AlexR's profile - activity

Hi,

I am trying to integrate IMU on the pioneer robot. I am using the BNO055 IMU sensor. For visualization I created a child_link from the base_link. The IMU is oriented with axes aligned to front (x axis), left (y axis) and top (z axis) from the sensors data sheet(pg.24).

   <joint name="imu_joint" type="fixed">
    <axis xyz="0 0 0"/> <!-- 0 1 0 -->
    <origin xyz="0 0 0.32"/>
    <parent link="base_link"/>
    <child link="imu_link"/>
  </joint>

<link name="imu_link">
  <inertial>
        <mass value="0.001"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
   <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
  </inertial>
    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
           <box size="0.01 0.01 0.01"/>
       </geometry>
   </visual>
  <collision>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <geometry>
      <box size=".01 .01 .01"/>
    </geometry>
  </collision>
</link>

And my launch file for the robot is:

  <launch>

  <node pkg="rosaria" type="RosAria" name="RosAria"/>
  <node pkg="topic_tools" type="relay" name="relay1" args="/RosAria/pose /odom" />
  <node pkg="topic_tools" type="relay" name="relay2" args="/cmd_vel /RosAria/cmd_vel" />

  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kinect)/urdf/p3dx_real_new.xacro'" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="20.0" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 50"/>
  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher2" args="-0.2 0 0.036 0 0 0 base_link center_wheel 50"/>
  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="-0.178 0 0.052 0 0 0 base_link swivel 50"/>
  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher4" args="0 0 0.32 0 0 0 base_link imu_link 50"/>
</launch>

The imu_link properly shows the orientation as same as the base_link. However, when I launch the imu node, the orientation of the imu is incorrect. Its been shown as rotated 180 degrees. I am not sure what am I doing wrong. My final goal is to use the robot_localization package to fuse the wheel odometry and imu sensor messages. But I am stuck for now.

Thanks

Hi ,

I am trying to build quality maps by using octomap on ROS hydro using a xtion pro live sensor mounted on the robot.

The map generated by octomap do not update well, when visiting the same area and corrupts the map. . I am using gmapping for SLAM with a Hokuyo sensor. The 2d grid map builds up nicely and updates but the octomap overlays the map and do no update.

I am doing this on a p3dx pioneer robot. My octomap_mapping.launch file looks like this

<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="0.05" />

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="odom" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />


    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/camera/depth_registered/points" />

</node>

</launch>

Can someone help me and suggest ideas as to how I can improve the maps generated by octomap. Thanks

Alex

this helped me. Thanks a lot.

Symbol lookup error - slam_gmapping Hi, I am using ROS kinetic on Ubuntu 16. I have slam_gmapping and openslam_gmappin

Hi,

I am using ROS kinetic on ubuntu 16 and have installed the binaries for openslam and slam_gmapping using the command

sudo apt-get install ros-kinetic-slam-gmapping and sudo apt-get install ros-kinetic-openslam-gmapping.

However, whenever I am trying to use the gmapping node with ROS, it always throws the following error

ERROR: cannot launch node of type [gmapping/slam_gmapping]: can't locate node [slam_gmapping] in package [gmapping]

I am unable to figure out how do I solve this problem. My environment variables are properly defined in the bashrc.

Thanks

Edit 1:

dpkg -l | grep gmapping 

dpkg -l | grep gmapping
ii  ros-kinetic-gmapping                         1.3.10-0xenial-20181117-012312-0800                        amd64        This package contains a ROS wrapper for OpenSlam's Gmapping.
ii  ros-kinetic-openslam-gmapping                0.1.2-0xenial-20180809-134859-0800                         amd64        ROS-ified version of gmapping SLAM.
ii  ros-kinetic-slam-gmapping                    1.3.10-0xenial-20181117-032709-0800                        amd64        slam_gmapping contains a wrapper around gmapping which provides SLAM capabilities.

Edit 2:

My environment is set as follows: all binary packages installed in

/opt/ros/kinetic/share

and my custom package are inside

~/catkin_ws/src

the last two lines in my bashrc contains the following lines:

source /opt/ros/kinetic/setup.bash
source /home/arav/catkin_ws/devel/setup.bash

The gmapping works when i do source /opt/ros/kinetic/setup.bash. and rosrun gmapping slam_gmapping But my gmapping.launch is inside the catkin_ws, so when I source ~/catkin_ws/devel/setup.bash or source ~/.bashrc, the gmapping does not work ad gives the ERROR.

Edit 3:

Following @gvdhoorn's advice I cleaned my catkin_ws workspace by removing devel and build folders and catkin_make again. This partially solved the problem of finding the slam_gmapping node. However, I am getting a new error now. P.S. gmapping still does not work.

process[gmapping-2]: started with pid [23549]
/opt/ros/kinetic/lib/gmapping/slam_gmapping: symbol lookup error: /opt/ros/kinetic/lib/gmapping/slam_gmapping: undefined symbol: _ZN8GMapping14sampleGaussianEdj
[gmapping-2] process has died [pid 23549, exit code 127, cmd /opt/ros/kinetic/lib/gmapping/slam_gmapping __name:=gmapping __log:=/home/arav/.ros/log/f518ac08-ff53-11e8-a0af-a0d3c148ec01/gmapping-2.log].
log file: /home/arav/.ros/log/f518ac08-ff53-11e8-a0af-a0d3c148ec01/gmapping-2*.log

Hi @gvdhoorn, please add that as an answer. I will post another question for the new problem. Thanks.

No I don't have them in catkin_ws.

No I don't have them in catkin_ws.

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Hi, @gvdhoorn, This partially solved my problem, but I am getting a new error now. Please see Edit 3 in the question.

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Hi thanks, I do not have access to the PC right now, I will report back tomorrow. Many thanks.

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

No I just have one workspace i.e. catkin_ws/src where I put all other packages. Rest all other packages are binary insta

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Sorry for that. following your advice I can find the slam_gmapping node. Sourcing the catkin_ws/devel/setup.bash, I am g

Sorry for that. following your advice I can find the slam_gmapping node. Sourcing the catkin_ws/devel/setup.bash, I am g

rosrun gmapping slam_gmapping gives the same error that slam_gmapping node not found.

$ ls -al /opt/ros/kinetic/lib/gmapping total 944 drwxr-xr-x 2 root root 4096 12月 7 13:00 . drwxr-xr-x 213 root roo

Hi ls -al /opt/ros/kinetic/lib/gmapping total 944 drwxr-xr-x 2 root root 4096 12月 7 13:00 . drwxr-xr

$ ls -al /opt/ros/kinetic/lib/gmapping total 944 drwxr-xr-x 2 root root 4096 12月 7 13:00 . drwxr-xr-x 2

$ ls -al /opt/ros/kinetic/lib/gmapping total 944 drwxr-xr-x 2 root root 4096 12月 7 13:00 . drwxr-xr-x 213 root root

Hi I edited the question, also sorry for the previous comment I put a wrong command for grep gmapping please check edit1

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Hi I edited the question, also sorry for the previous comment I put a wrong command for grep gmapping

Hi Thanks Yes I ran the full command and the result is same : gmapping: command not found

hi, grep | gmapping gives : gmapping: command not found but when I run : rospack gmapping it returns /opt/ros/kineti

hi, grep | gmapping gives : gmapping: command not found

Error launching Gmapping node on ROS Hi, I am using ROS kinetic on ubuntu 16 and have installed the binaries for opensl

Hi All,

I am now setting up a new Pioneer 3DX with kinect and URG laser sensor. I have so far managed to put all the sensors and connect them via rosaria.

I would now like to do odometry calibration of the mobile base. Does anyone know how to do it. There are no specific tutorials available on the ros wiki page.

Also what are the optimum values of (TicksMM, DriftFactor, RevCount) for P3DX mobile robot. At present when I run the rosaria node I get the settings like this:

TicksMM - 128 DriftFactor - 0 RevCount - 16570

I can change these values using dynamic_reconfigure. I need the optimum values for this particular model. And how do I permanently change these parameters everytime I launch the rosaria node. Can someone explain me the process. Basically I believe the robots odometry is not good when its turning, how do I correct that.

Thanks

Hi,

I want suggestions from experts here to calibrate the asus xtion pro live sensor. I am running ROS Hydro on Ubuntu 12.04. Also I want to mention I am using openni2 to run the sensor. I read the camera intrinsic and extrinsic calibration tutorial on ros wiki but most of them are written for the kinect sensor. Can anyone here, help me or point me in right direction into how to correctly calibrate the xtion pro live on ROS Hyro? What are the steps I should be careful of? Any blog or video which you can point out giving detailed tutorial and process of calibration.

Thanks

Alex

Hi, Sorry for the late reply. You were right, I somehow screwed up the urdf definition and found that I was defining th

Did you solved this problem?