konradb3's profile - activity

I am running ROS Hydro on ubuntu 12.04.

When i run:

rosrun rviz rviz

i get :

rospack: error while loading shared libraries: librospack.so: cannot open shared object file: No such file or directory
/opt/ros/hydro/lib/rviz/rviz: error while loading shared libraries: librviz.so: cannot open shared object file: No such file or directory

But when i run it directly:

 /opt/ros/hydro/lib/rviz/rviz

everything works fine, it looks very strange to me.

Same problem (Poland).

Hello,

I recently tried to build my code in ros groove beta, and I get linking errors when linking with roscpp. The problem comes from invalid *.pc script. "pkg-config roscpp --libs" return "... -l/usr/lib/libboost_date_time-mt.so ..." and because gcc does not accept absolute paths for libraries this way it leads to linking error.

Is it intended behaviour of pkg-config ?

Hello,

Gazebo segfault at startup when launched by empty_world.launch.

backtrace:

Program received signal SIGSEGV, Segmentation fault.
0x00007fffe6ec2ed6 in PyObject_IsTrue () from /usr/lib/libpython2.7.so.1.0
(gdb) bt
0  0x00007fffe6ec2ed6 in PyObject_IsTrue () from /usr/lib/libpython2.7.so.1.0
1  0x00007fffe7bfc6c3 in rospack::Rosstackage::isSysPackage(std::string const&) () from /opt/ros/groovy/lib/librospack.so
2  0x00007fffe7bfd2b8 in rospack::Rosstackage::computeDepsInternal(rospack::Stackage*, bool, std::string const&) () from /opt/ros/groovy/lib/librospack.so
3  0x00007fffe7bfd69a in rospack::Rosstackage::computeDeps(rospack::Stackage*, bool) () from /opt/ros/groovy/lib/librospack.so
4  0x00007fffe7bfd286 in rospack::Rosstackage::computeDepsInternal(rospack::Stackage*, bool, std::string const&) () from /opt/ros/groovy/lib/librospack.so
5  0x00007fffe7bfd69a in rospack::Rosstackage::computeDeps(rospack::Stackage*, bool) () from /opt/ros/groovy/lib/librospack.so
6  0x00007fffe7bfd286 in rospack::Rosstackage::computeDepsInternal(rospack::Stackage*, bool, std::string const&) () from /opt/ros/groovy/lib/librospack.so
7  0x00007fffe7bfd69a in rospack::Rosstackage::computeDeps(rospack::Stackage*, bool) () from /opt/ros/groovy/lib/librospack.so
8  0x00007fffe7bfe0ab in rospack::Rosstackage::depsOnDetail(std::string const&, bool, std::vector<rospack::Stackage*, std::allocator<rospack::Stackage*> >&) () from /opt/ros/groovy/lib/librospack.so
9  0x00007fffe7bfe66e in rospack::Rosstackage::plugins(std::string const&, std::string const&, std::string const&, std::vector<std::string, std::allocator<std::string> >&) ()
   from /opt/ros/groovy/lib/librospack.so
10 0x00007fffe7c14efa in rospack::rospack_run(int, char**, rospack::Rosstackage&, std::string&) () from /opt/ros/groovy/lib/librospack.so
11 0x00007fffe7c0aa5b in rospack::ROSPack::run(int, char**) () from /opt/ros/groovy/lib/librospack.so
12 0x00007fffe7c0ad68 in rospack::ROSPack::run(std::string const&) () from /opt/ros/groovy/lib/librospack.so
13 0x00007fffe806cae6 in ros::package::command(std::string const&) () from /opt/ros/groovy/lib/libroslib.so
14 0x00007fffe827f389 in rosPackageCommandDebug (output=..., cmd=..., this=<optimized out>)
    at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:72
15 gazebo::GazeboRosPathsPlugin::rosPackageGetPluginsDebug (this=<optimized out>, package=..., attribute=..., plugins=...)
    at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:111
16 0x00007fffe82807d5 in rosPackageGetPluginsDebug (plugins=..., attribute=..., package=..., this=0x682d30)
    at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:95
17 gazebo::GazeboRosPathsPlugin::LoadPaths (this=0x682d30)
    at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:165
18 0x00007fffe827b742 in GazeboRosPathsPlugin (this=0x682d30)
    at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:50
19 gazebo::RegisterPlugin () at /tmp/buildd/ros-groovy-simulator-gazebo-1.7.6/debian/ros-groovy-simulator-gazebo/opt/ros/groovy/stacks/simulator_gazebo/gazebo/src/gazebo_ros_paths_plugin.cpp:182
20 0x0000000000433911 in gazebo::PluginT<gazebo::SystemPlugin>::Create(std::string const&, std::string const&) ()
21 0x000000000043313e in gazebo::add_plugin(std::string const&) ()
22 0x00000000004226b8 in gazebo::Server::ParseArgs(int, char**) ()
23 0x000000000041d8cd in main ()

The best way to use KUKA LWR with ros is to use OROCOS which is integrated with ROS. You should look at code in our repos https://github.com/organizations/RCPRG-ros-pkg . An other important thing is that you need to use xenomai if you need command rate below 5ms.

The reason of crash (at least for me) is that gazebo is compiled using SSE4.1 instructions which are not supported on my cpu.

Question updated ...

I checked the svn trunk and it works much better but some problems still remains.

Hello,

I updated gazebo today (from apt (ubuntu 12.04)) and when i load one of my robots to gazebo all of the robot parts appear in random places.

URDF for my robot is located in : https://github.com/RCPRG-ros-pkg/lwr_robot/tree/electric/lwr_defs

After updating to svn trunk it works much better. But that not solve all of my problems, the second robot link appear translated from its base. It looks like a problem with chaining of fixed links. When i remove the world link and world to world_link joint the offset disappear.

I have found answer myself. The problem was caused by baseline_rgbd param in my system.yaml. When this parameter is set to any value, calibration node assume that depth informations is available.

Hello,

I would like to calibrate two arm system with sensor head. Based on PR2 and maxwell calibration stacks i made configs for my system and successfully run the capture_data. But i am unable to get estimation working. When i run calibration_estimation it crash because of NaN during calculations.

Here is output from estimation node : estimation_output.txt