MahsaP's profile - activity

Hi,

@matlabbe, I am using Rtabmap application on Tango. I would like to connect the tablet to ROS indigo on my laptop. I followed the instructions on this link. But, I get some errors when I do catkin_make in ROS Java Android workspace section. Would you please help me how to connect it properly? Is there another way to read the data from Rtabmap app on ROS?

Thank you.

Hello,

I am trying to connect an imu VN-100 Rugged to ROS via this package. But, I get the following output in my terminal:

process[rosout-1]: started with pid [13597]
started core service [/rosout]
process[imu-2]: started with pid [13607]
[ INFO] [1464357306.167245353]: Sync out rate: 20
[ INFO] [1464357306.748363389]: Connected to device at /dev/ttyUSB0
[ INFO] [1464357306.765977143]: Default serial baudrate: 115200
[ INFO] [1464357306.766011559]: Set serial baudrate to 921600
[ INFO] [1464357307.776820987]: Connected to device at /dev/ttyUSB0
[ INFO] [1464357307.783369148]: New serial baudrate: 921600
[ INFO] [1464357307.788441741]: Fetching device info.
[ INFO] [1464357307.793557811]: Model number: VN-100T-CR
[ INFO] [1464357307.798613813]: Hardware revision: 7
[ INFO] [1464357307.803668418]: Serial number: 0100017300
[ INFO] [1464357307.808746557]: Firmware version: 2.0.0.0
[ INFO] [1464357307.808777854]: Set Synchronization Control Register (id:32).
[ INFO] [1464357307.837879233]: /imu: VN: Permission denied
[imu-2] process has finished cleanly

I tried to change the baud rate of /dev/ttyUSB0 to something else according to the acceptable baud rates in this link. However, I get the same result each time.

Does anyone know how I can solve this problem.

Thank you.

Hello,

I have attached a dynamixel motor MX-64AR via USB to my laptop. The distro of my ROS is indigo running of Ubuntu 14.04. I looked into other answers, but I couldn't solve my problem. When I run the following launch file:

<launch>
    <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
        <rosparam>
            namespace: dxl_manager
            serial_ports:
                pan_tilt_port:
                    port_name: "/dev/ttyUSB0"
                    baud_rate: 8000
                    min_motor_id: 1
                    max_motor_id: 4
                    update_rate: 20
        </rosparam>
    </node>
</launch>

I get the following output in the terminal:

SUMMARY
========

PARAMETERS
 * /dynamixel_manager/namespace: dxl_manager
 * /dynamixel_manager/serial_ports/pan_tilt_port/baud_rate: 8000
 * /dynamixel_manager/serial_ports/pan_tilt_port/max_motor_id: 4
 * /dynamixel_manager/serial_ports/pan_tilt_port/min_motor_id: 1
 * /dynamixel_manager/serial_ports/pan_tilt_port/port_name: /dev/ttyUSB0
 * /dynamixel_manager/serial_ports/pan_tilt_port/update_rate: 20
 * /rosdistro: indigo
 * /rosversion: 1.11.19

NODES
  /
    dynamixel_manager (dynamixel_controllers/controller_manager.py)

auto-starting new master
process[master]: started with pid [4794]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 86c272d8-28ba-11e6-817c-e09467568303
process[dynamixel_manager-2]: started with pid [4813]
/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_serial_proxy.py:92: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.motor_states_pub = rospy.Publisher('motor_states/%s' % self.port_namespace, MotorStateList)
/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_serial_proxy.py:93: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
[INFO] [WallTime: 1464869228.261456] pan_tilt_port: Pinging motor IDs 1 through 4...
[FATAL] [WallTime: 1464869228.598303] pan_tilt_port: No motors found.
================================================================================REQUIRED process [dynamixel_manager-2] has died!
process has died [pid 4813, exit code 1, cmd /opt/ros/indigo/lib/dynamixel_controllers/controller_manager.py __name:=dynamixel_manager __log:=/home/mahsa/.ros/log/86c272d8-28ba-11e6-817c-e09467568303/dynamixel_manager-2.log].
log file: /home/mahsa/.ros/log/86c272d8-28ba-11e6-817c-e09467568303/dynamixel_manager-2*.log
Initiating shutdown!
================================================================================
[dynamixel_manager-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Also I did : dmesg | grep tty and got:

[    0.000000] console [tty0] enabled
[  161.384192] usb 1-3: FTDI USB Serial Device converter now attached to ttyUSB0

Can anyone help me to solve the problem. Do I need to add more information in the launch file?

Thank you.

@matthewlefort I just modified the code to add the covariance matrix.

I put the launch files here. I will add some plots to the question for the outputs.

If I use NED, is it making a problem?

@Tom Moore For the IMU I am using this driver on Ubuntu 14.04 with ROS indigo. Similar to the picture in the question, I put the IMU on top of the vision sensor. I tried to use ENU frame, but the positive direction for the IMU is NED

@Tom Moore would you please give me some hints on my question. Thank you.

I set the covariance to some values, but it is still the same.

Thanks I will try to set the covariance in the imu. The drifting is both in orientation and position. Maybe the problem has to do with the covariance.

I am using the config as here. I will put the output of the imu in the question.

@matlabbe I changed the axis of the imu by rotating imu on the camera similar to the picture you have. Also, I added base_link similar to what I have written in my question, but still I don't know why I don't get the correct answer. It has lots of drifts.

@matlabbe Thank you for your answer. When I do the same thing as you described I get the following warning:

[ WARN] [1472317843.569504300]: odometry: Could not get transform from odom to camera_rgb_frame (stamp=1472317843.414791) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)!

Hi,

@matlabbe, I have ASUS xtion pro live and vn-100T IMU sensors like the following picture:

I tried to fuse the data from these two sensors similar to your launch file here with robot_localization. The difference in my launch file is that I added the tf relationship as:

<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera_link_rgb"   args="0.0 0 0.0 0.0 0 0.0 base_link camera_link 20" />

<node pkg="tf" type="static_transform_publisher" name="base_link_to_imu_link" args="0.0 0.0 0.5 0 0 0 base_link imu 20" />

After I launch it, I get the following result for the map could. In this picture I am not moving sensors at all. It starts to rotate around the view, and the information is not correct.

Also, when I move the sensors, the coordinate frames do not move correctly. I read "Preparing your sensor data", but I am not sure if something is wrong with the placement of the IMU or not!

Do you think there is a problem with the usage of the tf package? I think the relationship is correct, but I don't know how to remove this drift (or motion) when I don't move the sensors at all.

The rqt_graph and tf_frames are like the following:

I also read these two question (1) and (2), but I didn't understand how to solve it. Thank you.

Edit: When I do rostopic echo /imu/imu, I get the following output:

---
header: 
  seq: 1912
  stamp: 
    secs: 1472737002
    nsecs: 470006463
  frame_id: imu
orientation: 
  x: -0.989729464054
  y: -0.141599491239
  z: 0.0163822248578
  w: 0.0108099048957
orientation_covariance: [0.0005, 0.0, 0.0, 0.0, 0.0005, 0.0, 0.0, 0.0, 0.0005]
angular_velocity: 
  x: 0.0242815092206
  y: -0.000830390374176
  z: -0.0146896829829
angular_velocity_covariance: [0.00025, 0.0, 0.0, 0.0, 0.00025, 0.0, 0.0, 0.0, 0.00025]
linear_acceleration: 
  x: 0.298014938831
  y: 0.262553811073
  z: 9.89032745361
linear_acceleration_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]
---

@matlabbe Finally, I can make a map on a remote station. Thanks for your explanation. My problem was related to the WiFi bandwidth. Now, everything is ok.

Thanks for giving me an example. If I want to save the map on the robot, how is it possible?

For visualization on pc from /rtabmap/mapData what should I do?

If I do this on odroid is that sufficient: roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rviz:=false rtabmapviz:=false

@matlabbe Thanks for your explanation. Is there any tutorial how to do mapping on the robot?

I am on WI-FI. Is it possible to have a steady image framerate on wifi?

Now, on pc as computer B, I can see mapping but it is really really slow so I think I just have something on Rviz from one frame. After that nothing is getting updated. I get an error in terminal: process() RGB-D SLAM mode is enabled and no odometry is provided. Image 21 is ignored!

So, now instead of a laptop I am considering a pc. There is no difference. I don't know which part I am missing.

Do you think there is a problem in rqt_graph?

@matlabbe for rostopic hz /camera/rgb/image_rect_color/theora for both odroid and laptop I get the rate between 8 and 11 for the second one I get something about 18 but sometimes no message is coming for laptop and a rate about 30 on odroid.

I don't have this node: points_xyzrgb. Do I need it? I see you have it in rqt_graph and also on remote_mapping launch file.

Is it necessary to have ~500 KiB/s of bandwidth? When I check system monitor on both systems sometimes the bandwidth is less than this value.

Also, I checked the tutorial here. I don't have a problem with ROP_IP. because I can subscribe to the image topic on my laptop from the Odroid with no problem.

[ WARN] Save depth data to 16 bits format: depth type detected is 32FC1, use 16UC1 depth format to avoid this conversion (or set parameter "Mem/SaveDepth16Format=false" to use 32bits format). This message is only printed once..

I am getting the following warning (is it causing the problem?): [ WARN] rtabmap: Could not get transform from odom to camera_link after 0.200000 seconds (for stamp=1469447469.217299)!