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2015-08-10 14:45:13 -0500 asked a question ROS in Arch linux

I'm trying to install ROS in Arch - and I was able to get https://aur4.archlinux.org/packages/r... installed.

After that I used the following in my bashrc and run rosenv before running ros commands: rosenv2 () { source /opt/ros/indigo/setup.bash export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages:$PYTHONPATH

  export ROS_PACKAGE_PATH=/opt/OGRE-1.8/lib/pkgconfig:/opt/ros/indigo/lib/pkgconfig:$ROS_PACKAGE_PATH

  export LD_LIBRARY_PATH=/opt/OGRE-1.8/lib:$LD_LIBRARY_PATH
  export CMAKE_MODULE_PATH=/opt/OGRE-1.8/lib/OGRE:$CMAKE_MODULE_PATH

  # Useful aliases
  alias catkin_make="catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2 -DPYTHON_INCLUDE_DIR=/usr/include/python2.7 -DPYTHON_LIBRARY=/usr/lib/libpython2.7.so"

  # If you use Gazebo:
  #source /usr/share/gazebo/setup.sh
}

When I do catkin_make in one of my workspaces - I get the following error:

CMake Error at /usr/lib64/cmake/gazebo/gazebo-config.cmake:46 (find_package):
  By not providing "FindOGRE.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "OGRE", but
  CMake did not find one.

  Could not find a package configuration file provided by "OGRE" with any of
  the following names:

    OGREConfig.cmake
    ogre-config.cmake

  Add the installation prefix of "OGRE" to CMAKE_PREFIX_PATH or set
  "OGRE_DIR" to a directory containing one of the above files.  If "OGRE"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  gazebo_ros_pkgs/gazebo_ros/CMakeLists.txt:26 (find_package)


-- Configuring incomplete, errors occurred!

I've installed https://aur4.archlinux.org/packages/o... also (as suggested on the wiki page in ROS+Arch)

Any help on how to fix this ?

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2015-06-20 23:19:12 -0500 answered a question simulate robotic arm of my size

For the robot arm part, you can make an autocad/google sketchup/<other drawing="" software=""> drawing which can be exported as an stl or dae file. Use the stl file in a urdf file - and gazebo will be able to visualize it for you.

This urdf tutorial has a section on how to use meshes (which is what you want) at the end. You could also make a custom geometry based arm using bars, and so on - but it'd be a bit more complicated.

You don't need a physical arm to do any of this.

To do the inverse kinematics part, MoveIt is the most popular that I've seen - but I've never used it - so, I can't coment about it much. have a look at it here : http://moveit.ros.org/wiki/Kinematics

2015-06-20 23:08:02 -0500 asked a question Synchronous communication with gazebo

Hi,

I am trying to implement a robot controller using ros + gazebo - So, what I want it to tell gazebo a particular command and then gazebo should return the state after 1 second. And after that it should pause itself.Now, I do some processing and again give a command - and it should again run for only 1 second.

I need my actions to be used for equal amounts of time.

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2015-06-19 21:55:36 -0500 asked a question Pausing and unpausing gazebo

I need to be able to control hector_quadrotor (gazebo) using another one of my nodes.

What i exactly want :

  1. My node chooses a velocity for the quad to use
  2. My node tells hector_quadrotor to use this velocity using /cmd_vel
  3. My node tells hector_quadrotor to start simulating physics for 1 second and give the outcome of the final positions.
  4. After 1 second of simulation (may not be 1 second in real time) - hector_quadrotor pauses itself, and gives back the result of the step.
  5. My node reads the current positions, velocities, etc and chooses the next velocity it wants to set.
  6. Go back to step 2

I know of gazebo's services to pause and unpause physics - but I am unable to tell it to do it for a specific time.

I am using roscpp

Any help/direction of approach appreciated.

2015-06-19 21:50:06 -0500 commented answer Read hector quadrotor position and control its yaw angles

Ah - awesome - thanks :)

2015-06-19 04:11:14 -0500 commented answer Read hector quadrotor position and control its yaw angles

Any clue about sending data to control the quad ?

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2015-06-13 12:53:43 -0500 commented answer debug gdb and ROS

This makes complete sense but I never knew the --prefix option existed. Thanks !

2015-06-13 03:16:35 -0500 asked a question debug gdb and ROS

I have been trying to debug my rosnode with gdb because I am getting a segmentation fault. My package name is renv and the executable inside it is names env

I can run rosrun renv env --env 1 and it works. When I do rosrun renv env --env 2 it gives me a SegFault.

I tried:

gdb --args rosrun renv env --env 2 and gdb says rosrun is not executable (makes sense as it's a shell script)

gdb --args renv env --env 2 and gdb says renv not found

gdb --args env --env 2 and gdb gets confused and trued running /usr/bin/env

I have enabled debugging symbols in CMake using

if(MSVC)  
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zi")  
else()  
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")  
endif()

And I find a lot of answers pointing to Roslaunch nodes and gdb + valgrind ... and It's difficult for me to understand that ... I think it says to use gdb --args for the gdb part - But I don't know what to put after that :P

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2015-06-10 07:16:06 -0500 marked best answer hector_quadrotor not listening to teleop_twist_keyboard

I'm using hector_quadrotor, and am trying to get a simple quadrotor moving in it using my keyboard.

I run the demo using roslaunch hector_quadrotor_demo outdoor_flight_gazebo.launch and it gives out a few messages which can be seen here (There are no errors, but a few warnings are there)

Then I run rosrun teleop_twist_keyboard teleop_twist_keyboard.py which gives out the following output

When i press u,i,o,j,k,l,m ... nothing happens

My understanding is that they send/recv messages on /cmd_vel to talk to each other. So, I read that I can see that using rostopic info /cmd_vel and i get :

Type: geometry_msgs/Twist

Publishers: 
 * /teleop_twist_keyboard (http://ajk-VPCSB38GG:49644/)

Subscribers: 
 * /gazebo (http://ajk-VPCSB38GG:46506/)

So, it seems both are connected to the node, and rostopic echo /cmd_vel gives:

$ rostopic echo /cmd_vel
WARNING: no messages received and simulated time is active.
Is /clock being published?
linear: 
  x: 0.5
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 1.0
---

when I press u in the teleop_twist_keyboard. So, it seems to be sending, but the hector_quadrotor_demo isn't catching it.

A bit more info : I am using Ubuntu 14.04 and ROS indigo. I installed all packages using the Ubuntu ppa for ROS and apt-get.