Reuben John's profile - activity

A ROS plugin for CLion requires one final Clion issue to be fixed. Voting for the fix will help speed things up!

Your right! rosparam get use_sim_time returns true! But even after tutorial command: roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false headless:=false debug:=true, it shows true. rosparam set /use_sim_time false works but maybe the bad approach

I am trying to get the urg_node to publish scans to the default topic (laser) and the default frame_id (laser). It all works fine when I couple the commands: rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" and rosrun tf static_transform_publisher 0 0 0 0 0 0 map laser 40 in two terminals.

But my original intention is to be able to publish it on the laser topic and have the map to laser transform as NOT static. But this means that the transform now has an additional requirement that they their time stamps should be synchronized. But they are not! The laser messages are being published with the time stamp on a scale of 1454425297 seconds as opposed to the rest of the nodes (including the ones publishing the other transforms) which are on a scale of just a few 100 seconds (corresponding to the time passed since I started the roscore).

I would also like to note that I am using gazebo to publish these other transforms.

My question is:
Obviously these time stamps have to match up and there are only two obvious approaches:

1. Somehow get the lidar to publish laser messages with the timestamp of the gazebo nodes.
2. Have all other nodes publish messages with the timestamp of the LIDAR.

Unfortunately, I am unable to do either.

Things I tried:

• rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" calibrate_time:="true"
• rosrun urg_node urg_node _ip_address:="192.168.0.10" _ip_port:-"10940" time_offset:-"-1454425297.0"
• <include file="$(find manas_ackermann_navigation)empty_world.launch"> <param name="use_sim_time" value="true"/> </include>

What solved the issue for me was incredibly surprising! It looks like ros-indigo-genjava actually interferes with the compilation. Simply removing the package before compiling solves the problem.

Either remove it via:

• terminal sudo apt-get remove ros-indigo-genjava
• Synaptic

Then recompile.

I pulled some of the code from the carlikemodel (Ackermann steered navigation stack) and found that a lot of the code is either deprecated or obsolete. A lot of function references to members and functions in the navigation stack have been either been moved or removed since then. I have been able to update a lot of the references, however, I have come across some functions to which there are no viable alternatives that I can find. Specifically, there is a reference to the member function of getInflationRadius() from the object of costmap_2d::Costmap2DROS which does not exist in the form: inflation_radius_ = costmap_ros_->getInflationRadius().

On checking the costmap_2d::Costmap2D Class Reference, it apparently seems to exist getInflationRadius(). However, the latest Indigo Navigation stack no longer seems to have this function.

Other relevant information:

• ROS distro: Indigo
• I have compiled Navigation stack from source. I have checked out to the indigo-devel branch on commit 28a3f789e0e44413ebdddbbc09cb037f7f4b9720 I have not faced any issues compiling Navigation stack, and I have sourced it to the carlikemodel implementation without any issues.
• Ubuntu 14.04

Please do mention if there is anything I may have missed out. Thanks in advance!