scar's profile - activity

Thank you afranceson. It's going to be very helpfull for next implementations. I guess I am too busy chasing deadlines for this project that I skipped important details. Thanks again for point me in the write direction.

anyway I solved the problem by copying the executables from /../ros_catkin_ws/devel_isolated/rplidar_ros/lib/rplidar_ros where they where originally created, to /opt/ros/indigo/share/rplidar_ros no wonder why catkin could not find them.

The question is not stupid at all! I might have forgotten to do so last night. But this is not the first time I install ROS on RPi and having a hard time and I usually source /opt/ros/indigo/setup.bash as well as source /../ros_catkin_ws/devel_isolated/setup.bash

Hi all, I am trying to build rplidar_ros package on raspberry pi running raspbian OS using catkin_make_isolated with indigo distro and even though catkin_make_isolated seems to work without failures, it does not build the executables. Or maybe it builds it somewhere else where ROS cannot find them. Here the output of catkin_make_isolated:

==> Processing catkin package: 'rplidar_ros'
==> Building with env: '/opt/ros/indigo/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
==> make -j4 -l4 in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
[ 16%] Built target rplidarNodeClient
[100%] Built target rplidarNode
==> make install in '/home/pi/ros_catkin_ws/build_isolated/rplidar_ros'
[ 83%] Built target rplidarNode
[100%] Built target rplidarNodeClient
Install the project...
-- Install configuration: "Release"
-- Up-to-date: /opt/ros/indigo/_setup_util.py
-- Up-to-date: /opt/ros/indigo/env.sh
-- Up-to-date: /opt/ros/indigo/setup.bash
-- Up-to-date: /opt/ros/indigo/setup.sh
-- Up-to-date: /opt/ros/indigo/setup.zsh
-- Up-to-date: /opt/ros/indigo/.rosinstall
-- Up-to-date: /opt/ros/indigo/etc/catkin/profile.d/05.catkin_make.bash
-- Up-to-date: /opt/ros/indigo/etc/catkin/profile.d/05.catkin_make_isolated.bash
-- Up-to-date: /opt/ros/indigo/lib/pkgconfig/rplidar_ros.pc
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/cmake/rplidar_rosConfig.cmake
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/cmake/rplidar_rosConfig-version.cmake
-- Up-to-date: /opt/ros/indigo/share/rplidar_ros/package.xml
<== Finished processing package [68 of 81]: 'rplidar_ros'

Can anybody help with this issue?

Thank you in advance, Marcello

Ok it was just unresolved dependencies at paragraph 2.2 I hope this could serve to someone else. The message in the blue box is kinda misleading.

Note: Rosdep may report that python-rosdep, python-catkin-pkg, python-rospkg, and python-rosdistro failed to install; however, you can ignore this error because they have already been installed with pip.

I did not bother the debug messages giving error on .py files and went on.

Afterwards I re-ran the command at 2.2, checked the debug info more accurately and found the bug. Problem solved

Hi, I am trying to install ROS indigo on Ubilinux - Edison following this tutorial. I symlinked /opt and /var/cache/apt to 2 folders in a microSD card in order to make room for the desktop package. It all went through up to: 2.3 Building the catkin Workspace. I have this error message:

==> Processing catkin package: 'catkin'
==> cmake /root/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/root/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -G Unix Makefiles in '/root/ros_catkin_ws/build_isolated/catkin'
-- Using CATKIN_DEVEL_PREFIX: /root/ros_catkin_ws/devel_isolated/catkin
-- Using CMAKE_PREFIX_PATH: 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Could NOT find PY_em (missing:  PY_EM) 
CMake Error at cmake/empy.cmake:29 (message):
  Unable to find either executable 'empy' or Python module 'em'...  try
  installing the package 'python-empy'
Call Stack (most recent call first):
  cmake/all.cmake:146 (include)
  CMakeLists.txt:8 (include)


-- Configuring incomplete, errors occurred!
<== Failed to process package 'catkin': 
  Command 'cmake /root/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/root/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -G Unix Makefiles' returned non-zero exit status 1

Reproduce this error by running:
==> cd /root/ros_catkin_ws/build_isolated/catkin && cmake /root/ros_catkin_ws/src/catkin -DCATKIN_DEVEL_PREFIX=/root/ros_catkin_ws/devel_isolated/catkin -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -G Unix Makefiles

Command failed, exiting.

Now my folder structure is: ~/ros_catkin_ws rather than /root/ros_catkin_ws. I don't know if this could be the main problem or if the missing PY_emvisgenerating the error.

Thank you in advance, Marcello

Hi, I am experiencing some problems here with bag files. I am running simulations with a bag file, I set --clock and use_sim_time true and yes I get the WARNING message when trying to run some nodes. As you can see from the launch file below I am only using ROS, not Gazebo and only .cpp nodes.

<launch>

  <param name="use_sim_time" type="boolean" value="true" />  

  <node pkg="rosbag" type="play" name="player" output="screen" args=" -r 1 --clock /home/marcello/test1.bag"/>

  <node pkg="redphare" type="imu_filter" name="imu_filter"></node>

  <include file="$(find robot_localization)/launch/ekf_template.launch" />

  <node name="modelvisualisation" pkg="rviz" type="rviz" output="screen" />

  <node name="graph" pkg="rqt_plot" type="rqt_plot" output="screen" />

  <node name="graph" pkg="rqt_plot" type="rqt_plot" output="screen" />
</launch>

And the node which is not publishing any more is the one included in the "ekf_template.launch" file (way too long to be posted!)

I did not explicitly set us_sim_time true within this launch file but it worked well for a while, should I?

This launch file has been working for a while but not any more. The only thing I can think of is that I added some python nodes within the package and yet the py nodes are not included in the launch file.

Would it be possible that any system update or any other system setting might have affected the clock behaviour?

Thanks in advance Marcello

Interesting outcome! This particular IMU I'm using removes the gravitational acceleration on-board. So I set : <param name="imu0_remove_gravitational_acceleration" value="false"/> And now I have the opposite effect. The imu seems drifting unbounded. Besides, the rotation is not effective at all.

Hi here are more detail about my implementation. In this dropbox folder you can find all source codes I used. Please see imu_launch.launch. the tf tree was generated without launching the tf_broadcaster2 node.

This is the message from my imu:

> header: 
  seq: 101808
  stamp: 
    secs: 1425169130
    nsecs: 265822954
  frame_id: imu_link
orientation: 
  x: 0.0141917338587
  y: -0.0190885799032
  z: -0.761129019373
  w: 0.648164205025
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity: 
  x: 0.00174532925199
  y: 0.0
  z: 0.010471975512
angular_velocity_covariance: [0.03, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.03]
linear_acceleration: 
  x: -0.14317709
  y: -0.163771055
  z: -0.044129925
linear_acceleration_covariance: [0.06, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.06]
---

and this is the odometry message:

> header: 
  seq: 32733
  stamp: 
    secs: 1425169127
    nsecs: 986912659
  frame_id: odom
child_frame_id: base_link
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: -0.0405862441429
      y: -0.0544590376651
      z: 0.884725386822
      w: 0.46113768
  covariance: [70082709835.63065, -259798211.75413123, -17498417981.253403, 0.0, 0.0, 0.0, -259798211.75396025, 70267513088.67305, 18010724790.448483, 0.0, 0.0, 0.0, -17498417981.253338, 18010724790.448723, 1156883984985.683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.610154849790163, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.610154849790163, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 26.775125314374463]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: -0.00113914143655
      y: -0.000434430465949
      z: 0.00835982129424
  covariance: [4333730.030223489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4333730.030223489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6500597.178315525, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0030484568884755984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0030484568884755984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004248933364098904]
---

Thank you, Tom for your prompt reply, next you can see my answer with more details and a link to a shared dropbox folder where you can check the source files. Marcello

Thanks again for your feedback, Tom. I fined-tuned the rejection_threshold parameters and now the filter is responsive.

<param name="imu0_pose_rejection_threshold" value="4.0"/>

Also, enabling the 2D mode helped

<param name="two_d_mode" value="true"/>

But still the drift is way too much. After a few seconds of execution the twuist looks like this:

> twist: 
  twist: 
    linear: 
      x: 0.913357125234
      y: 0.430200660862
      z: -7.14791210599e-13
    angular: 
      x: -2.81627680375e-24
      y: 5.93552733918e-24
      z: -0.00848949772664

The IMU must be calibrated and I have to figure out the covariance matrix for the measurements. Is there any ROS package that is particularly suitable for my needs? thanks, marcello

Hi all, I am attempting to install hector_quadrotor_tutorial from source on ubuntu 14.10, ROS indigo. And I am experiencing the following problems: 1st I had to install hardware_interface package which was missing. After successful installation of the package still can't compile. Here is the output: Thanks in advance.

[ 98%] Building CXX object ros_control/controller_manager_tests/CMakeFiles/controller_manager_tests.dir/src/my_dummy_controller.cpp.o

In file included from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:29:0: /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:76: error: ‘StatePtr’ does not name a type QuadrotorPoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr()); ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:103: error: ISO C++ forbids declaration of ‘state’ with no type [-fpermissive] QuadrotorPoseEstimationNode(const SystemPtr& system = SystemPtr(), const StatePtr& state = StatePtr()); ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:41:103: error: ‘StatePtr’ was not declared in this scope /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:34:89: error: ‘StatePtr’ does not name a type QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state) ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:34:99: error: ISO C++ forbids declaration of ‘state’ with no type [-fpermissive] QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state) ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp: In constructor ‘hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr&, const int&)’: /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:35:37: error: no matching function for call to ‘hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(const SystemPtr&, const int&)’ : PoseEstimationNode(system, state) ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:35:37: note: candidates are: In file included from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/include/hector_quadrotor_pose_estimation/pose_estimation_node.h:32:0, from /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:29: /home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:61:3: note: hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(const SystemPtr&) PoseEstimationNode(const SystemPtr& system = SystemPtr()); ^ /home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:61:3: note: candidate expects 1 argument, 2 provided /home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:59:7: note: hector_pose_estimation::PoseEstimationNode::PoseEstimationNode(hector_pose_estimation::PoseEstimationNode&) class PoseEstimationNode { ^ /home/marcello/hector_quadrotor_tutorial/src/hector_localization/hector_pose_estimation/include/hector_pose_estimation/pose_estimation_node.h:59:7: note: candidate expects 1 argument, 2 provided /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp: In member function ‘void hector_quadrotor_pose_estimation::QuadrotorPoseEstimationNode::baroCallback(const AltimeterConstPtr&)’: /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:54:7: error: ‘sensor_pose_publisher_’ was not declared in this scope if (sensor_pose_publisher_) { ^ /home/marcello/hector_quadrotor_tutorial/src/hector_quadrotor/hector_quadrotor_pose_estimation/src/pose_estimation_node.cpp:56:5: error: ‘sensor_pose_’ was not declared in this scope sensor_pose_.pose.position.z = baro->getModel()->getAltitude(Baro::Update(altimeter->pressure, altimeter->qnh)) - baro->getElevation(); ^