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2017-09-27 05:55:00 -0500 | marked best answer | map frame from robot_localization I am trying to create the standard tf frames specified in REP 105 (map, odom, and base_link) using the robot_localization package. I only have GPS and IMU sensors available. So far I have been able to create the odom and base_link frames, but I am having trouble creating the map frame. This is my launch file: If I set the world_frame parameter to "odom", then things seem to work but I only have odom and base_link frames. If I set the world_frame to be "map", like above, then I get this error message: Could not obtain transform from odom->base_link. Note that I am new to ROS, so my trouble may be conceptual. I would appreciate any help someone is willing to offer. Thank you! |
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2016-11-27 20:12:00 -0500 | marked best answer | ros_control questions I have been studying ros_control and how to use it for a while now, but I still have a few questions. I have made a list of the questions I have been unable to answer, and I would appreciate it someone could help me find answers.
Thanks, Sam |
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2015-12-17 17:36:47 -0500 | commented answer | no window or output from rviz I'm sorry, I should have made that clear. Yes, I uninstalled the theme and used the default. It's working now. Thanks again! |
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2015-12-17 14:32:28 -0500 | commented answer | no window or output from rviz Thank you! Using gdb I found that it was getting stuck loading the Oxygen theme for GTK, during the creation of the QApplication object. |
2015-12-17 12:11:28 -0500 | asked a question | no window or output from rviz I've been running rviz (as well as the rest of the ROS stack) just fine on one computer, but now I can't get rviz to run on a second computer. Unfortunately, I don't get any output from rviz on the second computer, so I am having trouble figuring out how to debug it. The second computer is pretty vanilla. (It's a 64-bit Intel PC running Ubuntu 14.04 and Indigo.) If I run and a dialog box telling me that I've tried the The only relevant differences I can think of between the two computers is that the second computer has two monitors and an AMD video card, versus a single monitor and Intel integrated graphics. Any help would be appreciated. |
2015-12-17 04:34:45 -0500 | marked best answer | purpose of roslaunch_add_file_check()? After working through most of the ROS tutorials, I have started studying some of the code for the robots listed on the wiki. I am trying to become a "fluent" ROS developer. To that end, I am trying to figure out what "roslaunch_add_file_check(launch)" does in this CMakeLists.txt file: https://github.com/husky/husky_simula... . (Google seems to indicate that roslaunch_add_file_check() is related to testing, but that package does not have any tests.) What does that line do, and what is its purpose? Also, is there a general way to find out about ROS-specific CMake functions like that one? I am sure I will have other questions like this in the future. Thank you! |
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2015-12-06 23:43:54 -0500 | asked a question | topics for control? There have been a few questions asked before about when to use topics, services, or actions, but I haven't seen this particular question asked. My question is about which to use for "immediate" control messages--not "move here" messages that should obviously be action messages, but "do X, now". The wiki currently says that topics are for "data [that] might be published and subscribed at any time independent of any senders/receivers. Many to many connection[s]". So they don't sound like a good fit. Service messages initially look promising. The wiki says that they "should be used for remote procedure calls that terminate quickly" and not for "longer running processes", but it goes on to say that "they should never change ... state". And finally, action messages seem to be overkill, as these control messages are intended to take effect immediately, so they couldn't be preempted. It looks like topics are used in practice. The control code for "normal" robots seems to use twist messages over topics to move the robot base, and the example code I've seen for Ackermann-style robots (like I'm working with) also uses topics. Is my conclusion correct? And if so, why are topics used like this? I've switched from service messages to topic messages for the code I'm working on, assuming that there must be a good reason that topics have been used by others. But part of why I'm asking is so that I can update the wiki, so that others won't make the same mistake I made and start down the wrong path. |
2015-11-30 10:59:39 -0500 | received badge | ● Notable Question (source) |
2015-11-30 09:01:35 -0500 | marked best answer | ros_control packages missing from Jade I've just updated to Jade, and I'm having trouble running a Gazebo simulation using my previously working packages. Right now I'm focused on this error: File "/home/sam/aav-ros-car/aav_car_ws/src/aav_description/nodes/ackermann_controller.py", line 125, in <module> from controller_manager_msgs.srv import ListControllers ImportError: No module named controller_manager_msgs.srv I am seeing this too, though I think it's unrelated: /opt/ros/jade/lib/gazebo_ros/gzclient: 17: .: Can't open /usr/share/gazebo//setup.sh /opt/ros/jade/lib/gazebo_ros/gzserver: 22: .: Can't open /usr/share/gazebo//setup.sh It looks like I am missing the service message definitions for /opt/ros/jade$ sudo apt-get install ros-jade-ros-control ros-jade-ros-controllers Reading package lists... Done Building dependency tree Reading state information... Done E: Unable to locate package ros-jade-ros-control E: Unable to locate package ros-jade-ros-controllers This is on a standard 64-bit Intel system running Ubuntu 14.04. Here's the contents of my deb http://packages.ros.org/ros/ubuntu trusty main My system seems to otherwise be working fine. |
2015-11-30 09:01:32 -0500 | commented answer | ros_control packages missing from Jade Thank you so much! No, I hadnt' tried. It looks like the |