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Hello,

I am using indigo version and I have been trying to convert the depth image to laser scan following this tutorial http://www.hessmer.org/blog/2011/04/1...

but I got the following error after executing "roslaunch ./launch/kinect_laser.launch" command

[ERROR] [1424961680.546848448]: Failed to load nodelet [/pointcloud_throttle] of type [pointcloud_to_laserscan/CloudThrottle]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudThrottle with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus openni_camera/driver pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet stereo_image_proc/disparity stereo_image_proc/point_cloud2[FATAL] [1424961680.547091841]: Service call failed!

[ERROR] [1424961680.592416238]: Failed to load nodelet [/kinect_laser] of type [pointcloud_to_laserscan/CloudToScan]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudToScan with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_rotate/image_rotate image_view/disparity image_view/image nodelet_tutorial_math/Plus openni_camera/driver pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet stereo_image_proc/disparity stereo_image_proc/point_cloud2[FATAL] [1424961680.592651940]: Service call failed![pointcloud_throttle-23] process has died [pid 7479, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load pointcloud_to_laserscan/CloudThrottle openni_manager cloud_in:=/camera/depth/points cloud_out:=cloud_throttled __name:=pointcloud_throttle __log:=/home/nouf/.ros/log/4528dc14-bdc1-11e4-84e3-b4749fbdedba/pointcloud_throttle-23.log].log file: /home/nouf/.ros/log/4528dc14-bdc1-11e4-84e3-b4749fbdedba/pointcloud_throttle-23*.log[kinect_laser-24] process has died [pid 7505, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=cloud_throttled __name:=kinect_laser __log:=/home/nouf/.ros/log/4528dc14-bdc1-11e4-84e3-b4749fbdedba/kinect_laser-24.log].log file: /home/nouf/.ros/log/4528dc14-bdc1-11e4-84e3-b4749fbdedba/kinect_laser-24*.log

I think some files are missing, but I don't know how to fix it

Hello,

I'm using Ubuntu 14.04 and ROS indigo

I published base_link>camera_link frames using static_transform_publisher as follows:

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0.1 0 0 0 1 base_link camera_link 100" />

Then, when I started slam_gmapping it gives the following error:

Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.00000

This is solved when I change X value to 0 in the transformation as follows:

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0.1 0 0 0 1 base_link camera_link 100" />

But this doesn't reflect my robot's situation correctly.

Also, I noticed in rviz that camera_depth_optical_frame and camera_rgb_optical_frame frames are upside down (as in the picture) and it is also upside down when I change the X value to 0.

Is this normal?

Hello,

I'm starting to build a map using gmapping, but whenever I start slam_gmapping, the following warning is shown:

Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 0.00000

This is one of the published transformations:

<node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="0 0 0.1 0 0 0 1 base_link camera_link 100" />

When I change the X argument into 1 or -1 the warning is gone! I don't know why!.But I'm sure there is something wrong!! and I need the X to be 0.

any idea?

UPDATE:

These are the frames in rviz:

and I cannot change the values of the orientation in rviz.

Hello

I'm trying to add C++ header files to a ROS node but when I do catkin_make it gives the following error:

    CMakeFiles/hello.dir/src/hello.cpp.o: In function `chatterCallback(boost::shared_ptr<std_msgs::String_<std::allocator<void> > const> const&)':
hello.cpp:(.text+0x13): undefined reference to `sleepms(int)'
hello.cpp:(.text+0x3b): undefined reference to `RoboteqDevice::SetCommand(int, int, int)'
hello.cpp:(.text+0xa4): undefined reference to `RoboteqDevice::Disconnect()'
CMakeFiles/hello.dir/src/hello.cpp.o: In function `main':
hello.cpp:(.text+0x201): undefined reference to `RoboteqDevice::Connect(std::string)'
CMakeFiles/hello.dir/src/hello.cpp.o: In function `__static_initialization_and_destruction_0(int, int)':
hello.cpp:(.text+0x598): undefined reference to `RoboteqDevice::RoboteqDevice()'
hello.cpp:(.text+0x5a7): undefined reference to `RoboteqDevice::~RoboteqDevice()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/nouf/catkin_ws/devel/lib/roboteq_motor/hello] Error 1
make[1]: *** [roboteq_motor/CMakeFiles/hello.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

The header files are under include/PKG_NAME

This is the .cpp node:

#include <iostream>
#include <stdio.h>
#include <string.h>

#include "roboteq_motor/RoboteqDevice.h"
#include "roboteq_motor/ErrorCodes.h"
#include "roboteq_motor/Constants.h"
#include <unistd.h>
#include <ros/ros.h>
#include <std_msgs/String.h>

using namespace std;
int status;
RoboteqDevice device;
void chatterCallback( const std_msgs::String::ConstPtr& msg){
  sleepms(10);

    cout<<"- SetCommand(_GO, 1, 1)...";
    if((status = device.SetCommand(_GO, 1, 700)) != RQ_SUCCESS)
        cout<<"failed --> "<<status<<endl;
    else
        cout<<"succeeded."<<endl;

    device.Disconnect();
 }
int main(int argc, char *argv[])
{

ros::init(argc, argv, "hello");
ros::NodeHandle nh;
    string response = "";

    status = device.Connect("/dev/ttyACM0");

    if(status != RQ_SUCCESS)
    {
        cout<<"Error connecting to device: "<<status<<"."<<endl;
        return 1;
    }

    //Wait 10 ms before sending another command to device

ros::Subscriber sub = nh.subscribe("chatter", 1000, chatterCallback);
ros::spin();
    return 0;

This is CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(roboteq_motor)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)
catkin_package(
 INCLUDE_DIRS include/${PROJECT_NAME}/
  LIBRARIES roboteq_motor
  CATKIN_DEPENDS roscpp std_msgs
  DEPENDS system_lib
)
include_directories(include ${catkin_INCLUDE_DIRS})
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
 )
add_executable(hello src/hello.cpp)
target_link_libraries(hello ${catkin_LIBRARIES})

SOLUTION: I changed this line

add_executable(hello src/hello.cpp)

to this

add_executable(hello src/hello.cpp src/RoboteqDevice.cpp)

THANK YOU ALL

Hello,

I need to program GUI for controlling ROS as java-based desktop application

I know that I may need to use rosjava, but I didn't find any tutorial that demonstrate how to use it.

Can someone help?

Thank you

Hello,

I am using ubuntu 14.04 and indigo version.

Also, I used kinect and custom made robot with encoders.

I published laser scan, odom, and tf information and now I'm starting building the map but I faced some problems

This the launch file for publishing laser scan information:

<launch>    
  <arg name="camera" default="camera"/>     
  <include file="$(find openni_launch)/launch/openni.launch">   
  <arg name="camera" default="$(arg camera)"/>  
  </include>    
  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">   
  <remap from="cloud_in" to="/camera/depth/points"/>    
  </node>   
</launch>

And I can view the laser scans successfully in rviz.

This is the node to publish odom information (the nodes assumes the robot is moving in circle):

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "odometry_publisher");

  ros::NodeHandle n;
  ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
  tf::TransformBroadcaster odom_broadcaster;

  double x = 0.0;
  double y = 0.0;
  double th = 0.0;

  double vx = 0.1;
  double vy = -0.1;
  double vth = 0.1;

  ros::Time current_time, last_time;
  current_time = ros::Time::now();
  last_time = ros::Time::now();

  ros::Rate r(1.0);
  while(n.ok()){

    ros::spinOnce();               // check for incoming messages
    current_time = ros::Time::now();

    //compute odometry in a typical way given the velocities of the robot
    double dt = (current_time - last_time).toSec();
    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
    double delta_th = vth * dt;

    x += delta_x;
    y += delta_y;
    th += delta_th;

    //since all odometry is 6DOF we'll need a quaternion created from yaw
    geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);

    //first, we'll publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = current_time;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";

    odom_trans.transform.translation.x = x;
    odom_trans.transform.translation.y = y;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = odom_quat;

    //send the transform
    odom_broadcaster.sendTransform(odom_trans);

    //next, we'll publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = current_time;
    odom.header.frame_id = "odom";

    //set the position
    odom.pose.pose.position.x = x;
    odom.pose.pose.position.y = y;
    odom.pose.pose.position.z = 0.0;
    odom.pose.pose.orientation = odom_quat;

    //set the velocity
    odom.child_frame_id = "base_link";
    odom.twist.twist.linear.x = vx;
    odom.twist.twist.linear.y = vy;
    odom.twist.twist.angular.z = vth;

    //publish the message
    odom_pub.publish(odom);

    last_time = current_time;
    r.sleep();
  }
}

I followed the steps in this tutorial

When I reached this command : rosbag play --clock mylaserdata.bag the other terminal gives this error:

Warning: TF_OLD_DATA ignoring data from the past for frame base_laser at time 1.4273e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.7-0trusty-20141230-0040/src/buffer_core.cpp

Also, after typing this command: rosrun map_server map_saver it says Waiting for the map and didn't do any thing.

UPDATE:

I used robot_state_publisher package to publish the TF

and this is the TF of the robot:

hello,

I'm using Ubuntu 14.04 and ROS Indigo

I used the following block of code to publish the transformation of base_link frame and odom frame:

geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = current_time;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";

    odom_trans.transform.translation.x = x;
    odom_trans.transform.translation.y = y;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = odom_quat;

    //send the transform
    odom_broadcaster.sendTransform(odom_trans);

Also, I used this launch file to publish the other frames:

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 1 0 0 0 1 base_link camera_link 100" />
</launch>

When the robot start moving I run rviz and it shows the odom frame moving, but the base_link and camera_link are fixed in their initial position. I think I missed something but I don't know what is it.

UPDATE:

1) current_time is set inside the loop while(nodehandle.ok()) and is set to current_time = ros::Time::now();

2) odom_broadcaster is created outside the loop and at the beginning of the main as tf::TransformBroadcaster odom_broadcaster;

3) This is running live

4) When I run rosrun tf tf_echo odom base_link it shows values like:

At time 1428335473.731
- Translation: [-0.338, 1.148, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.295, 0.955]
            in RPY [0.000, -0.000, 0.600]
At time 1428335474.787
- Translation: [-1.613, 3.059, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.223, 0.975]
            in RPY [0.000, -0.000, 0.449]

5) This is my tf tree:

Also I have this transformation in the launch file: <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 1 0 0 0 1 base_link camera_link 100" />

in tf static transform publisher, what is the different between
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
and
static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
and what are the values that i'm suppose to use in args such as:
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100"/>

Thank u.

Greetings,

I have tried to add laser node to gazebo using the following code:

<include filename="$(find erratic_description)/urdf/erratic_hokuyo_laser.xacro"/>

    <!-- BASE LASER ATTACHMENT -->
    <erratic_hokuyo_laser parent="base_link">
            <origin xyz="0.18 0 0.11" rpy="0 0 0" />
    </erratic_hokuyo_laser>

but I got the following error:

Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py /home/nouf/catkin_ws/src/chapter5_tutorials/urdf/robot1_base_03.xacro] returned with code [1].

Param xml is The traceback for the exception was written to the log file

I found out that the erratic_description package doesn't work with indigo version (which I'm currently using). Is there another package or another way to add a laser node to Gazebo ?

Thanks in advance.

Hello,

I'm using Ubuntu 14.04 and ROS indigo.

Also, I'm using pointcloud_to_laserscan package for the kinect and it's working fine.

The problem is whenever I send a command to run the motors, the kinect stops and the laptop cannot detect that the kinect is connected.

NOTE: The kinect and the motor controller are connected through 2 USB ports.

I think the problem is in the laptop, because I tried another laptop and they work fine.

Unfortunately, I can't use the good laptop due to RAM problem.

Any idea??

Hello

I'm using Ubuntu 12.04 and ROS fuerte

I' simulating SLAM using gazebo and I followed Learning ROS book.

Now I reached move_base.launch but when I run it, it gave the following errors:

[ WARN] [1432083250.106400281,
919.561000000]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error:  [ WARN] [1432083251.263770834,
923.948000000]: No laser scan received (and thus no pose updates have been published) for 923.948000 seconds.  Verify that data is being published on the /scan topic.

Although, I proved that the laserscans are published by using:

rostopic echo scan

This is move_base file:

<launch>
  <!-- Run the map server -->
   <node name="map_server" pkg="map_server" type="map_server" args="$(find simulation)/maps/gazebo_map.yaml" output="screen">
</node>
  <include file="$(find amcl)/examples/amcl_diff.launch" >
  </include> 
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find simulation)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find simulation)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find simulation)/launch/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find simulation)/launch/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find simulation)/launch/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

and this is my tf tree:

Any idea?

Thank you.