Dragon Qu's profile - activity

Works on my side!

I have a package named sp1s, I added a URDF, as simple as below:

    <?xml version="1.0"?>
<robot name="sp1s">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.27 .15 .003"/>
      </geometry>
      <material name="white">
         <color rgba="1 1 1 .5"/>
    </material>
    </visual>
  </link>

  <link name="front_left">
    <visual>
      <geometry>
       <cylinder length=".025" radius="0.034"></cylinder>
      </geometry>
      <material name="yellow">
          <color rgba="1 1 0 1"/>
      </material>  
    </visual>
  </link>

  <joint name="base_to_front_left" type="continuous">
    <origin rpy="1.57075  0  0" xyz="0.06  0.064  -0.011"/>
    <parent link="base_link"/>
    <child link="front_left"/>    
    <axis xyz="0 0 1"/>
  </joint>

</robot>

Here is the launch file I edited:

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz"  args="-d  $(find sp1s)/urdf.rviz" required="true"/>
</launch>

When I launch it by "roslaunch sp1s display.launch model:=urdf/sp1s.urdf", the Rviz keep saying "No transform from [front_left] to [base_link]". I double checked my urdf content, I believe it caused by using joint type "continuous".

I strongly believe its a bug. When I follow the urdf_tutorial by 'roslaunch urdf_tutorial display.launch model:=urdf/06-flexible.urdf gui:=True', it was showing fine. But I changed the 06-flexible.urdf simply by add one space at the last empty line, launch it again it would say same thing on RViz

Why its happening, how to work around it?

reset parameter 'video_device' , try between '/dev/video1' '/dev/video0' , there should be one works for you.

It caused by conflict between opencv2 and opencv2. You should find the following script in your package CMakeFile.txt:

find_package(OpenCV REQUIRED)

Replace it with

find_package(OpenCV 2 REQUIRED)

I worked whole day to find the solution

I can't upload the snapshot. So hopfully I can make the issue clear.

When I was using turtlebot to navigate along the known map, the costmap would inflate the static map which is fairly well. The XTion scanner found the obstacles marked as yellow which was removed after a while. The scanner was not aware of this new situation because was outside the scanner scope at the moment. I setup a new destination on the map but ROS reported Failed to find the route on the map. It was caused by those obstacles who were in the way minutes ago.

I wonder why costmap doesn’t remove the out of date obstacles in a given period? In this situation how to make the ROS navigation stack figure out a route?

I want to create map with Xtion pro live. I provided odom and tf information to ros. But the map was messed up, I don't know why. Sounds gmapping failed to match odom and map information

hi, thanks for your reply, My detailed issue description is here

I'm using Xtion pro live on the RaspBerry pi. Gyroscope and compass also working very well.ROS mastered on a PC. base_control can publish orientation and position pretty good and visualized on the Rviz. depthimage_to_laserscan，gmapping nodes are publishing message on the wire. The first frame map was good. I manually rotate the robot which had the Xtion pro live attached on it. The map coming later looked not spliced very well :( The robot on the Rviz was little bit jumping, sounds like changing the pose by the ROS. I think its the base_control's job to publish the pose via odom topic, am I right? Is there any node matching the position in background?

The map is repeating the same pattern.

Is it possibly caused by system time synchronization issue?

Shall I say, when laser sanner is working very well and gmapping is translating message to /map topic very well, there is no need to publish X, Y position and heading angle to ROS via /odom topic?

I'm running ros in raspberry pi instead of PC, the node launched by :

<node pkg="" type="nodelet" name="$(arg name)" args="manager"
        output="screen" launch-prefix="$(arg launch_prefix)" >
     <param name="num_worker_threads" value="$(arg num_worker_threads)" />
  </node>

arg name = camera_nodelet_manager

I debugged nodelet and found service '/camera/camera_nodelet_manager/load_nodelet' call failed.

I want to debug the service, I compiled the ros source code but how do I know which code file to debug?

I installed openni2_launch from kalectro OpenNI2 It run well and simpletest worked fine.

I compiled openni2_launch and openni2_camera in raspberry pi. When run the command following, it failed at [camera/driver-2] process. Who can help to figure out how to fix it?

  roslaunch openni2_launch openni2.launch

... logging to /root/.ros/log/c95bdbb4-dccd-11e4-a09a-085700ac6da0/roslaunch-raspberrypi-11561.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://raspberrypi:33096/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: indigo
 * /rosversion: 1.11.10

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)

ROS_MASTER_URI=http://hqu-desktop:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [11628]
[ INFO] [1428356333.975372916]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [11640]

    [FATAL] [1428356339.002887237]: Service call failed!

    [camera/driver-2] process has died [pid 11640, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load openni2_camera/OpenNI2DriverNodelet camera_nodelet_manager ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered rgb/image:=rgb/image_raw depth/image:=depth_registered/image_raw __name:=driver __log:=/root/.ros/log/c95bdbb4-dccd-11e4-a09a-085700ac6da0/camera-driver-2.log].
    log file: /root/.ros/log/c95bdbb4-dccd-11e4-a09a-085700ac6da0/camera-driver-2*.log

process[camera/rectify_color-3]: started with pid [11647]
process[camera/depth_rectify_depth-4]: started with pid [11654]
process[camera/depth_metric_rect-5]: started with pid [11661]
process[camera/depth_metric-6]: started with pid [11670]
process[camera/depth_points-7]: started with pid [11677]
process[camera/register_depth_rgb-8]: started with pid [11684]
process[camera/points_xyzrgb_sw_registered-9]: started with pid [11690]
process[camera/depth_registered_sw_metric_rect-10]: started with pid [11697]
process[camera_base_link-11]: started with pid [11704]
process[camera_base_link1-12]: started with pid [11709]
process[camera_base_link2-13]: started with pid [11714]
process[camera_base_link3-14]: started with pid [11719]

I'm trying to use some python3 module in my node program, but ROSRUN can't use python3. So I tried to install python3 catkin command like this:

git clone git://github.com/ros-infrastructure/catkin_pkg.git 
cd catkin_pkg
sudo python3 setup.py install

git clone git://github.com/ros/catkin.git
cd catkin
sudo python3 setup.py install

I create a new package now in the available work space, catkin_make the ws, but got the error like this:

CMake Error at compass/

CMakeLists.txt:47 (add_message_files):
  `Unknown CMake command "add_message_files"`.

    -- Configuring incomplete, errors occurred!
    See also "/home/hqu/git/repos/ros/pi/build/CMakeFiles/CMakeOutput.log".
    See also "/home/hqu/git/repos/ros/pi/build/CMakeFiles/CMakeError.log".
    make: *** [cmake_check_build_system] Error 1
    Invoking "make cmake_check_build_sys
    tem" failed

Why? I'm sure the CMakeList.txt is right. The old package created before was well. New package always fail, sounds like the new apt-get installation screwed my ROS