VijethRai's profile - activity

Hey,

I was wondering whats the best to build custom msgs for ros-android core package. It would be in rosjava but do I have to do it externally ? Like here : http://answers.ros.org/question/12540...

I came across this post from 2012, but I m sure a lot of things have changed since. My current rosjava_messages in indigo folder doesnt contain any source files, just git repository links. So I m not sure, if I should be creating something out there?

Another issue of mine is that my android project folder is different fror rosjava installation. So if I were to source android workspace in one terminal and create the msg folder as suggested here,

http://docs.rosjava.googlecode.com/hg...

I cant build rosjava_messages. Because a) I have sourced android project folder and roscd doesnt find rosjava_messages. b) Even if I were to source rosjava installation folder now, I can roscd into rosjava_messages but my orginal /msg folder is no longer reachable c)As I mentioned above, rosjava_messages has no actual source files ../gradlew install returns bash: ../gradlew: No such file or directory

Could someone point me to the current way to write custom msgs thats not dependent of rosjava installation folder

I am trying to ROSify an android code using the new rosjava and rosandroid platform. In the original code Activity1.class handles the main setup and calls another Activity2.class using the startActivity(Activity2_Intent) . Nothing unusual there.

In my ROS android code, I am extending Activity1 as an RosActivity. But after that, I am wondering if its best to

a) implement Activity2 as ros * NodeMain* and call it using nodeMainExecutor.execute(Activity2_asNode, config)

OR

b) should I extend Activity2 as a ROSActivty as well and call it using startActivity(Activity2_asRosActivity_intent...) .

If I choose option b, then I guess I can write a new class file as a node Main and call that from Activity2 using nodeMainExecutor(..) to handle ROS bits

Which of the two would be better coding style for ros android development.

Since android_core on ROS is fairly new, there isn't much documentation or examples on what exactly nodeMainExecutor's role should be in code development.

PS: Activity2_asNode, Activity2_asROSnode etc are just names to make description more clear and wont match the actual code.

Hey,

Any input will be very much appreciated. Thanks

Hey,

I am trying to implement SLAM with depth only camera - Occipitals Structure sensor. I use openni2 launch for getting the camera msgs on ROS. I was wondering if I could use RTABmapping with this sensor or is the RGB camera needed ?

I have used Kinect with RTAB mapping and it worked fine. But Kinect is too big for my application and Structure sensor has internal battery as well, which works great for portability.

Hey, I wanted to implement SLAM on Occipital's Structure Sensor which happens to be a depth only camera and provides no RGB images.

I was wondering if there is anyway to use the Fovis package to obtain odometry from Structure despite the fact that it subscribes to <camera>/rgb/image_rect

Is there any remapping etc that can be utilized for this or is that RGB frame crucial for odom calculation?

this is the error I get

Images received: 0 (topic '/camera/rgb/image_color') Depth images received: 33082 (topic '/camera/depth/image') Image camera info received: 0 (topic '/camera/rgb/camera_info') Depth camera info received: 33082 (topic '/camera/depth/camera_info') Synchronized tuples: 0

Or if there is any other option to perform 2D slam on structure sensor?