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2020-03-17 11:35:37 -0500 asked a question How to publish audio and image stream from a video/webcam

How to publish audio and image stream from a video/webcam Hi all, I'm familiar with gscam, usb_cam or video_stream_open

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2018-10-09 09:27:08 -0500 marked best answer ros2 launch packages path

I'm quite confused by how ROS2 manages packages and package locations.

In ROS1, I would compile my nodes with a CMAKE_INSTALL_PREFIX like $HOME/ros-dev and install them there, then source $HOME/ros-dev/setup.bash (or manually set ROS_PACKAGE_PATH=$HOME/ros-dev/share), and everyone was happy: ros run & roslaunch would find my packages, and I could compile other packages with cmake finding the dependencies on the installed one without trouble.

Now, ROS2/ament got rid of setup.bash. Fine, I can certainly live with that. But if I create a launch file with the new python framework (btw, this framework is awfully verbose -- I certainly liked the XML launch files better, even though it was XML), how is ros2 launch my_launch_file.py supposed to know where my packages are located?

By default, it looks for packages in /opt/ros/bouncy. I can set AMENT_PREFIX_PATH to my install prefix, but it doesn't seem to be able to find the packages/nodes (I've tried as well $PREFIX/lib and $PREFIX/share without much success).

And beyond that specific issue, what is the correct way of telling ROS2 where the packages are installed? Setting AMENT_PREFIX_PATH in my .bashrc with a list of possible install prefixes? (in that case, it would have been nice to reuse ROS_PACKAGE_PATH whose name is clearer)

2018-10-09 09:27:04 -0500 commented answer ros2 launch packages path

Thanks @jacobperron. In ROS1, the traditional, non-ROS-specific, cd build && cmake .. && make &&

2018-10-09 09:19:21 -0500 commented answer ros2 launch packages path

But then the question surely is: why does ROS_PACKAGE_PATH find non-build packages? I've only ever pointed my ROS_PACKAG

2018-10-09 09:17:38 -0500 commented question ros2 launch packages path

@William in that particular case, the launch file was indeed in the current directory, but yes, in general you are right

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2018-10-05 11:13:23 -0500 asked a question ros2 launch packages path

ros2 launch packages path I'm quite confused by how ROS2 manages packages and package locations. In ROS1, I would compi

2016-12-28 16:13:48 -0500 answered a question [Morse simulation]Module not found: No module named 'morse.middleware.ros_request_manager'

Hello! Can you tell us:

  • What version of Ubuntu & ROS are you using?
  • How you have installed MORSE?

...since quite a while, MORSE supports ROS 'out of the box', and does not require any particular ROS configuration steps.

2015-12-16 05:59:10 -0500 answered a question How do you make xyz coordinate system appear in your marker?

You probably want to publish your trajectories as paths and use the Path display type in RViz to visualize them: http://wiki.ros.org/rviz/DisplayTypes...

2014-08-20 07:22:50 -0500 commented question Compiling ROS on Windows? Ubuntu not an option

I'm curious to know what you need to test with the 'ROS Nao simulator': Gazebo support for Nao is extremely recent (a few weeks) and 100% experimental...

2014-07-14 05:35:11 -0500 commented answer How to publish a C++ code to do: code -> ros -> morse simulator?

I do not understand "publish a code to send those messages"... what kind of code? Btw, do not hesitate to post your question to morse-users@laas.fr as well.

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2014-07-09 14:27:01 -0500 answered a question How to publish a C++ code to do: code -> ros -> morse simulator?

MORSE supports many different middlewares, including ROS.

As briefly explained here, when using the ROS middleware, each sensor and actuator writes/reads from a ros topic and, if the sensors/actuators has asynchronous services, they will also exposes ROS action servers.

I recommend you to check the ROS + MORSE tutorial.

If you do not need ROS and simply want to communicate with MORSE from various language, you may also want to check the simple socket interface (virtually every language should be able to write/read from a socket).

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2014-05-27 05:57:01 -0500 answered a question Nao microphones and google API in ROS

For a simpler library, you may want to check gspeet: it's a small python library that listen (continously or not) on the microphone (using ALSA. It should work on Nao), encode the speech using the speex encoder (well, a google variant of it, actually -- it still requires libspeex), send it to Google speech API, and returns the result.

Integration in a ROS node should be trivial, but the library itself is independant.

2014-03-24 10:20:19 -0500 answered a question Which is the better option for NAO using ROS?

Options 1.1 and 1.2 do not change much: where did you read about them? in any case, the easiest path is simply to install the pre-compiled ROS packages as explained here.

The second option (ROS on Nao) is very different: you get an autonomous ROS system. The installation is however much more involving.

2014-02-14 00:50:10 -0500 commented answer Using IKFast with ROS

@TopSecret: if the setup (both move_it configuration and IKFast) works well for you, would you mind sharing it, so we can make it available to everyone on https://github.com/ros-nao ?

2014-02-06 09:07:50 -0500 commented answer using nao with ros hydro

If you want to work on the real robot, install [ROS on Nao](http://wiki.ros.org/nao/Installation/local) AND on your computer (to communicate with the robot). But if you have only limited experience with ROS and ROS deployment on robots, you should maybe first start with the simulator only.

2014-02-06 00:11:38 -0500 answered a question using nao with ros hydro

Be careful: rviz is not a simulator. It only displays what the real robot or the Nao's simulator (webots) publishes.

So what you likely want to do (if you can not work directly on the real robot) is to install "Webots for Nao" (download it from this page -- requires an Aldebaran account) and then follow the installation instruction for ROS + Nao.

2014-01-28 17:25:21 -0500 marked best answer State of the ECTO-based object recognition stack?

Hello,

I've been spending some time trying to figure out the puzzle, and I need some help: I'd love to try the ECTO-based framework for object recognition, but I've a hard time installing all the pieces.

I've tried on 2 boxes (one is Ubuntu 10.04, the other one is Ubuntu 12.04), on both electric and fuerte.

I understand these tools are new and everything is not stabilized yet. I summarize below my current experience. Hopefully it may help sorting out the documentation :-)

(for each step, I've referenced the link to the corresponding documentation)

  • On Ubuntu 10.04, electric:

I went for:

$ sudo apt-get install ros-electric-object-detection [1]
$ roslaunch openni_camera openni_node.launch
$ rosrun object_recognition_core orb_template.py -o my_textured_plane [2]

=> ImportError: No module named ecto

-> no package ros-electric-ecto (how ros-electric-object-recognition can work, then?), so I went for a manual installation of ecto.

$ cd ~/ros-dev-electric
$ git clone git://github.com/plasmodic/ecto_kitchen.git
$ cd ecto_kitchen
$ git submodule init
$ git submodule update

[here, the doc on [3] forget a few steps that are mentionned in README.rst, in the ecto_kitchen repo]

$ git submodule foreach git checkout master
$ ln -s ./catkin/toplevel.cmake CMakeLists.txt
$ mkdir build && cd build && cmake ../ && make -j4

It takes some time, but eventually everything compile.

[3] mentions python_path.sh that does not exist anymore. I've sourced instead ~/ros-dev-electric/ecto_kitchen/setup.sh which allows to import ecto in python.

$ rosrun object_recognition_core orb_template.py -o my_textured_plane

=> from ecto_image_pipeline.io.source import create_source
=> ImportError: No module named io.source

Here, I'm stuck. I do not know to install ecto_image_pipeline. I've tried to clone it from https://github.com/wg-perception/ecto_image_pipeline.git to ~/ros-dev-electric/ecto_kitchen, and then rebuild ecto_kitchen, but it fails at configuration (with a KeyError: 'ecto_image_pipeline').

  • On Ubuntu 10.04, fuerte:

No package for object recognition, but ecto is packaged:

$ sudo apt-get install ros-fuerte-ecto ros-fuerte-ecto-opencv ros-fuerte-ecto-pcl

Then, I've installed the recognition_kitchen [4]:

$ unset PYTHONPATH LD_LIBRARY_PATH ROS_PACKAGE_PATH
$ source /opt/ros/fuerte/setup.sh
$ cd ~/ros-dev-fuerte
$ git clone git://github.com/wg-perception/recognition_kitchen.git
$ cd recognition_kitchen
$ rosinstall . /opt/ros/fuerte ./install/rosinstall_main ./install/rosinstall_pipelines ./install/rosinstall_ros

Which fails after cloning all repos with: rosmake: error: no such option: --rosdep-install. After a while, I've figured out that I was still using rosinstall-0.5. I went a bit further with rosinstall-0.6:

$ mkdir build && cd build && cmake ..

=> CMake fails with:
[...]
-- Generating .msg files for action object_recognition_msgs/ObjectRecognition /home/slemaign/ros-dev-fuerte/recognition_kitchen/object_recognition_msgs/action/ObjectRecognition.action
/opt/ros/fuerte/share/genmsg/cmake/pkg-genmsg.cmake.em:33: error: <type 'exceptions.IOError'>: 
[Errno 2] No such file or directory: '/home/slemaign/ros-dev-fuerte/recognition_kitchen/object_recognition_msgs//home/slemaign/ros-dev-fuerte/recognition_kitchen/object_recognition_msgs/srv/GetObjectInformation.srv'

For some reason, @ARG_SERVICES@ in /opt/ros/fuerte/share/genmsg/cmake/pkg-genmsg.context.in get configured inrecognition_kitchen` with a duplicated path.

I've stopped here...

  • On Ubuntu 12.04:

Ubuntu 12.04 ships with its own libopencv 2.3 which conflicts with the one from WG (because, amongst other issues, WG links against libjpeg62 and ... (more)

2014-01-28 17:25:13 -0500 marked best answer Import tf in python, in fuerte

Hello there,

Probably a dumb question, but I'm not sure how to import tf in Python with fuerte.

I've installed fuerte with the Ubuntu packages.

tf is available in the geometry stack, but it does not seem to install anything in /opt/ros/fuerte/lib/python2.6/dist-packages, so a simple "import tf" does not work (which is what is mention in the doc).

Should I use the old 'manifest + roslib' way?

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2013-12-23 01:17:26 -0500 answered a question Blender fails?!?!?

Hello!

Running 3D applications from a virtual machine is generally speaking a bad idea. Even if you get a correct display, performances are likely to be poor.

Based on the error message (Major opcode of failed request: 14 (X_GetGeometry)), it looks like the VM 3D driver does not support an OpenGL primitive required by Blender.

Besides, you should update both Ubuntu and MORSE to their latest version (the 3D drivers have improved a lot over the last 2 years).

Last point: we usually recommend MORSE users to use answer.ros.org to ask questions related to MORSE + ROS. For 'MORSE only' questions, it is usually preferable to drop a mail to morse-users@laas.fr or to fill a bug on MORSE GitHub repository.

2013-11-13 07:46:56 -0500 commented question nao_driver and joint_states with NaoQI 1.12

Akis, there is since a while official support for Nao in ROS. Check http://wiki.ros.org/nao/ and https://github.com/ahornung/nao_robot for the source code.

2013-11-02 00:18:58 -0500 commented answer Error when installing ROS for Nao robot

What are you trying to achieve? what steps have you followed? To install ROS *on* the robot, please follow these instructions: http://wiki.ros.org/nao/Installation/local

2013-11-01 02:56:31 -0500 commented answer ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:

The `nao_common` package does not exist anymore. It has been superseeded by `nao_extra`. Could you get the latest version, and if you encounter issue while installing it, give more details about what steps you have followed?

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2013-10-03 00:43:55 -0500 answered a question ImportError: No module named 'rospkg' on hydro <SOLVED>

If you follow the MORSE installation instruction for ROS, you'll see you indeed need to install rospkg for Python 3. Everything should be explained there: if something is missing, please feel free to fill a bug report on MORSE or ask for support on morse-users@laas.fr.

2013-09-20 01:28:18 -0500 commented answer Installing ROS onto NAO V4

Sorry for the delay... can you be more specific? what would you like to do? You may also want to open new specific questions...

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2013-08-07 06:02:20 -0500 answered a question Installing ROS onto NAO V4

Hello!

We have just released a binary distribution of ROS groovy for Nao (not fuerte, sorry).

Check it here if you wish: http://www.ros.org/wiki/nao/Installation/local