mymap.yaml

2015-06-11 17:29:35 -0500 asked a question map_server error when loading map

I have been trying to do autonomous navigation with a pre-constructed map. I have map files called mylaserscan1503201800.pgm and mylaserscan1503201800.yaml. Here is the move_base_amcl.launch code I use:

<launch>

  <!-- Start the map server -->
        <node pkg="map_server" name="map_server" type="map_server" args="`rospack find follow_me_2dnav`/launch/mylaserdata_1503201800.yaml" />

  <!-- Run AMCL -->
        <include file="$(find amcl)/examples/amcl_diff.launch">
                <param name="transform_tolerance" value="0.2" />
                <param name="recovery_alpha_slow" value="0.001" />
                <param name="use_map_topic" value="false" />
                <param name="laser_min_range" value="1.0" />
                <param name="laser_max_range" value="7.0" />
                <param name="laser_likelihood_max_dist" value="2.0" />
                <param name="odom_model_type" value="diff" />
                <param name="odom_frame_id" value="odom" />
                <param name="base_frame_id" value="base_link" />
                <param name="global_frame_id" value="map" />
        </include>

  <!-- Start navigation stack -->
        <node pkg="move_base" name="move_base" type="move_base" respawn="false" output="screen" >
                <rosparam command="load" file="$(find follow_me_2dnav)/params/costmap_common_params.yaml" ns="global_costmap"/>
                <rosparam command="load" file="$(find follow_me_2dnav)/params/costmap_common_params.yaml" ns="local_costmap" />
                <rosparam command="load" file="$(find follow_me_2dnav)/params/local_costmap_params.yaml" />
                <rosparam command="load" file="$(find follow_me_2dnav)/params/global_costmap_params.yaml"/>
                <rosparam command="load" file="$(find follow_me_2dnav)/params/base_local_planner_params.yaml" />
                <param name="controller_frequency" type="double" value="20.0" />
                <param name="planner_patience" value="5.0" />
                <param name="controller_patience" value="15.0" />
                <param name="conservative_reset_dist" value="5.0" />
                <param name="recovery_behavior_enabled" value="true" />
                <param name="clearing_rotation_allowed" value="true" />
                <param name="shutdown_costmaps" value="false" />
                <param name="oscillation_timeout" value="0.0" />
                <param name="oscillation_distance" value="0.5" />
                <param name="planner_frequency" value="0.0" />

        </node>

</launch>

Before running this, I run another launch file that starts the drivers for my mobile robot, Microsoft Kinect, and depthimage_to_laserscan. When I run the move_base_amcl.launch file, I get the following errors.

NODES
  /
    amcl (amcl/amcl)
    map_server (map_server/map_server)
    move_base (move_base/move_base)

ROS_MASTER_URI=http://192.168.0.102:11311

core service [/rosout] found
process[map_server-1]: started with pid [20673]
[ERROR] [1434060433.039753815]:
USAGE: map_server <map.yaml>
  map.yaml: map description file
DEPRECIATED USAGE: map_server <map> <resolution>
  map: image file to load
  resolution: map resolution [meters/pixel]
[map_server-`] process has died [pid 20673, exit code 255, cmd /opt/ros/hydro/lib/map_server/map_server `rospack find follow_me_2dnav`/launch/mylaserdata_150.201800.yaml __name:=map_server __log:=/home/ecejames01/.ros/log/96e36838-1084-11e5-afa8-bc7737e7db9b/map_server-1.log].
log file: /home/ecejames01/.ros/log/96e36838-1084-11e5-afa8-bc7737e7db9b/map_server-1*.log
process[amcl-2]: started with pid [20674]
process[move_base-3]: started with pid [20679]
[ INFO] [1434060434.299816244]: Requesting the map...
[ WARN] [1434060434.311131134]: Request for map failed; trying again...
[ WARN] [1434060434.818731335]: Request for map failed; trying again...

Your help in finding my issue is greatly appreciated. Thanks in advanced.


UPDATE:

I noticed that within my mylaserdata_1503201800.yaml file that the image parameter was map.pgm rather than mylaserdata_1503201800.pgm, which I corrected.

I was able to get the map loaded when running it from the command line:

rosrun map_server map_server `rospack find follow_me_2dnav`/launch/mylaserdata_1503201800.yaml

but I was still unable to get it to load from the launch file.

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2015-06-10 15:13:15 -0500 answered a question 2D point to 3D transformation(using Kinect) programmed by openCV

I recommend taking a look at the /tf wiki page and learning how the ROS handles transforms. You can also take a look at this paper to learn a bit more detail than the wiki page provides.

Finally, you can take a look at Introduction to Autonomous Mobile Robots by Roland Siegwart and Illah R. Nourbakhsh.

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2015-04-26 11:42:16 -0500 commented answer kinect frame

I used the package depthimage_to_laserscan to convert PointCloud2 into LaserScan, then used gmapping and move_base from the navigation stack. There are 3D SLAM packages which use pointclouds, but I have not yet used them.