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2016-04-24 12:00:44 -0600 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 -0600 commented answer How to compile the move_base package

I am using ROS indigo.Thank you very much!

2016-02-25 03:04:34 -0600 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 -0600 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 -0600 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!

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2015-12-03 00:00:16 -0600 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.

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2015-09-28 00:37:59 -0600 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 -0600 commented answer tf message type error

Thanks a lot!

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2015-09-18 04:51:46 -0600 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 04:35:52 -0600 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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2015-09-16 21:20:20 -0600 edited question 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? image description