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2017-09-11 16:30:36 -0500 commented answer Multi-robot exploration with explorer and adhoc_communication?

Hi, seems like they updated their repository. Here is the version of the file i used https://github.com/OSLL/multibot/co

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2015-11-20 15:58:17 -0500 commented answer Multi-robot exploration with explorer and adhoc_communication?

Hi Micha,

thanks for your answer! With that launch files i get exactly the same results as with my files. Are you sure the robots explore in a coordinated way on your machine? I am adding some information in my question above since the space for comments is limited.

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2015-11-14 06:54:48 -0500 asked a question Multi-robot exploration with explorer and adhoc_communication?

Hi ,

i am trying to setup a multi-robot-exploration like shown in the video of the explorer package (http://wiki.ros.org/explorer). Did someone successfully get that setup running? (explorer + map_merger + adhoc_communication)

Here is what i got so far: I started with files from https://github.com/OSLL/aau_multi_robot, which is a fork of the aau-ros/aau_multi_robot repository containing some new launch files. If i run my launch file, based on them, the 2 robots start exploration, but in an uncoordinated way.

I then read a bit in the source code and found a comment stating that the robot names have to be added to the source code (in explorer.cpp at line 103 of the explorer package). I added my robot names and recompiled explorer. but unfortunately that doesn't change anything.

Last thing i found was a commented Preprocessor directive #define JOIN_ALL_GROUPS (in define.h of the adhoc_communication package), which activates a code block (in adhoc_communication.cpp at line 1208) in which this adhoc_communication node tries to join all existing multicast groups. I uncommented this directive and compiled adhoc_communication again. Then i get error messages (from adhoc_communication) like this:

DROP FRAME: ID[36] CONFIRMER MAC[00-00-00-00-00-11] SOURCE HOST[] TYPE[MC ACTIVATION]
REMOVE DOWNLINK: GROUP[mc_robot_1]  HOST[robot_0]

and from explorer i get warnings like:

Failed to call service sendToMulticast [/robot_0/adhoc_communication/send_frontier]

So i guess i configured something wrong with the adhoc_communication package. Any help would be appreciated. Thanks!

Here is my current launch file (aau_multi_robot_simulation is a package i created containing parameter and configuration files; i don't think the problem is related to them, so i omit them):

<?xml version="1.0"?>
<launch>

<arg name="num_of_robots" default="2" />
<arg name="robot_macs" default="robot_0,00:00:00:00:00:11!robot_1,00:00:00:00:00:22!" />
<arg name="log_path" default="$(env HOME)/logs" />
<arg name="robot_local_map_frame" default="map" />
<arg name="output" default="log" />
<arg name="frontier_selection" default="1"/>
<param name="/use_sim_time" value="true"/>


<node pkg="stage_ros" type="stageros" name="simulation" args="$(find aau_multi_robot_simulation)/world/sim_world.world" />

<!-- ROBOT 1 !-->
<node pkg="adhoc_communication" type="adhoc_communication" name="robot_0" respawn="true" launch-prefix="xterm -e">
    <param name="mac" value="00:00:00:00:00:11"/>
    <param name="robot_name" value="robot_0"/>
    <param name="interface" value="lo"/>
    <param name="num_link_retrans" value="3" />
    <param name="num_e2e_retrans" value="3" />
    <param name="num_rreq" value="1" />
    <param name="max_frame_size" value="1500" />
    <param name="hop_limit_min" value="0" />
    <param name="hop_limit_max" value="0" />
    <param name="hop_limit_increment" value="3" />
    <param name="max_packet_size" value="1500000" />
    <param name="beacon_interval" value="100" />
    <param name="enable_cooperative_relaying" value="true" />
    <param name="simulation_mode" value="true"/>
    <param name="robots_in_simulation" value="$(arg num_of_robots)" />
    <param name="sim_robot_macs" value="$(arg robot_macs)" />
    <param name="p_tx" value="1" />

</node>

<node name="teleop_0" pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="$(arg output)" launch-prefix="xterm -e" args="-t /robot_0/cmd_vel" />

<node pkg="map_merger" type="map_merger" name="map_merger" output="$(arg output)" ns="robot_0" respawn="true" launch-prefix="xterm -e">
    <param name="log_path" value="$(arg log_path)" />
    <param name="robot_name" value="robot_0" />
    <param name="robot_prefix" value="" />
    <param name="local_map_frame_id ...
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2015-06-17 13:49:47 -0500 commented question "fatal error: 'QMetaType' file not found" when building ROS Indigo on OS X 10.10.3

Thanks for your comments. I added the Information in my question.

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2015-06-17 09:26:21 -0500 asked a question "fatal error: 'QMetaType' file not found" when building ROS Indigo on OS X 10.10.3

Hi, i did first tests of ROS under Ubuntu and now i want to install ROS Indigo on a MacBook Pro with OS X 10.10.3 according to http://wiki.ros.org/indigo/Installati... . Unfortunately i get an error in the last step ($ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release):

fatal error: 'QMetaType' file not found

I think i only have to set a variable like $PATH or something, but i don´t know which one (or in which file i have to state the path) (i found a qmetatype.h in /usr/local/Cellar/qt/4.8.7/lib/QtCore.framework/Versions/4/Headers/qmetatype.h)

Sorry for my obvious lack of knowledge so any help would be appreciated. Thanks a lot.

Here the terminal log of the error:

[qt_gui_cpp] ==> '/Users/jS/ros_catkin_ws/build/qt_gui_cpp/build_env.sh /usr/local/bin/cmake /Users/jS/ros_catkin_ws/src/qt_gui_core/qt_gui_cpp -DCATKIN_DEVEL_PREFIX=/Users/jS/ros_catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo -DCMAKE_BUILD_TYPE=Release -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.10/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.10/Frameworks/Python.framework/Versions/2.7/include/python2.7' in '/Users/jS/ros_catkin_ws/build/qt_gui_cpp'
-- The C compiler identification is AppleClang 6.1.0.6020053
-- The CXX compiler identification is AppleClang 6.1.0.6020053
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /Users/jS/ros_catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Found PythonInterp: /usr/local/bin/python (found version "2.7.10") 
-- Using PYTHON_EXECUTABLE: /usr/local/bin/python
-- Using default Python package layout
-- Found PY_em: /usr/local/lib/python2.7/site-packages/em.pyc  
-- Using empy: /usr/local/lib/python2.7/site-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /Users/jS/ros_catkin_ws/build/qt_gui_cpp/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /usr/local/bin/nosetests-2.7
-- catkin 0.6.14
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   filesystem
--   system
-- Found PythonLibs: /usr/local/Cellar/python/2.7.10/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib (found suitable version "2.7.10", minimum required is "2.7") 
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - not found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - found
-- Looking for QT_MAC_USE_COCOA
-- Looking for QT_MAC_USE_COCOA - found
-- Found Qt4: /usr ...
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