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2015-07-23 08:50:45 -0500 asked a question aliasing in gazebo simulator

I have ros installed according to this setup with px4 as the flight controller ( https://pixhawk.org/dev/ros/sitl ).

I was testing the gazebo simulator using the iris quad-rotor model and changed some of the measurement parameters (weight, length of arms) in the iris.xacro file.

When I change the weight parameter specifically (to a much lighter weight) I get the following error for all the motors:

Error [gazebo_motor_model.cpp:136] Aliasing on motor [0] might occur. Consider making smaller simulation time steps or raising the rotor_velocity_slowdown_sim_ param.

I'm not sure what the rotor_velocity_slowdown_sim_ param does but increasing it did not fix the problem. I'm not sure why aliasing would occur because of a weight change? Is there any way to fix this?

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2015-06-08 07:12:38 -0500 answered a question cmake error upon catkin make

I just used the binary versions, thanks for the help.

2015-06-08 06:55:05 -0500 asked a question hector quadrotor controller

I'm looking to eventually modify the controller used for the hector quadrotor.

I'm a bit confused, when I look on github ( https://github.com/tu-darmstadt-ros-p... ) the hector_quadrotor_controller directory has a src folder with multiple .cpp files inside, but when I search my install for the hector_quadrotor_controller folder, neither of the two results have it.

I don't understand why it's not present? (I have followed the install instructions for the hector tutorials).

2015-06-08 03:26:48 -0500 asked a question Hector quadrotor indoor tutorial simulation wont start

I am trying to run the hector quad rotor indoor example from the tutorial ( http://wiki.ros.org/hector_quadrotor/... ). When I run it the rvis visualization and gazebo simulation open, but gazebo is blank and closes by itself. How can I fix it?

Below is the terminal output. There are two errors of which I don't know the meaning.

user@ubuntu:~$ roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
... logging to /home/user/.ros/log/c8dd26ca-0db5-11e5-ae69-000c29af2ac1/roslaunch-ubuntu-3779.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:60372/

SUMMARY
========

PARAMETERS
 * /controller/imu_topic: 
 * /controller/motor/type: hector_quadrotor_...
 * /controller/pose/type: hector_quadrotor_...
 * /controller/pose/xy/k_d: 0.0
 * /controller/pose/xy/k_i: 0.0
 * /controller/pose/xy/k_p: 2.0
 * /controller/pose/xy/limit_output: 5.0
 * /controller/pose/yaw/k_d: 0.0
 * /controller/pose/yaw/k_i: 0.0
 * /controller/pose/yaw/k_p: 2.0
 * /controller/pose/yaw/limit_output: 1.0
 * /controller/pose/z/k_d: 0.0
 * /controller/pose/z/k_i: 0.0
 * /controller/pose/z/k_p: 2.0
 * /controller/pose/z/limit_output: 5.0
 * /controller/state_topic: 
 * /controller/twist/angular/xy/k_d: 5.0
 * /controller/twist/angular/xy/k_i: 5.0
 * /controller/twist/angular/xy/k_p: 10.0
 * /controller/twist/angular/xy/time_constant: 0.01
 * /controller/twist/angular/z/k_d: 0.0
 * /controller/twist/angular/z/k_i: 2.5
 * /controller/twist/angular/z/k_p: 5.0
 * /controller/twist/angular/z/limit_output: 3.0
 * /controller/twist/angular/z/time_constant: 0.1
 * /controller/twist/limits/force/z: 30.0
 * /controller/twist/limits/load_factor: 1.5
 * /controller/twist/limits/torque/xy: 10.0
 * /controller/twist/limits/torque/z: 1.0
 * /controller/twist/linear/xy/k_d: 0.0
 * /controller/twist/linear/xy/k_i: 1.0
 * /controller/twist/linear/xy/k_p: 5.0
 * /controller/twist/linear/xy/limit_output: 10.0
 * /controller/twist/linear/xy/time_constant: 0.05
 * /controller/twist/linear/z/k_d: 0.0
 * /controller/twist/linear/z/k_i: 1.0
 * /controller/twist/linear/z/k_p: 5.0
 * /controller/twist/linear/z/limit_output: 10.0
 * /controller/twist/linear/z/time_constant: 0.05
 * /controller/twist/type: hector_quadrotor_...
 * /ground_truth_to_tf/frame_id: /world
 * /ground_truth_to_tf/odometry_topic: ground_truth/state
 * /ground_truth_to_tf/tf_prefix: 
 * /hector_geotiff_node/draw_background_checkerboard: True
 * /hector_geotiff_node/draw_free_space_grid: True
 * /hector_geotiff_node/geotiff_save_period: 0.0
 * /hector_geotiff_node/map_file_base_name: hector_slam_map
 * /hector_geotiff_node/map_file_path: /opt/ros/indigo/s...
 * /hector_geotiff_node/plugins: hector_geotiff_pl...
 * /hector_mapping/advertise_map_service: True
 * /hector_mapping/base_frame: base_footprint
 * /hector_mapping/laser_z_max_value: 1.0
 * /hector_mapping/laser_z_min_value: -1.0
 * /hector_mapping/map_frame: map
 * /hector_mapping/map_multi_res_levels: 2
 * /hector_mapping/map_resolution: 0.05
 * /hector_mapping/map_size: 2048
 * /hector_mapping/map_start_x: 0.5
 * /hector_mapping/map_start_y: 0.5
 * /hector_mapping/map_update_angle_thresh: 0.06
 * /hector_mapping/map_update_distance_thresh: 0.4
 * /hector_mapping/odom_frame: world
 * /hector_mapping/pub_map_odom_transform: True
 * /hector_mapping/scan_subscriber_queue_size: 5
 * /hector_mapping/scan_topic: scan
 * /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
 * /hector_mapping/update_factor_free: 0.4
 * /hector_mapping/update_factor_occupied: 0.9
 * /hector_mapping/use_tf_pose_start_estimate: False
 * /hector_mapping/use_tf_scan_transformation: True
 * /hector_trajectory_server/source_frame_name: /base_link
 * /hector_trajectory_server/target_frame_name: /map
 * /hector_trajectory_server/trajectory_publish_rate: 4.0
 * /hector_trajectory_server/trajectory_update_rate: 4.0
 * /quadrotor_aerodynamics/C_mxy: 0.074156208
 * /quadrotor_aerodynamics/C_mz: 0.050643264
 * /quadrotor_aerodynamics/C_wxy: 0.12
 * /quadrotor_aerodynamics/C_wz: 0.1
 * /quadrotor_propulsion/CT0s: 1.53819048398e-05
 * /quadrotor_propulsion/CT1s: -0.00025224
 * /quadrotor_propulsion/CT2s: 0.0
 * /quadrotor_propulsion ...
(more)
2015-06-07 18:44:38 -0500 received badge  Supporter (source)
2015-06-07 06:19:40 -0500 commented question hector_quadrotor not listening to teleop_twist_keyboard

Same for myself.

2015-06-05 02:03:39 -0500 asked a question cmake error upon catkin make

I'm new to the software, I was doing the following tutorial ( http://wiki.ros.org/hector_quadrotor/... ) and got a cmake error, I'm not sure how to " Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH" as it suggests, how can I fix it?

Full terminal text:

user@ubuntu:~$ mkdir ~/hector_quadrotor_tutorial
user@ubuntu:~$ cd ~/hector_quadrotor_tutorial
user@ubuntu:~/hector_quadrotor_tutorial$ wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/hydro-devel/tutorials.rosinstall
Using initial elements from: https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/hydro-devel/tutorials.rosinstall
Writing /home/user/hector_quadrotor_tutorial/src/.rosinstall
[hector_quadrotor] Fetching https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git (version hydro-devel) to /home/user/hector_quadrotor_tutorial/src/hector_quadrotor
Cloning into '/home/user/hector_quadrotor_tutorial/src/hector_quadrotor'...
remote: Counting objects: 2851, done.
remote: Total 2851 (delta 0), reused 0 (delta 0), pack-reused 2851
Receiving objects: 100% (2851/2851), 726.82 KiB | 332.00 KiB/s, done.
Resolving deltas: 100% (1758/1758), done.
Checking connectivity... done.
[hector_quadrotor] Done.
[hector_slam] Fetching https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (version catkin) to /home/user/hector_quadrotor_tutorial/src/hector_slam
Cloning into '/home/user/hector_quadrotor_tutorial/src/hector_slam'...
remote: Counting objects: 1827, done.
remote: Total 1827 (delta 0), reused 0 (delta 0), pack-reused 1827
Receiving objects: 100% (1827/1827), 338.44 KiB | 236.00 KiB/s, done.
Resolving deltas: 100% (1112/1112), done.
Checking connectivity... done.
[hector_slam] Done.
[hector_localization] Fetching https://github.com/tu-darmstadt-ros-pkg/hector_localization.git (version catkin) to /home/user/hector_quadrotor_tutorial/src/hector_localization
Cloning into '/home/user/hector_quadrotor_tutorial/src/hector_localization'...
remote: Counting objects: 2620, done.
remote: Total 2620 (delta 0), reused 0 (delta 0), pack-reused 2620
Receiving objects: 100% (2620/2620), 3.69 MiB | 1.22 MiB/s, done.
Resolving deltas: 100% (1948/1948), done.
Checking connectivity... done.
[hector_localization] Done.
[hector_gazebo] Fetching https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git (version hydro-devel) to /home/user/hector_quadrotor_tutorial/src/hector_gazebo
Cloning into '/home/user/hector_quadrotor_tutorial/src/hector_gazebo'...
remote: Counting objects: 1499, done.
remote: Total 1499 (delta 0), reused 0 (delta 0), pack-reused 1499
Receiving objects: 100% (1499/1499), 2.08 MiB | 789.00 KiB/s, done.
Resolving deltas: 100% (950/950), done.
Checking connectivity... done.
[hector_gazebo] Done.
[hector_models] Fetching https://github.com/tu-darmstadt-ros-pkg/hector_models.git (version hydro-devel) to /home/user/hector_quadrotor_tutorial/src/hector_models
Cloning into '/home/user/hector_quadrotor_tutorial/src/hector_models'...
remote: Counting objects: 630, done.
remote: Total 630 (delta 0), reused 0 (delta 0), pack-reused 630
Receiving objects: 100% (630/630), 207.65 KiB | 199.00 KiB/s, done.
Resolving deltas: 100% (414/414), done.
Checking connectivity... done.
[hector_models] Done.

update complete.
user@ubuntu:~/hector_quadrotor_tutorial$ catkin_make
Base path: /home/user/hector_quadrotor_tutorial
Source space: /home/user/hector_quadrotor_tutorial/src
Build space: /home/user/hector_quadrotor_tutorial/build
Devel space: /home/user/hector_quadrotor_tutorial/devel
Install space: /home/user/hector_quadrotor_tutorial/install
Creating symlink "/home/user/hector_quadrotor_tutorial/src/CMakeLists.txt" pointing to "/opt/ros/indigo/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/user/hector_quadrotor_tutorial/src -DCATKIN_DEVEL_PREFIX=/home/user/hector_quadrotor_tutorial/devel -DCMAKE_INSTALL_PREFIX=/home/user/hector_quadrotor_tutorial/install -G Unix Makefiles" in "/home/user/hector_quadrotor_tutorial/build"
####
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2 ...
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