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2018-02-09 23:55:32 -0500 marked best answer Сonvert the pointcloud data to laserscan

Hello, ROS Community! I have a problem in understanding of the nodes from launch file. kinect_to_laser.launch:

<launch>
<include file="$(find openni_launch)/launch/openni.launch"></include>
<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"></node>
<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
<param name="max_rate" value="2"></param>
<remap from="cloud_in" to="/camera/depth/points"></remap>
<remap from="cloud_out" to="cloud_throttled"></remap></node>
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
<param name="output_frame_id" value="/openni_depth_frame"></param>
<remap from="cloud" to="cloud_throttled"></remap>
</node>

When I run the launch file, I get the errors that openni_manager, pointcloud_throttle and kinect_laser nodes are not exist. https://drive.google.com/open?id=0Byu...

I figure out that they are not exist, but what can I use ?

Pls, explain me what I can do and I will be glad to get any other full answer about sensor data manipulation

Distribution: Indigo OS: Ubuntu 14.04 Sensor: Kinect XBOX 360 openni.launch runs without errors

Thank you

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2018-02-09 22:52:50 -0500 commented answer rviz doesn't visualize the Markers

Thank u for ur contribution :)

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2017-05-28 02:44:59 -0500 commented answer ROS on Raspberry 3

I have just passed the problem (access denied) with remote connection to pi 3 (Ubuntu Mate 16.04) using PuTTY and MobaXT

2017-05-28 02:44:34 -0500 commented answer ROS on Raspberry 3

I have just passed from the problem (access denied) with remote connection to pi 3 (Ubuntu Mate 16.04) using PuTTY and M

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2017-02-26 11:50:32 -0500 marked best answer SDF versions

Gazebo version 2.2.6, Indigo

Hello, ROS Community!

I would like to ask you about SDF versions. Nowadays, I am confused what SDF version is appropriate for running .world files. The question is appeared when I got errors following gazebo tutorials. Here , the .world file used SDF version 1.5 and It gave me errors:

Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4
Error [parser.cc:697] XML Element[population], child of element[world] not defined in SDF. Ignoring.[world]
Error [parser.cc:688] Error reading element <world>
Error [parser.cc:348] Unable to read element <sdf>
Error:   Could not find the 'robot' element in the xml file
     at line 81 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp
Error [parser_urdf.cc:2608] Unable to call parseURDF on robot model
Error [parser.cc:273] parse as old deprecated model file failed.

I looked other .world files that run without any problem.. The files is under SDF version 1.4.

I was surfing ROS answers and gazebo tutorials, I didnt get the right answer.. If you will look at the resource, you will see versions 1.4, 1.5, 1.6 are available. But, there are exist higher version in downloads

What the version can I use in order I will not have any errors in version discrepancy?

2016-12-20 06:58:32 -0500 asked a question hector does not see base_frame transfrom

I used the following node to transform laser to base_link

int main(int argc, char** argv){ ros::init(argc, argv, "robot_tf_publisher"); ros::NodeHandle n;

ros::Rate r(100);

tf::TransformBroadcaster broadcaster;

while(n.ok()){

broadcaster.sendTransform(
  tf::StampedTransform(
    tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.025, 0.0, 0.145)),
    ros::Time::now(),"base_link", "laser"));

r.sleep();

} }

And run the following launch file:

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->   

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>


<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

</node> </launch>

In RViz when change the fixed frame get the following mistakes: For frame [laser]: Fixed Frame [map] does not exist For frame [laser]: Fixed Frame [base_link] does not exist

It seems that hector node does not see/recognize laser → base_link transform

I am trying to use hector mapping using only hokyo laser data.

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2016-06-21 02:26:13 -0500 answered a question gazebo or v-rep for ros integration

Hello, Rajnunes!

Actually, I cant give you the full answer that could be based on my experience. Although, I may suggest you to read this paper [1] about the comparison by the criteria: ROS Intergration, World Modelling, Robot Model Modifications, Programmatic Control ans CPU Use.

Also, this one [2] gives the comparison between the bunch of different simulators.

[1] L. Nogueira, "Comparative Analysis Between Gazebo and V-REP Robotic Simulators"

[2] S. Ivaldi, V. Padois, F. Nori,"Tools for dynamics simulation of robots: a survey based on user feedback"

2016-05-06 21:40:59 -0500 commented answer SDF versions

Unfortunately, it is not possible. Look at sdf specification. You use sdf version 1.4 with Gazebo 2, but population tag is available from version 1.5 and higher (click on World button and try to find population tag for 1.4 and 1.5)

2016-04-16 10:39:18 -0500 commented answer Error on testing Hokuo "UBG-04LX-F01" on hydro linux 12.04 by using this command "rosrun rviz rviz -d `rospack find hokuyo_node`/hokuyo_test.vcg"

In case, there is no the option "/laser" in Fixed Frame, open a terminal and type this : rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map laser 100 before you will run rviz

2016-04-16 10:24:26 -0500 commented answer Creating world file for Gazebo with xacro

I suggest you to write new question, because the title differ from the content

2016-04-14 23:40:16 -0500 marked best answer kinect xbox 360

Hello! There are many questions about kinect installation in ROS community and my question is not original in it. But... I would like to sum up my understanding about this problems by asking the question: Am I right that drivers of sensor "kinect xbox 360" model 1414 does NOT install to ubuntu 14.02 precise, Hydro distribution?

It is true that I am not UNIX guru and sometimes I can not think out how to modify commands likes experienced users. Anyway, I figured out that many manuals are outdated currently and the files are edited in the repositories. I meant the manuals: http://blog.ethanlim.net/2013/08/inst... , http://a-asvadi.ir/install-kinect-xbo... and etc.

Also, I can not understand theoretically the relation between Hydro distribution and the kinect driver. Is the relation there?

Pls, give me an advice what I can do for installation kinect xbox 360 driver or kinect for microsoft on ubuntu. It is possible to reinstall another ROS distribution and ubuntu version, if it will be needed.

Thanks!

2016-04-04 21:44:05 -0500 commented answer Creating world file for Gazebo with xacro

The question "How to fix size of a model" is not answered for me too. Before, I changed it by SketchUp Make, but there must be a way to fix size in Gazebo too..

2016-04-04 21:33:15 -0500 commented answer Creating world file for Gazebo with xacro

You can use <pose> tag inside of <include>. I never note the <size> tag in <include>. Look at this SDF specification . You can find all documentation about a tag and be sure what to use inside one..

2016-04-04 08:27:19 -0500 commented answer Creating world file for Gazebo with xacro

<population> tag is not for this case.. Maybe, you are on right way to use multiple times <include>.. I cant be sure, because I dont know another solution.. Sorry :)

2016-04-04 07:03:33 -0500 answered a question Creating world file for Gazebo with xacro

I think it would be right in your case to use <population> tag. Pls, look at this tutorial . There exist random distribution of positions. Also, you can fix a size, but the size will be common size of N models, which you point in <model_count> tag.

"I'd like to be able to pass the "size" as a parameter to the included object" ---- In case, you want to put models with different size, I guess <population> tag will be not appropriate for that ..

2016-04-04 05:34:35 -0500 commented question Creating world file for Gazebo with xacro

Do you want to place models randomly? Or Do you want to place models with different sizes in world? What should be randomly size, position or both?

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2016-03-28 04:31:43 -0500 answered a question Model can't be fixed the orientation

The problem was decided in Gazebo answers. The link is here.

In case, I duplicate my question in Gazebo and ROS answers, Do I destroy the community rules?

2016-03-19 07:40:19 -0500 asked a question Model can't be fixed the orientation

Hello, ROS community!

I was learning the tutorial about the placing models in some orders and I wanted to implement it in my project. I took some models from 3D google repository and corrected them by following this tutorial.

My problem is the model (white_shelf2) can't be rotated on 90 degrees. I tried differently to fix the numbers of orientation (yaw exactly) in the world file (below it attached), but I cant still understand why the number were not published in Gazebo.

 <?xml version="1.0" ?> 
 <sdf version="1.5"> 
 <world name="default">

<include> 
<uri>model://ground_plane</uri> 
</include>

<include> 
<uri>model://sun</uri> 
</include>

<include> 
<uri>model://market_layout</uri> 
<name>market layout</name> 
<pose>0.107915 -0.228911 0.00 0.00 0.00 0.00</pose> 
</include>

<include> 
<uri>model://kassa</uri> 
<name>kassa</name> 
<pose>-4.712210 0.153002 -0.000002 0.000003 0.00 -1.573301</pose> 
</include>

<population name="white_shelves_population1"> 
<model name="white_shelf1"> 
<include>   
<static>true</static>   
<uri>model://white_shelves</uri> 
</include> 
</model> 
<pose>0.5 -7.4 0 0 0 0</pose> <!--pose of all shelves together -->  
<box>
<size>14 0.5 3</size> <!-- <size> is size of all shelves; all shelves will be in the size together -->
</box> 
<model_count>14</model_count> 
<distribution> 
<type>linear-x</type> <!-- models place along x-axis --> 
</distribution> 
</population>

<population name="white_shelves_population2"> 
<model name="white_shelf2"> 
<include> 
<static>true</static> 
<uri>model://white_shelves</uri> 
</include> 
</model> 
<pose>7.313923 1.442630 0.0 0.0 0.0 1.623000</pose> 
<box> 
<size>0.5 1.0 3.0</size> 
</box> 
<model_count>1</model_count> 
<distribution> 
<type>linear-y</type> 
</distribution> 
</population>
</world> 
</sdf>

This is screenshots:

image description

image description

In GUI, I placed the model in right position for getting the pose coordinates. Because, the "save" function doesn't work there, so I fixed the coordinates in my world file.

Jade, Ubuntu 14.04, Gazebo 5.1.0

Thank you in advance!

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2016-02-25 14:52:23 -0500 asked a question ROS Live Community Meeting February

I was participating in the meeting that was about Robot Description Formats. I would like to ask the links that were shared in the chat. Because, I was using a phone and it is impossible to follow them. Also, could you inform where I can listen the record again?! I have the language limitation of understanding the content in English completely.

Thank you for the meeting!

2016-02-21 03:00:09 -0500 commented question Which robots work on ROS Indigo?

You should correct your question. Pls, choose an exact robot and ask about the compatibility with ROS Indigo. Visit the page. Maybe, it will help you

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2016-02-18 07:10:43 -0500 commented question Gazebo doesn't give the option for saving a world

Thank you )

2016-02-18 07:09:19 -0500 commented answer Gazebo doesn't give the option for saving a world

Yes, I will follow your advice. Thank you

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2016-02-17 09:05:02 -0500 asked a question Gazebo doesn't give the option for saving a world

Hello, ROS Community!

I use Jade distribution, Gazebo 5.1.0 version, Ubuntu 14.04.3 LTS

When I add some objects Insert tab of Gazebo and try to save the world after, I cant do it. The empty window Save World popped up without any options.

image description

Yesterday, I was struggling with this problem too. When I was stopping gazebo process by terminal or GUI, the world objects were deleted too. It means gazebo was launched (rosrun gazebo_ros gazebo) with empty scene every times.

I decided to update packages by sudo apt-get update command, because I suggested the bug can belong to ubuntu. So, I updated them successfully.

Today, I get the empty Save World window again, but objects are saved even when I stop gazebo process with this notification:

albina@alb91:~/catkin_ws/src$ rosrun gazebo_ros gazebo
/opt/ros/jade/lib/gazebo_ros/gazebo: 30: kill: invalid signal number or name: SIGINT
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