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2017-04-30 02:54:13 -0500 marked best answer gmapping with navigation

Hi, I am trying to do a project on SLAM Gmapping (turtlebot2,kobuki base,ros-hydro) and I'm really blocked I need your help; actually my task is to navigate the TurtleBot and avoid obstacles and at the same time make carthographie. I follow the tutorial of stack navigation and after I realized that in that case I should not work with AMCL and map_server. So as a first step I tried to build the map,at the beginning it worked but after it didn't, I didn't know the reason, I find in rviz message: No map received. here are the steps I did: roslaunch turtlebot_bringup minimal.launch rosrun tf (laser-->base_link) rosrun tf (odom-->base_link) roslaunch turtlebot_navigation gmapping_demo.launch

the launch file of gmapping_demo.launch :

**<launch> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"> <arg name="rgb_processing" value="false"/> <arg name="depth_registration" value="false"/> <arg name="depth_processing" value="false"/> <arg name="scan_topic" value="/scan"/> </include> <include file="$(find turtlebot_navigation)/launch/includes/gmapping.launch.xml"/> <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/> </launch>

the xml file of gmapping:

<launch> <arg name="scan_topic" default="scan"/>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>

</node> </launch>

the xml file of move_base:

<launch> <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/> <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

<arg name="odom_topic" default="odom"/> <arg name="map_topic" default="/map"/> <arg name="scan_topic" default="/scan"/>

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />

<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>

</node> </launch>

and the configuration of costmap parametrs:


obstacle_range: 2.5 raytrace_range: 3.0 robot_radius: 0.20 footprint: [[-0.16, -0.16], [-0.16, 0.16], [0.16, 0.16], [0.16, -0.16]] footprint_padding: 0.01 inflation_radius: 0.5 max_obstacle_height: 0.6 min_obstacle_height: 0.0 observation_sources: scan bump scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true} bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.15}


local_costmap: global_frame: /odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.05 global_costmap_param:

globasl_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 5.0 static_map: true


controller_frequency: 3.0 recovery_behavior_enabled: true clearing_rotation_allowed: true

TrajectoryPlannerROS: max_vel_x: 0.3 min_vel_x: 0.1 max_vel_theta: 1.0 min_vel_theta: -1.0 min_in_place_vel_theta: 0.6 acc_lim_x: 0.5 acc_lim_theta: 1.0 yaw_goal_tolerance: 0.3 ... (more)

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2015-10-13 07:41:34 -0500 commented question interaction with NAO

ok i'll delete it

2015-10-13 07:02:34 -0500 commented question interaction with NAO

I posted my problem in two groupsc: ROS and ROS Sig Aldebaran . Is there any problem!!! I haven't the right to do this?

2015-10-13 03:18:23 -0500 asked a question interaction with NAO

Hi I will start my thesis about interaction human_robot (NAO) and i will use ROS to communicate the robot. before starting someone can advise me please i want to know what I should choose as version (hydro, groovy, ...) and another question i want to know if, with ROS, NAO can communicate in two ways : gestural and audio?

thank you in advance

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2015-06-26 16:44:53 -0500 marked best answer Package "libg2o" does not follow the version conventions

-- Using CATKIN_DEVEL_PREFIX: /home/turtlebot/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/turtlebot/catkin_ws/devel;/opt/ros/hydro -- This workspace overlays: /home/turtlebot/catkin_ws/devel;/opt/ros/hydro -- Using PYTHON_EXECUTABLE: /usr/bin/python HI, when i did catkin_make i had this warning:

-- Python version: 2.7 -- Using Debian Python package layout -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/turtlebot/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- catkin 0.5.90 -- BUILD_SHARED_LIBS is on

WARNING: Package "libg2o" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).

I didn't understand where is the problem!

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2015-06-25 05:23:57 -0500 commented answer How to combine robot odometry with RGBD SLAM algorithm for mapping ?

i had the same problem , i want to integrate the robot odometry in the algorithm of rgbdslam how can i do this please

2015-06-25 03:51:54 -0500 asked a question rgbdslam_v2 odometry

I'm working with rgbdslam and turtlebot (ros hydro),i would like to compare between the real trajectory of robot , the estimated pose of wheel ododmetry and the trajectory with rgbdslam. So i would like to know how can integrate the measures of wheel odometry in rgbdslam's algorithm.

Any help please

2015-06-21 02:49:14 -0500 marked best answer problem with tf tree, robot_pose_ekf, odom_combined

Hello, I've been working with a turtlebot with a kobuki base , i'm trying to use robot_pose_ekf but i found a tf problem, in this case base_footprint will have 2 parents (odom_combined published by robot_pose_ekf node and odom published by nodelet_manager node) So how can i resolve this problem, should i change some parameters in launch files? Any help please

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2015-05-12 05:30:55 -0500 asked a question pose estimtion

hi , i worked with turtlebot2 and microsoft kinect, i want to evaluate pose estimation for three cases: odometry odometry+imu odometry+imu+visual odometry

and then integrate the best estimation in rgbdslam to estimate the pose, My first question: Is rgbdslam has visual odometry topic? because i didn't find this topic when i launch rgbdslam.launch, if not how can i obtain this topic? My second question: after compare these 3 estimations and find the best how to integrate it in rgbdslam? My final question: the trajectory estimate file provided by GUI interface in rgbdslam, how it was estimated ?

ANy help please

Thanks in advance

2015-05-09 10:33:34 -0500 asked a question RGB-D mapping 3D

Hello I worked with turtlebot2 and microsoft kinect (distro hydro) I had a question about RGB-D SLAM I would knwow which package should i install to build a 3D map with RGBD (RGB_D 3D mapping) I found the RTABMAP , and the ccny_rgbd_tools, but I didn't understand with which I have to work or if there are other package?

Really i need your help please

Thanks in advance

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2015-05-07 09:59:49 -0500 commented question fovis_ros error

ok i rewrite my question here

2015-05-07 09:58:47 -0500 asked a question fovis_ros error


I'm working with turtlebot and kinect (hydro) in ubuntu 12.04. I integrated the visual odometry (fovis_ros). So I launched turtlebot_bringup minimal.launch to get odom and imu topics and launched openni to get the depth camera topic and fovis_hydro_openni.launch:

  <arg name="camera" default="camera" />   
  <node pkg="nodelet" type="nodelet" args="manager" name="nodelet_manager" />   
  <node pkg="nodelet" type="nodelet" 
        args="load depth_image_proc/convert_metric nodelet_manager">
    <remap from="image_raw" to="$(arg camera)/depth_registered/sw_registered/image_rect_raw"/>
    <remap from="image" to="$(arg camera)/depth/image_rect"/>   

  <node pkg="fovis_ros" type="fovis_mono_depth_odometer" name="kinect_odometer" >
    <remap from="/camera/rgb/image_rect" to="$(arg camera)/rgb/image_rect_mono" />
    <remap from="/camera/rgb/camera_info" to="$(arg camera)/rgb/camera_info" />
    <remap from="/camera/depth_registered/camera_info" 
           to="$(arg camera)/depth_registered/sw_registered/camera_info" />
    <remap from="/camera/depth_registered/image_rect" to="$(arg camera)/depth/image_rect" />
    <param name="approximate_sync" type="bool" value="True" />   

and finally i launched the robot_pose_ekf.launch which fuse the three topics (odom,imu,and vo) to publish the odom_combined topic. But i had this error:

[ERROR] [1431006366.365384721]: Covariance specified for measurement on topic vo is zero
[ERROR] [1431006366.392443095]: filter time older than vo message buffer

I think that the problem comes from the visual odometry beacause before adding visual odometry the robot_pose_ekf works fine it fused odom and imu data and published odom_combined

Any help please

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2015-05-07 08:09:56 -0500 asked a question fovis_ros error

HI i worked with turtlebot and kinect (hydro) ubunto 12.04, i integrated the visual odometry (fovis_ros) but when i launch robot_pose_ekf i had this error: I think that the problem comes from the visual odometry beacause before adding visual odometry the robot_pose_ekf works fine it fused odom and imu data and published odom_combined

ANY help please