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2016-05-09 02:09:17 -0500 answered a question pointclouds2 tf from map frame to sensor frame for octomap

Hi, I've got pretty much the same problem as you. But I think you need to transform from your sensor frame to the map frame, not in the other direction. Because /map is what is getting displayed in the end. Hope we get some help, I did not understand how to use the tutorials in my case too.



Yesterday I got my mapping to work. Here are the steps I took:

I've created a transform publisher, which provides a tf. It describes how to transform from my_moving_frame to my_fixed_frame. As I have variable transformings (my robot is being localized externally) I use the variables for my arguments.

        br.sendTransform((x, y, z), tf.transformations.quaternion_from_euler(0, 0, k),

Then I provided a pointcloud2 with a corresponding node to the topic /narrow_stereo/points_filtered2 like it's configured in the octomap_mapping.launch file.

In the providers for the transform and the pointcloud you need to pay attention to the timing. Use rospy time (0) instead of

Then you fire up your tf-provider, then your pcl2 provider, then you launch octomap_mapping.launch, then rviz rviz and display your map with the octomap-plugins (in the menu of rviz in the top of the application).

Hope this rough description gets you further.

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2016-04-07 06:56:28 -0500 asked a question How to provide tf data to octomap?


how is it possible, with two simple spammer nodes (pcl2 and tf) to create a map?

I want to provide with pcl2-spammer my pointcloud which exists only from one range point (i.e. 5, 0, 0).

Then I want to provide tf data, which simulates i.e. a sinus movement of my range-measurement-tool (i.e. 0, lps_tf_broadcaster, 0).

I already wrote both nodes and start octomap, get a proper communication between pcl2 spammer and octomap, visualising all correctly in rviz, but I dont get my coordinate system to move.

How exactly do I need to edit my octomap_server.launch file?

Any answer is appreciaded!

Thanks, Che.

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2016-03-24 04:54:00 -0500 commented question difference between opt/ros/jade and catkin_ws

Thanks for your short answer. What do I do if catkin is not officially supported by the system? Like in the case of OctoMap. I used catkin_make afterwards and it seems to work. Do I have to undo the rosbuild of Octomap?

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2016-03-23 09:44:59 -0500 asked a question difference between opt/ros/jade and catkin_ws

Hi everyone,

as working with ROS I am getting a bit confused about the filesystem used.

First: Is it correct, to clone a, what I believe is a "stack" to my catkin_ws/src and then running the mandatory rosbuild in catkin_ws main folder and after that installing the stack and then adding all dependencies? I am not sure if you properly do this steps with a ros pack instead a whole stack.

Second: Is it necessary to let the packages I want to use in the src folder after building? I think they are build everytime when I run rosbuild when adding new packages I want to work with. I am sure, that when I edit the code in the packages, I need to build them again, but without changing anything in the code this step would be redundant and timewasting.

third: What exacly is the difference between the opt/ros/jade directory and the catkin_ws? I can see, that in the opt directory many libraries were already installed with my ros installation. Can I use and edit them and what do I need to pay attention to? The catkin_ws is much more transparent for me.

fourth: I want to use a special package or stack (I cant quite classify what it is). mainly you could call it a library. its called "OctoMap", here is the link: . Apperently a version of OctoMap was installed, when I installed ROS-Jade. I want the newest version of the Library. What to do to update it?

As you can see, in the github repository lay some different files. I am a bit confused, which one I can take for working with in ROS, as explained here ( ), that the only thing I'd need to do to use OctoMap would be "sudo apt-get install ros-fuerte-octomap" (in my case switch fuerte with jade I suppose).

Thanks for reading my questions, I am thankful for every answer.

Greets, Che

Edit: I have build the package with rosbuild. I cant seem to understand, which packages in my src folder are influenced by rosbuild and when I should use catkin_make? I read in that catkin_make is better used when foreign code is being used, as I do. Installing instructions in some other packages referred to rosbuild though.

Is it possible to combine those two commands in different packages?

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2015-12-18 09:40:58 -0500 commented answer Installation of ROS on Ubuntu 15.10


2015-12-18 07:57:09 -0500 commented answer Installation of ROS on Ubuntu 15.10

Now I've got the required points to set my own answer as solution ;)

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2015-12-18 03:54:09 -0500 commented answer Installation of ROS on Ubuntu 15.10

Hi Luke, this is not possible.

10 points required to accept or unaccept your own answer

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2015-12-17 08:34:34 -0500 answered a question Installation of ROS on Ubuntu 15.10

Sorry, I've already found an answer in this board.


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2015-12-17 08:18:12 -0500 asked a question Installation of ROS on Ubuntu 15.10

Hi everybody,

I've just installed a fresh version of Ubuntu 15.10 "Wily Werewolf" on my VMWare Player. I want to install the latest version of ROS (which is "Jade Turtle" I assume). When going through the installation tutorial I've noticed already on step 1.2 the first problem.

ROS Jade ONLY supports Trusty (14.04), Utopic (14.10) and Vivid (15.04) for debian packages.

As I am running 15.10, I assume, that ROS Jade doesn't support debian packages on my special system. As I am not experienced with Ubuntu, I can only guess that the next steps of the tutorial won't for me as this is a pretty basic requirement for the system.

Does anyone has a easier-to-understand installing guide for me (I know that the tutorial I mentioned above is really simple already)?

Thanks in advance! Che.

2015-07-28 07:45:47 -0500 answered a question how to install a ROS stack to catkin workspace

ok, I had serveral problems. here are some tips to get around the error:

  1. execute catkin_make in root of catkin workspace
  2. add following code to your ~/.bash.rc source your/workspace/path/catkin/devel/setup.bash
  3. restart all terminals
  4. start roscore in a seperate terminal
  5. rosrun your node

for now it works. thanks to all helpers.

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2015-07-28 05:21:44 -0500 commented answer how to install a ROS stack to catkin workspace

now i did catkin_make in catkin_ws. it seems that the packages have been built now.

  • is it right, that i always need to repeat that as i'm adding new stacks to my catkin src?

but when i try to execute a node within a package within the new stack ive installed i get the error `package not found

2015-07-28 05:08:12 -0500 commented answer how to install a ROS stack to catkin workspace

@Cyborg when i'm running catkin_init_workspace in catkin_ws/src/ i get the message File "/home/USER/catkin_ws/src/CMakeLists.txt" already existst... it looks like i'm not the owner of CMakeLists.txt ... i've tried to change that with chown but it didn't work.

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2015-07-27 17:52:19 -0500 commented answer how to install a ROS stack to catkin workspace

as far as i can see there are only package.xml files in each package. did i get it right that i need to catkin_make the single packages? i just tried it and i'm getting closer. when catkin_making the packages i get the error "no rule to make target >packagename<. stop.

2015-07-27 13:52:00 -0500 asked a question how to install a ROS stack to catkin workspace

i'd like to install certain ROS stacks to my catkin workspace. ive already cloned them from github to my src folder insider my workspace path.

how to make ROS recognize it?

thank you in advance.

greets, che.

2015-07-27 04:57:32 -0500 marked best answer Tutorial Using msg

When I try to follow the tutorial step

$echo "int64 num" > msg/Num.msg

i get bash:

msg/Num.msg: no permission

Anyone has a solution to this? unfortunately i dont understand how the permission system in ubuntu works as i am newfag.

thanks in advance.

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2015-07-27 03:37:56 -0500 commented answer Tutorial Using msg

that worked, thank you! have a beer on me. so chown USER makes USER the new owner of that directory with RXW-Permissions? can i change the status to "solved" for the thread or something like that?