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2017-04-30 03:04:17 -0500 marked best answer How to build a package from source?

Hi! I've recently installed the ROS indigo desktop version in my raspberry PI 2, running the last version of Raspbian (following the tutorial http://wiki.ros.org/ROSberryPi/Instal... ). I've installed all properly. Now I'm trying to install new packages from source in the ROS file system, but I don't understand exactly what I have to do to get it. The package I'm trying to install is ros3djs ( http://wiki.ros.org/ros3djs ). The steps I've followed are the next:

1- $ cd ~/ros_catkin_ws/src

2- $ git clone https://github.com/RobotWebTools/ros3djs.git

Once I have the package downloaded in the src folder, I don't know exactly what I should do. In the installation of ROS tutorial comes the next command to invoke catkin_make_isolated:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

but it makes all the workspace to be compiled again and it takes a lot of time, so what I should do? I want to compile only the new packages I add. Being on the ros_catkin_ws folder, I've tried the next:

3- $ catkin_make --pkg ros3djs

But I get the next message:

Packages "ros3djs" not found in the workspace

I've also tried the catkin_make_isolated:

3- $ catkin_make_isolated --pkg ros3djs

Packages not found in the workspace: ros3djs

I don't understand very well the structure ROS have to add new packages. Could someone give me any suggestion? Thank you very much!

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2015-08-24 04:06:02 -0500 commented answer ROS3djs set URDF color not working

Thank you very much!! It was just the same problem!

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2015-08-22 20:21:46 -0500 asked a question ROS3djs set URDF color not working

Hello! I've built my own robot in solidworks, so I have the 3D .dae parts. I also have the URDF model working on the web browser by the package ros3djs ( http://wiki.ros.org/ros3djs/Tutorials... ). The problem is that when it displays the model on the web browser, each link gets a random color. I have set the color on the .dae file and also on the URDF file, but it's not working, every link keeps getting a random color. I get the following errors on the webconsole:

mutating the [[Prototype]] of an object will cause your code to run very slowly; instead create the object with the correct initial [[Prototype]] value using Object.create roslib.min.js:1:7936

THREE.WebGLRenderer 61 three.min.js:1:285997

Error: WebGL: getExtension('MOZ_WEBGL_compressed_texture_s3tc'): MOZ_ prefixed WebGL extension strings are deprecated. Support for them will be removed in the future. Use unprefixed extension strings. To get draft extensions, set the webgl.enable-draft-extensions preference. three.min.js:1:285144

THREE.WebGLRenderer: Anisotropic texture filtering not supported. three.min.js:1:285412

THREE.WebGLRenderer: S3TC compressed textures not supported. three.min.js:1:285500

The use of getPreventDefault() is deprecated. Instead use the defaultPrevented. web.html

Do you think it could be related to not showing the correct colors?

Thank you very much! Regards.

Ruben

2015-08-21 09:40:03 -0500 commented answer ros3djs not able to display my 3D files

Ohh! Thank you very much! I have been stuck for a few days on this. I really appreciate your help. Thank you again! It's working perfectly now!

2015-08-21 07:01:11 -0500 asked a question ros3djs not able to display my 3D files

Hello! I've built a part in solidworks and exported it into a STL file. So I'm trying to display it on the web browser through the package ros3djs ( http://wiki.ros.org/ros3djs/Tutorials... ). When I try to show it, the web console gives me an error, so I have converted into .dae format through the Meshlab software. I'm using the following URDF code:

<?xml version="1.0"?>
<robot name="robottt">
    <link name="base_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="file:///home/ros/catkin_ws/src/robottt/robots/base_link.dae" />
            </geometry>

        </visual>
    </link>
</robot>

I don't know what could be going wrong, the same urdf is well-displayed in rviz. I have tested exchanging the path filename to a pr2_description part, and it does well on the web browser and rviz.

<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae" />

Some errors are shown on the web console, but these are the same in both .dae files, so I think it is not the reason for not showing my model.

I upload my .dae file if you want to test it. https://www.dropbox.com/s/m140qdyeze7...

Any idea? I've been stuck in this for some days. I have also tried lighter .dae files without any success. And also tried to convert it into .dae format through other software such as OpenCollada in Maya, and some online converters.

Thank you very much, I appreciate any help.

Ruben

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2015-08-19 08:52:09 -0500 commented question Collada .dae tag to open model in Rviz

No,there are no errors. Yes, I tell the javascript where is my .dae file through the urdf file,where I specify the path of my file. The file that works properly is the l_finger.dae, that I've just attached, and comes from this package that you have said. So I'm trying to find the differences.Thanks!

2015-08-19 07:09:14 -0500 asked a question Collada .dae tag to open model in Rviz

Hello! I've built a 3D model robot in Solidworks, after that, I've exported it properly into an URDF model. Well, when it is exported (through the plugin sw_urdf_exporter), the 3D link models are created into different .stl files. My purpose is to visualize this model on the web browser ( http://wiki.ros.org/ros3djs/Tutorials... ). Then, I have converted the .stl files into .dae files through Meshlab, because .stl files give problems when they are displayed into the web browser. But when I try to visualize in the web browser, for instance, an only one .dae file of my robot it is not showed. However, trying it with the same URDF file, but exchanging the 3D file by the r2d2 gripper (it is also a .dae file, from the pr2_description package) it is properly displayed. So I think the problem must be any tag that I have to add to the .dae file, because the only variation I make is exchanging the file that the URDF opens. After all these tests, I've realised that when I open the urdf model in Rviz, when it is my 3D file, I have to add a robot model in rviz, to be able to see it (in the web browser I couldn't see it), but when it is the gripper mentioned before, rviz automatically create the robot model instance and I can see the gripper by only opening this file on rviz.

Any idea of if any tag is needed to be added or why my .dae files are not being displayed on the web browser? I think the trouble of not showing it on the web browser could come from this difference between the .dae files. I have compared both .dae files, but I cannot recognise any bold element.

Sorry for my lengthy post!

Thank you very much, regards.

Ruben

EDIT: I attach both files, the "correct" (l_finger.dae) and the "incorrect" (anular_l.dae) one. https://www.dropbox.com/sh/bt9t8ygrrq...

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2015-08-12 05:07:07 -0500 commented answer URDF velocity limit, how it works?

Ok, thank you very much! Un placer encontrar españoles por aquí. Regards from Málaga.

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2015-08-11 15:47:40 -0500 commented question URDF velocity limit, how it works?

Aha! Ok, I understand what you mean. We are assembling a robot, so the idea was keeping the simulation near to the robot and watch both. So, it's better if they move in a similar way. Thank you very much, I will try it.

2015-08-11 14:06:07 -0500 commented question URDF velocity limit, how it works?

First of all, thank you for your answer. Yes, you are right, I'm using the joint_state_publisher gui sliders, I did not know it bypasses the limit. So, how I could implement this controller in operation? Is there any package to make it, or to make it easier? Thanks!

2015-08-11 13:10:28 -0500 asked a question URDF velocity limit, how it works?

Hello! I've taken the 06-flexible.urdf model from the urdf_tutorial package, and I've added the lines to set a velocity limit on the head_swivel joint into the urdf file. http://wiki.ros.org/urdf/XML/joint

Then I've displayed it on rviz thinking that when I would make a fast change on the joint value, it would take a little more time to get into this position, but what I have found is that the velocity limit is not making any effect in the robot representation. The changes take effect inmediately. So, how is the velocity limit supposed to work?

Thank you very much!

Ruben

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2015-08-06 07:12:47 -0500 answered a question joint_state_publisher_js not showing sliders

Thanks for your answer! I've checked it and I get the following messages:

mutating the [[Prototype]] of an object will cause your code to run very slowly; instead create the object with the correct initial [[Prototype]] value using Object.create "THREE.WebGLRenderer" "61"

ReferenceError: JOINTSTATEPUBLISHER is not defined

I don't know why it says it's not defined when it really is.

Thanks!

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2015-08-05 20:20:38 -0500 asked a question joint_state_publisher_js not showing sliders

Hi, I have been testing the package from robotwebtools called join_state_publisher_js. The main purpose of this package is to control a 3d urdf model through the explorer. I'm using ubuntu 14.04 and ROS indigo.

http://wiki.ros.org/joint_state_publi...

Well, the problem is that the sliders, which should appear at the right of the 3d model, are not being represented, it's an empty space in my case. The 3D representantion runs properly. I have followed the brief tutorial, so I'm getting the model r2d2.xacro from the urdf_tutorial package to test it. I don't know if something is going wrong in this package or what is the problem, I have only got the code from the tutorial.

Thank you very much! Regards

EDIT: Note that packages joint_state_publisher_js and joint_state_publisher are not the same. Anyway I tried to set the use_gui param true, but It didn't work.

EDIT2: I attach the html code I'm using, it's the same the tutorial gives.

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script src="http://cdn.robotwebtools.org/threejs/current/three.min.js"></script>
<script src="http://cdn.robotwebtools.org/threejs/current/ColladaLoader.min.js"></script>
<script src="http://cdn.robotwebtools.org/ColladaAnimationCompress/current/ColladaLoader2.min.js"></script>
<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script src="http://cdn.robotwebtools.org/ros3djs/current/ros3d.min.js"></script>
<script src="http://cdn.robotwebtools.org/joint_state_publisher_js/current/jointstatepublisher.min.js"></script>

<script>
  /**
   * Setup all visualization elements when the page is loaded.
   */
  function init() {
    // Connect to ROS.
    var ros = new ROSLIB.Ros({
      url : 'ws://localhost:9090'
    });

    // Create the main viewer.
    var viewer = new ROS3D.Viewer({
      divID : 'urdf',
      width : 800,
      height : 600,
      antialias : true
    });

    // Add a grid.
    viewer.addObject(new ROS3D.Grid());

    // Setup a client to listen to TFs.
    var tfClient = new ROSLIB.TFClient({
      ros : ros,
      angularThres : 0.01,
      transThres : 0.01,
      rate : 10.0
    });

    // Setup the URDF client.
    var urdfClient = new ROS3D.UrdfClient({
      ros : ros,
      tfClient : tfClient,
      path : 'http://resources.robotwebtools.org/',
      rootObject : viewer.scene,
      loader : ROS3D.COLLADA_LOADER_2
    });
    var jsp = new JOINTSTATEPUBLISHER.JointStatePublisher({
      ros : ros,
      divID : 'sliders'
    });
  }
</script>
</head>

<body onload="init()">
  <div id="sliders" style="float: right"></div>
  <div id="urdf"></div>
</body>
</html>

I'm using the r2d2 urdf movable model given my the urdf_tutorial package, you can find it there: https://github.com/ros/urdf_tutorial/...

If I run the model by rviz and execute the normal joint_state_publisher I get it working and the joint menu appears when I set it to true. So I think the trouble is not in the model execution, because I can also view it properly on the web browser.

The command I use to set it up is the following:

roslaunch joint_state_publisher_js  run_with_xacro.launch model:=/opt/ros/jade/share/urdf_tutorial/urdf/06-flexible.urdf

EDIT 3:

Thanks for your answer! I've checked it and I get the following messages:

mutating the [[Prototype]] of an object ...
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2015-06-10 04:03:25 -0500 commented answer How to build a package from source?

Thank you very much! It is just what I was looking for! Thank you all for your help

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2015-06-09 09:29:33 -0500 commented answer How to build a package from source?

Yes, you are right, I have installed that following the instructions given. But the main problem is that I have 188 packages aproximately within the src folder, so when I want to add a single package the catkin_make command make it to compile everything, which takes a lot of time in raspberry.Thanks

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2015-06-09 03:00:31 -0500 edited answer How to build a package from source?

I've tried the command which comes in the tutorial for raspberry pi:

$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

But as I said before, It starts to compile the whole workspace (almost 200 packages). The raspberry pi is working well, but when it has got over 1 hour compiling, it crashes, I think it is due to the magnitude of the compiling process. So it is the reason I'm looking for the way to compile only the package I add. It's the message I get when it crashes.

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3421.941692] Internal error: Oops: 817 [#1] PREEMPT SMP ARM

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.021250] Process kswapd0 (pid: 35, stack limit = 0xb9ad2238)

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.027178] Stack: (0xb9ad3d40 to 0xb9ad4000)

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.031542] 3d40: 8004bb4c 805257e8 00000001 b9ad3d80 b9ad3d84 b9ad2000 00000001 b9bd56b0

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.039711] 3d60: accb021f 0000031c b9bd5740 00000016 00000000 00000000 0000006a 941a19bc

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.047880] 3d80: accb021f 0000031c a91d7be0 b6a221a0 b9ad3dac 00000000 000036a0 00000080

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.056067] 3da0: b9bd5000 b9bd5690 000000a5 807b2b94 b9ad3dec b9ad3dc0 801fc1d4 801fbcdc

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.064243] 3dc0: 000036a0 00000000 00000000 b9bd5690 00000080 b9ad3efc 00000080 000000a5

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.072411] 3de0: b9ad3e6c b9ad3df0 800fc2e8 801fc0f4 00000001 b980cb40 00000004 8080f784

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.080580] 3e00: b9ad3e2c b9ad3e10 8003a2ec 800cb4d0 b9804490 b9804498 000002ec 000002af

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.088751] 3e20: 00000000 b9ad3e30 00000149 00033f31 00000000 0000007a 000036a0 00000000

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.096918] 3e40: b9ad3e9c b9ad3efc 00000000 00000149 00033f31 807e9410 00000000 b9bd5690

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.105086] 3e60: b9ad3e9c b9ad3e70 800fcbb8 800fc14c 00000001 8080f480 00000000 00000000

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.113256] 3e80: 00000000 00000000 00000000 b9ad3ef4 b9ad3f5c b9ad3ea0 80100388 800fcaf8

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.121424] 3ea0: 805214ac 8004684c 55555555 00000047 807b2b9c 807b2ba0 b994d640 8080fd44

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.129592] 3ec0: 00000000 8080fd48 00033f31 00000000 b9ad3f0c 00000000 b9ad2020 00000001

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.137760] 3ee0: b9ad2000 00000000 00000000 8080f480 55555555 00000000 00000000 000000d0

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.145927] 3f00: 00000080 00000001 00000000 00000c00 000000d0 00000000 00000000 00000000

Message from syslogd@raspberrypi at Jun 9 17:39:34 ... kernel:[ 3422.154112] 3f20: 00000003 00000007 ...

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