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2015-11-14 20:18:33 -0600 asked a question stable contact force sensor

Hi all,

I'm using the contact sensor plugin in ros (libgazebo_ros_bumper.so) to get the robot contact forces from gazebo. It works very well for the contact positions, but it's extremely unstable in the force computation. Also after filtering the signal it still remains really noisy.

Someone can suggest me how to get a reliable contact force? Any help is really appreciated, thanks!

I'm using Ubuntu 12.04, Ros Hydro, Gazebo 1.9.6

2015-10-31 08:46:56 -0600 asked a question no subscribed topics in image_pipeline stack

Hello, I am trying to use the image_pipeline nodelets, but when I run any one of them, there are no subscribed topics at all!

This is a really simple example: I launch the nodelet and I can see the published topics, but not the subscribed one. I feel like I'm missing something really simple...

I'm using ROS Hydro, Ubuntu 12.04

Here is my launchfile:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager"  args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depth_processing" args="load depth_image_proc/convert_metric nodelet_manager"/>
</launch>

and the rqt_graph:

image description

Thanks for your help!

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2015-07-27 09:48:43 -0600 answered a question multiple callback queues

thank you, extremely useful!

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2015-07-27 02:59:20 -0600 asked a question multiple callback queues

Hello, I'm using a ROS node to read from several topics calling ros::spinOnce in a loop.

Every time I call spinOnce it checks every topic to which the node is subscribed, what I want instead is to check specific topics at different points in my code. I've seen here that I can achieve it using different callback queues, but when it comes to explain how to assign different callbacks to different queues the link refers to subscribers API and I got lost. Can someone post an example of how to assign, let's say, Callback_1 to queue_1 and Callback_2 to queue_2?

Thanks in advance!

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2015-07-16 11:28:17 -0600 commented answer use dynamic reconfigure with arrays

Sorry, but i'm a newbie, what is a group type?

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2015-07-16 05:54:26 -0600 asked a question use dynamic reconfigure with arrays

Hello,

I want to use dynamic reconfiguration to modify an array in a ROS node, but I didn't found any example of how to modify the .cfg file on the web.

I want this line: gen.add("int_param", int_t, 0, "An Integer parameter", 50, 0, 100)

in something kind of: gen.add("int_array", int_t[2], 0, "An Integer array", [50 20], [0 0], [100 100])

Can someone help? Thanks!