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2016-04-24 12:00:44 -0500 | marked best answer | footprint in rviz issue Hi,everyone, How can the footprint be displayed in the rviz? In the old ROS version,there may be a local_costmap/robot_footprint topic published by move_base node. But in the indigo version there is no local_costmap/robot_footprint topic(all topic published by move_base is as below), so how can the footprint be displayed in the rviz? Node [/move_base]
Publications:
* /move_base/global_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
* /move_base/current_goal [geometry_msgs/PoseStamped]
* /move_base/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/feedback [move_base_msgs/MoveBaseActionFeedback]
* /move_base/result [move_base_msgs/MoveBaseActionResult]
* /move_base/global_costmap/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/costmap [nav_msgs/OccupancyGrid]
* /move_base/global_costmap/static_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/obstacle_layer_footprint/footprint_stamped [geometry_msgs/PolygonStamped]
* /move_base/local_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/obstacle_layer_footprint/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/static_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
* /move_base/NavfnROS/plan [nav_msgs/Path]
* /move_base/local_costmap/static_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/parameter_updates [dynamic_reconfigure/Config]
* /move_base/status [actionlib_msgs/GoalStatusArray]
* /move_base/global_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/costmap [nav_msgs/OccupancyGrid]
* /cmd_vel [geometry_msgs/Twist]
* /move_base/local_costmap/obstacle_layer_footprint/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/obstacle_layer_footprint/footprint_stamped [geometry_msgs/PolygonStamped]
* /move_base/TrajectoryPlannerROS/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /rosout [rosgraph_msgs/Log]
* /move_base/local_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/goal [move_base_msgs/MoveBaseActionGoal]
* /move_base/TrajectoryPlannerROS/local_plan [nav_msgs/Path]
* /move_base/TrajectoryPlannerROS/cost_cloud [sensor_msgs/PointCloud2]
* /move_base/global_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/global_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/TrajectoryPlannerROS/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/obstacle_layer_footprint/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/static_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/TrajectoryPlannerROS/global_plan [nav_msgs/Path]
* /move_base/global_costmap/obstacle_layer_footprint/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
Subscriptions:
* /move_base/local_costmap/footprint [unknown type]
* /tf [tf2_msgs/TFMessage]
* /odom [nav_msgs/Odometry]
* /scan [sensor_msgs/LaserScan]
* /move_base_simple/goal [geometry_msgs/PoseStamped]
* /tf_static [unknown type]
* /map [nav_msgs/OccupancyGrid]
* /move_base/global_costmap/footprint [unknown type]
* /move_base/goal [move_base_msgs/MoveBaseActionGoal]
* /move_base/cancel [unknown type]
Services:
* /move_base/global_costmap/static_layer/set_parameters
* /move_base/set_parameters
* /move_base/local_costmap/set_parameters
* /move_base/get_loggers
* /move_base/NavfnROS/make_plan
* /move_base/make_plan
* /move_base/local_costmap/static_layer/set_parameters
* /move_base/set_logger_level
* /move_base/global_costmap/obstacle_layer/set_parameters
* /move_base/local_costmap/obstacle_layer_footprint/set_parameters
* /move_base/local_costmap/obstacle_layer/set_parameters
* /move_base/global_costmap/obstacle_layer_footprint/set_parameters
* /move_base/global_costmap/inflation_layer/set_parameters
* /move_base/TrajectoryPlannerROS/set_parameters
* /move_base/clear_costmaps
* /move_base/global_costmap/set_parameters
* /move_base/local_costmap/inflation_layer/set_parameters
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2016-02-25 19:28:04 -0500 | commented answer | How to compile the move_base package I am using ROS indigo.Thank you very much! |
2016-02-25 03:04:34 -0500 | commented question | How to compile the move_base package I compiled the package like this instead of rosmake: ubuntu@tegra-ubuntu:~/move_base$ cmake ~/move_base
ubuntu@tegra-ubuntu:~/move_base$ make
But I don't know this method is right or not.Thank you all in advance! |
2016-02-24 21:40:22 -0500 | asked a question | How to compile the move_base package Dear All,
I want to modify the code in the move_base package and compile.I downloaded the source code of the move_base package, and there were some errors when run "rosmake move_base": ubuntu@tegra-ubuntu:~$ rosmake move_base
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['move_base']
[ rosmake ] Logging to directory /home/ubuntu/.ros/rosmake/rosmake_output-20160225-104100
[ rosmake ] Expanded args ['move_base'] to:
['move_base']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-2] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-1] Starting >>> genpy [ make ]
[rosmake-3] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> cmake_modules [ make ]
[rosmake-0] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
No Makefile in package cmake_modules
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-1] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-3] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-1] Starting >>> roslang [ make ]
[rosmake-3] Starting >>> message_generation [ make ]
[rosmake-2] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-2] Starting >>> rostime [ make ]
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-3] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-3] Starting >>> xmlrpcpp [ make ]
[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-1] Starting >>> rosgraph [ make ]
[rosmake-2] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-3] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-2] Starting >>> roscpp_traits [ make ]
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-1] Finished <<< rosgraph ROS_NOBUILD in package rosgraph1/76 Complete ]
No Makefile in package rosgraph
[rosmake-3] Starting >>> rosclean [ make ]
[rosmake-2] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-1] Starting >>> rosparam [ make ]
[rosmake-2] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-1] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-3] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-3] Starting >>> roslz4 [ make ]
[rosmake-1] Starting >>> class_loader [ make ]
[rosmake-2] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-1] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-3] Finished <<< roslz4 ROS_NOBUILD in package roslz4
No Makefile in package roslz4
[rosmake-2] Starting >>> message_runtime [ make ]
[rosmake-0] Starting >>> smclib [ make ]
[rosmake-3] Starting >>> angles [ make ]
[rosmake-1] Starting >>> rosbag_storage [ make ]
[rosmake-0] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-3] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-2] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-1] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage
No Makefile in package rosbag_storage
[rosmake-2] Starting >>> std_msgs [ make ]
[rosmake-1] Starting >>> rosbuild [ make ]
[rosmake-0] Starting >>> std_srvs [ make ]
[rosmake-1] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package ... (more) |
2016-02-02 10:48:10 -0500 | marked best answer | "use_sim_time" parameter disabled tf Hello,every one, After I added <param name ="/use_sim_time" value="true"/> in my launch file,the rviz can not show the tf tree and there was an error in the RobotModel:No transform from [base_laser]to[odom] and a warning in Global Status: No tf data.Actual error:Fixed Frame [odom] does not exist .
When I entered rostopic echo /tf ,there was a warning :no messages received and simulated time is active.Is /clock being published? So the root cause is the clock message not be published.How can I publish the /clock messages ? Thanks in advance! |
2016-02-01 19:19:08 -0500 | received badge | ● Famous Question
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2015-12-03 00:00:16 -0500 | commented answer | rviz segmentation fault on Nvidia Jetson TK1 Thank you, Vishu2287,
After I did $sudo apt-get install ros-indigo-robot-model, this problem was solved. |
2015-10-08 09:36:46 -0500 | received badge | ● Famous Question
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2015-10-04 00:21:09 -0500 | received badge | ● Famous Question
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2015-09-28 00:37:59 -0500 | marked best answer | rviz segmentation fault on Nvidia Jetson TK1 Hi all, I am a beginner to ROS.I have successfully installed ROS indigo on Nvidia Jetson TK1, but the rviz failed to run because of a segfault. I have checked the article ( http://wiki.ros.org/rviz/Troubleshooting ) and tried all the methods including unset GTK_IM_MODULE environment variable,running rviz with the environment variable OGRE_RTT_MODE set to either "Copy", "PBuffer", or "FBO",etc. The segmentation fault error still occurs as below: ubuntu@tegra-ubuntu:~$ rosrun rviz rviz
[ INFO] [949364906.861452095]: rviz version 1.11.7
[ INFO] [949364906.861787179]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [949364907.443213679]: Stereo is NOT SUPPORTED
[ INFO] [949364907.444094845]: OpenGl version: 4.4 (GLSL 4.4).
Segmentation fault
run rviz with "-l" ubuntu@tegra-ubuntu:~$ rosrun rviz rviz -l
[ INFO] [949364916.841945093]: rviz version 1.11.7
[ INFO] [949364916.842273343]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [949364917.054474760]: Creating resource group General
[ INFO] [949364917.054978760]: Creating resource group Internal
[ INFO] [949364917.055237676]: Creating resource group Autodetect
[ INFO] [949364917.055584760]: SceneManagerFactory for type 'DefaultSceneManager' registered.
[ INFO] [949364917.056144176]: Registering ResourceManager for type Material
[ INFO] [949364917.056595510]: Registering ResourceManager for type Mesh
[ INFO] [949364917.056888010]: Registering ResourceManager for type Skeleton
[ INFO] [949364917.057175176]: MovableObjectFactory for type 'ParticleSystem' registered.
[ INFO] [949364917.057444843]: OverlayElementFactory for type Panel registered.
[ INFO] [949364917.057695260]: OverlayElementFactory for type BorderPanel registered.
[ INFO] [949364917.057930426]: OverlayElementFactory for type TextArea registered.
[ INFO] [949364917.058175926]: Registering ResourceManager for type Font
[ INFO] [949364917.058447010]: ArchiveFactory for archive type FileSystem registered.
[ INFO] [949364917.058704926]: ArchiveFactory for archive type Zip registered.
[ INFO] [949364917.058785676]: ArchiveFactory for archive type EmbeddedZip registered.
[ INFO] [949364917.058894010]: DDS codec registering
[ INFO] [949364917.059020010]: FreeImage version: 3.15.4
[ INFO] [949364917.059126010]: This program uses FreeImage, a free, open source image library supporting all common bitmap formats. See http://freeimage.sourceforge.net for details
[ INFO] [949364917.059508926]: Supported formats: bmp,ico,jpg,jif,jpeg,jpe,jng,koa,iff,lbm,mng,pbm,pbm,pcd,pcx,pgm,pgm,png,ppm,ppm,ras,tga,targa,tif,tiff,wap,wbmp,wbm,psd,cut,xbm,xpm,gif,hdr,g3,sgi,exr,j2k,j2c,jp2,pfm,pct,pict,pic,3fr,arw,bay,bmq,cap,cine,cr2,crw,cs1,dc2,dcr,drf,dsc,dng,erf,fff,ia,iiq,k25,kc2,kdc,mdc,mef,mos,mrw,nef,nrw,orf,pef,ptx,pxn,qtk,raf,raw,rdc,rw2,rwl,rwz,sr2,srf,srw,sti
[ INFO] [949364917.059652510]: Registering ResourceManager for type HighLevelGpuProgram
[ INFO] [949364917.059771843]: Registering ResourceManager for type Compositor
[ INFO] [949364917.060263593]: MovableObjectFactory for type 'Entity' registered.
[ INFO] [949364917.060380343]: MovableObjectFactory for type 'Light' registered.
[ INFO] [949364917.060491093]: MovableObjectFactory for type 'BillboardSet' registered.
[ INFO] [949364917.060601843]: MovableObjectFactory for type 'ManualObject' registered.
[ INFO] [949364917.060719676]: MovableObjectFactory for type 'BillboardChain' registered.
[ INFO] [949364917.060829843]: MovableObjectFactory for type 'RibbonTrail' registered.
[ INFO] [949364917.061028926]: *-*-* OGRE Initialising
[ INFO] [949364917.061139760]: *-*-* Version 1.8.1 (Byatis)
[ INFO] [949364917.061271926]: Loading library /usr/lib/arm-linux-gnueabihf/OGRE-1.8.0/RenderSystem_GL
[ INFO] [949364917.068032676]: Installing plugin: GL RenderSystem
[ INFO] [949364917.068307176]: OpenGL Rendering Subsystem created.
[ INFO] [949364917.071679093 ... (more) |
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2015-09-20 05:54:46 -0500 | commented answer | tf message type error |
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2015-09-18 04:51:46 -0500 | commented answer | Where can i find the source code of tf::StampedTransform class and function Thanks a lot! Is there a easier way to tranform Quaternion to EulerAngle besides getRPY(roll, pitch, yaw) in ROS? |
2015-09-18 04:43:06 -0500 | marked best answer | Where can i find the source code of tf::StampedTransform class and function Hi All, I have downloaded the tf sourcecode package but can not find the sorce code of tf::StampedTransform class. I want to see the sourcecode of the getRPY function in the example code as below: tf::StampedTransform transform;
tfListener.lookupTransform(source_frameid, target_frameid, ros::Time(), transform);
double yaw, pitch, roll;
transform.getBasis().getRPY(roll, pitch, yaw);
Can any body give me some hint?
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2015-09-18 04:35:52 -0500 | asked a question | tf message type error Hi,All, I have written some codes to subscribe the /tf topic as below: void msgcbTf(const geometry_msgs::TransformStamped & msgTf){
ROS_INFO("Sequence ID:[%d]",msgTf.header.seq);
ROS_INFO("msg time:[%d,%d]",msgTf.header.stamp.sec,msgTf.header.stamp.nsec);
ROS_INFO("tf[x=%f,y=%f]",msgTf.transform.translation.x,msgTf.transform.translation.y);
}
int main(int argc, char *argv[])
{
ros::init(argc,argv,"CyberMapInfo");
ros::NodeHandle n;
ros::Subscriber subTf=n.subscribe("tf",40,msgcbTf);
ROS_INFO("Substribe /tf.");
ros::spin();
}
There was a fatal error when the node run and the callback function msgcbTf had not been called successfully:
[ERROR] [1442566935.682455302]: Client [/CyberMapInfo] wants topic /tf to have datatype/md5sum [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0], but our version has [tf2_msgs/TFMessage/94810edda583a504dfda3829e70d7eec]. Dropping connection.
So what message type should I use to take place of geometry_msgs::TransformStamped in msgcbTf function or how can I solve this problem by other way? |
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