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Multiple initialpose candidates for amcl Is it possible to initialize AMCL's filter with multiple poses? Using another

(I know this is an old one, but for future reference here is my answer.) The OP was aiming to use send_goal_and_wait

You can send navigation goals as follows: from geometry_msgs.msg import Pose, Point, Quaternion goal = MoveBaseGoal()

Hello everyone,

I just started using ROS and had a problem with rviz.

rosrun rviz rviz 
[ INFO] [1337948693.539857743]: rviz revision number 1.8.11
[ INFO] [1337948693.540013978]: compiled against OGRE version 1.7.3 (Cthugha)
Segmentation fault (core dumped)

I tried different OGRE modes:

export OGRE_RTT_MODE=Copy
export OGRE_RTT_MODE=FBO

Neither of them worked. I finally get into the bin directory of rviz and debug the exectuable. Here is the result (for the entire output, please see here):

Program received signal SIGSEGV, Segmentation fault.
0x019df739 in QMetaObject::indexOfSignal (this=0x1ad3d34, signal=0x27db89 "changed()") at /var/tmp/qt-x11-src-4.5.3/src/corelib/kernel/qmetaobject.cpp:587
587     /var/tmp/qt-x11-src-4.5.3/src/corelib/kernel/qmetaobject.cpp: No such file or directory.

And for those who are willing to help me - they say in a bug report (here) that there is a script called system_info.sh - I attach the system info here.

Thanks in advance.

You need the executable of the package frontier_exploration. You have two options, actually: 1) You can download the executable of the package for Ubuntu OS using the following command

sudo apt-get install ros-indigo-frontier-exploration

assuming that you have Indigo and Ubuntu. 2) You can clone the repository and get the source codes. To generate the executable, you need to compile the source codes, as usual. You should place that package in your workspace and run catkin_make to build the packages in your workspace.

Isn't that speech recognition:) ? Or you wanted to learn about natural language processing?

Did you append this command to your ~/.bashrc file? That's one way to make sure that you actually set it every time you open up another terminal.

I have a node that subscribes to /joy topic, converts to /cmd_vel topic, and publishes to arduino via rosserial. I am receiving joy messages just fine, but when I

rosmsg show control/Velocity

(control is the name of the node, Velocity is the message), it says:

Unable to load msg [control/Velocity]: Cannot locate message [Velocity]: unknown package [control] on search path.

When I rostopic echo /cmd_vel, I get

Error: Cannot load message class for [control/Velocity]. Are your messages build?

I have tried many things. I believe that my environment variables are good, and I tried going into the root of my workspace, catkin_make clean, catkin_make, and source my devel/setup.sh file. Still, nothing seems to be working. My Velocity.msg file is in my CmakeLists.txt and the required build depends and run time depends are in my package.xml (build depend message_generation and run depend message_runtime).

Any advice would be helpful. Thanks!

Edit 1: CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)

project(control)

find_package(catkin REQUIRED 
  dynamic_reconfigure
  roscpp
  message_generation
  sensor_msgs
  nav_msgs
  sound_play
  std_srvs
  std_msgs
)

generate_dynamic_reconfigure_options(
  cfg/Control_Params.cfg
)

add_message_files(
   FILES
   Velocity.msg
 )

generate_messages(
   DEPENDENCIES
   std_msgs
 )

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES control
  CATKIN_DEPENDS dynamic_reconfigure message_runtime
  DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  include
  ../common
)

add_executable(control src/control.cpp)

add_executable(stopService src/stopService.cpp)

add_dependencies(control control_gencpp control_gencfg)

add_dependencies(stopService stopService_gencpp stopService_gencfg)

target_link_libraries(control
   ${catkin_LIBRARIES}
)

target_link_libraries(stopService
   ${catkin_LIBRARIES}
)

"/home/rouzbeh/rostest/fc/face_recognition" This shouldn't be in your ROS_PACKAGE_PATH. You have problems with your workspace settings probably. Change ROS_PACKAGE_PATH to point to the src folder in your workspace and after compilation, give it another try.

Are they? What is the output of rosmsg show stereo_msgs/RectifiedImage?

You should place your packages under src folder, but you may need to make some changes to successfully build it. Similar to steps 3&4 in this tutorial http://wiki.ros.org/ROS/Tutorials#Beg...

Sure. I just recommend you to take a look at the exploration packages in ROS, there are a few of them. You can understand their approach by doing so. Here is an example: explorer

To finish the mapping process is your choice. You just specify a termination criteria. You will need a metric to do that. You can subscribe to the /map topic and use the ratio (number of known cells/number of unknown cells), for example. Finding a more meaningful metric is up to you.

That means you are going to implement an exploration algorithm, right? Let's say you use gmapping. Then, you need to navigate the robot to unknown areas. Comparing the performance of exploration methods does make sense. Otherwise, you are just comparing the proficiency of the human operators.

Actually, I believe you might be able to solve your problems without answering most of the questions asked in the previous comment. That doesn't change the fact that you need to provide more information. Apparently, you have problems with costmap configurations. Can you share the parameters you used

No. No limitations.

Sure. I'm glad I could help.

So, 16 cm of difference in Z-direction is caused by that tf. map->odom_combined is provided by amcl node. I'm not experienced enough to pinpoint the error by looking at this information. I suspect there is something wrong with your amcl parameters. Maybe you should share your launch file too.

I think 2D ray tracing is what you are looking for.

I have recently dealt with this problem myself and followed the algorithm described here

You need to implement your own visit() method though.

There might be a problem with map->odom_combined tf. What is the output of rosrun tf tf_echo map odom_combined?

You can listen /move_base/status for the status of the current goal. Here is the related document. You can go on with your second goal only if the first one is successful, for example.

Moreover, if you want to try a systematic approach you can use smach to create a state machine with states and transitions etc.

Here is the error:

currentPoint = map.data[grid_x * grid_y];

I believe currentPoint should be calculated as follows:

currentPoint = map.data[grid_x * mapWidth + grid_y];

or

currentPoint = map.data[grid_y * mapWidth + grid_x];

depending on your orientation. By the way, you can get mapWidth as follows:

mapWidth = map.info.width;

Yes, @Dirk you are right. I missed some parts as I was reading the question. I will delete the answer right away.

Merhaba @emreay :)

Are you able to see the output of rosmsg show agv_msgs command?

If you encounter an error then I believe you have a problem here, in your CMakeLists.txt of agv_msgs:

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES agv_msgs
  CATKIN_DEPENDS roscpp rospy std_msgs
  DEPENDS system_lib
)

Here, it is stated that you need to export the message runtime dependency.

So I would change these lines as follows:

catkin_package(
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
)

UPDATE: I am 99% sure that the problem is persistent on Samsung devices. I have been trying the Teleop app on all the Samsung devices I can get my hands on but I haven't been able to see it running smoothly. On other devices, however, regardless of the version of the Android, it works fine.

I just tried it with two different devices. Only on Samsung devices, I ran into this problem. On others, it works as expected.