wjvh's profile - activity

Hi all

After re-flashing my Jetson TK1 to 21.4, installing ROS and Turtlebot per the wiki, minimal.launch no longer brings up the Turtlebot with the expected chime.

The last few lines I get before the system hangs is

process[turtlebot_laptop_battery-8]: started with pid [13498]
process[capability_server-9]: started with pid [13506]
process[app_manager-10]: started with pid [13510]
process[master-11]: started with pid [13517]
process[interactions-12]: started with pid [13527]
process[zeroconf/zeroconf-13]: started with pid [13532]
[WARN] [WallTime: 1492941706.791976] Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist]
[ INFO] [1492941707.253415215]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]
[turtlebot_laptop_battery-8] process has finished cleanly
log file: /home/ubuntu/.ros/log/da9c7bfa-280b-11e7-ae6c-74da385e01c9/turtlebot_laptop_battery-8*.log

Looking inside the log file shows:

[rospy.client][INFO] 2017-04-23 18:01:46,635: init_node, name[/turtlebot_laptop_battery], pid[13498]
[xmlrpc][INFO] 2017-04-23 18:01:46,647: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2017-04-23 18:01:46,647: Started XML-RPC server [http://192.168.0.14:44254/]
[rospy.init][INFO] 2017-04-23 18:01:46,647: ROS Slave URI: [http://192.168.0.14:44254/]
[rospy.impl.masterslave][INFO] 2017-04-23 18:01:46,651: _ready: http://192.168.0.14:44254/
[xmlrpc][INFO] 2017-04-23 18:01:46,658: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2017-04-23 18:01:46,659: Registering with master node http://localhost:11311
[rospy.init][INFO] 2017-04-23 18:01:46,751: registered with master
[rospy.rosout][INFO] 2017-04-23 18:01:46,752: initializing /rosout core topic
[rospy.rosout][INFO] 2017-04-23 18:01:46,757: connected to core topic /rosout
[rospy.simtime][INFO] 2017-04-23 18:01:46,762: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rosout][WARNING] 2017-04-23 18:01:46,791: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist]
[rospy.core][INFO] 2017-04-23 18:01:46,793: signal_shutdown [Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist]]
[rospy.impl.masterslave][INFO] 2017-04-23 18:01:46,803: Battery : unable to check laptop battery info [/sys/class/power_supply/BAT0/charge_full_design || /sys/class/power_supply/BAT0/energy_full_design does not exist]
[rospy.core][INFO] 2017-04-23 18:01:47,793: signal_shutdown [atexit]

Previously I was able to run the Turtlebot with the Jetson with no issue even though there was a warning because the Jetson TK1 obviously doesn't have a battery. It looks like now some kind of shutdown signal is being sent when the BAT0 file isn't found. Has anyone experienced this?

Cheers

Will

Edited with new information

Hi all

I'm trying to calibrate an onboard Asus Xtion using turtlebot_arm_kinect_calibration from the official turtlebot_arm repo here https://github.com/turtlebot/turtlebo... . When I run calibrate.launch I'm getting a popup that doesn't show the video stream, it just shows white, and I'm unable to proceed with the prompts for calibrating using the arm (a PhantomX pincher).

I am able to get a video stream from the xtion when I do rosrun image_view image_view image:=/camera/rgb/image_raw.

The calibrate.launch file looks like the below - the issue seems to be that the remap isn't yielding a viable image stream from /calibrate_kinect_checkerboard/calibration_pattern_out

 <launch>    
  <node name="calibrate_kinect_checkerboard" pkg="turtlebot_arm_kinect_calibration" type="calibrate_kinect_checkerboard" output="screen">
    <param name="gripper_tip_x" value="-0.002" />
    <param name="gripper_tip_y" value="0.020" />
    <param name="gripper_tip_z" value="-0.0185" />
  </node>

  <node name="checkerboard_image_view" pkg="image_view" type="image_view">
    <remap from="image" to="/calibrate_kinect_checkerboard/calibration_pattern_out" />
    <param name="autosize" value="true" />
  </node>
</launch>

The calibrate_kinect_checkerboard node has 2 references to the camera stream as default (one to camera/rgb/camera_info and one to camera/rgb/image_mono - I can't view either of these manually using rosrun image_view image_view image:=..., and replacing them with the topic I can view (camera/rgb/image_raw) doesn't help either

Any ideas what I can do to get my camera stream detected?

Cheers

Will

turtlebot_arm in rviz: no transform from gripper_link to base_footprint Hi all After following the instructions to moun

turtlebot_arm in rviz: no transform from gripper_link Hi all After following the instructions to mount turtlebot_arm on

Getting two errors when I run pick_and_place.py as well: [ERROR] [1499874170.941253659]: Robot semantic description not

Getting two errors when I run pick_and_place.py as well:

I'm getting this same error message using a Turtlebot 2 with a PhantomX Pincher, the turtlebot_arm repo and the pick_and

Thanks Jorge, getting there! This works but I've got 2 problems (1) in rviz there's a "no transform from gripper_link to

I was only getting this problem a year ago when I was using an old version of turtlebot_arm. Using the indigo-devel bran

turtlebot_arm in rviz: no transform from gripper_link Hi all After following the instructions to mount turtlebot_arm on

Hi Jorge - have come back to this and made some progress, but my arm appears rotated 90 degrees and the gripper appears

Solved this by changing camera/rgb/image_mono to camera/rgb/image_raw in calibrate_kinect_checkerboard.cpp, running catk

Solved this by changing camera/rgb/image_mono to camera/rgb/image_raw in calibrate_kinect_checkerboard.cpp, running catk

No video stream for turtlebot_arm_kinect_calibration Edited with new information Hi all I'm trying to calibrate an onb

No video stream for turtlebot_arm_kinect_calibration Hi all I'm trying to calibrate an onboard Asus Xtion using turtleb

Managed to solve this - not sure which step exactly was the fix but as I've been having trouble getting Turtlebot set up

Turtlebot minimal.launch not working with Jetson TK1 Hi all After re-flashing my Jetson TK1 to 21.4, installing ROS and

Hello all

I'm trying to make corot's latest turtlebot_arm package from here https://github.com/corot/turtlebot_arm on Ubuntu 14.04 and ROS Indigo on a Jetson TK1.

When I catkin_make I get build errors in block_detection_action_server.cpp and interactive_manipulation_action_server.cpp which I've traced back to a dependency issue in shape_tools as per here https://github.com/ros-planning/movei...

Doing a find for shape_tools and replacing with geometric_shapes fixes the initial error, but then I get hit with this, which cascades into a bunch of other errors:

[100%] Built target moveit_setup_assistant
/home/ubuntu/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/interactive_manipulation_action_server.cpp: In member function 'void turtlebot_arm_object_manipulation::InteractiveManipulationServer::addObjects()':
/home/ubuntu/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/interactive_manipulation_action_server.cpp:149:35: error: 'class moveit::planning_interface::PlanningSceneInterface' has no member named 'getObjects'
         planning_scene_interface_.getObjects(planning_scene_interface_.getKnownObjectNames());

I imagine my find/replace wasn't the right technique to fix the dependency - does anyone have an idea of what to do?

Thanks

Will

I'm also having this problem. I found this page discussing issues with uvcvideo and librealsense https://devtalk.nvidia.com/default/to... however it involves kernel changes. Does anyone know a simpler fix?

Solved this - super obvious now. Thanks ahendrix!

 lines = str(caffe_message).splitlines()

Thanks - I think this could be the issue. However the data member is being passed to filter_caffe_message elsewhere in the code (original question revised to show this) so perhaps it's a problem with how I'm importing or defining the variable or calling the function?

I'm trying to parse the output of ros_caffe and republish this in a format ready for speaking. Simon Birrell's node filter_caffe does this but I'm getting the error in the headline. https://github.com/SimonBirrell/filte...

import sys
print
print sys.path
print

import rospy
from filter_caffe import filter_caffe_message
from std_msgs.msg import String

Pub = 0

def received_caffe_message(data):
    global Pub
    filtered_message = filter_caffe_message(data)
    if filtered_message:
        Pub.publish(filtered_message)
        rospy.loginfo(filtered_message)
    else:
       rospy.loginfo("No good hit.")

I think it's related to this portion of the code:

    def filter_caffe_message(caffe_message):
    lines = caffe_message.splitlines()
    if (len(lines) == 0):
        return None
    first_line = lines[0]
    tokens = first_line.split(" ")
    if (len(tokens)<2):
        return None
    raw_probability = tokens[1].split("[")   
    if (len(raw_probability)<2):
        return None
    probability = float(raw_probability[1])
    if (probability>PROBABILITY_THRESHOLD):
        object_list = first_line.split(" - ")[1][10:]
        first_object = object_list.split(",")[0]
        return first_object
    return None

This is the exact error I'm getting:

    [ERROR] [WallTime: 1491028835.534480] bad callback: <function received_caffe_message at 0xb672e6b0>
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
    cb(msg)
  File "/home/ubuntu/catkin_ws/src/filter_caffe/nodes/filter_caffe2.py", line 24, in received_caffe_message
    filtered_message = filter_caffe_message(data)
  File "<string>", line 28, in filter_caffe_message
AttributeError: 'String' object has no attribute 'splitlines'

I understand that splitlines() only works with string objects but I thought that caffe_message was a string?

Thanks!

Will

Thanks jorge. Do you have an example turtlebot description file for this as I've tried the above with no luck. Does the turtlebot_arm arm.launch file automatically call the combined turtlebot+arm model in rviz if you follow the above instructions? Cheers!

Had to remove turtlebot_arm_object_manipulation folder to get the package to build in the end