ne0h's profile - activity

Yes, there is a solution. You can use hector with a map_server and amcl. You can check out my launch file at [ https://github.com/ne0h/hmmwv/blob/ma... ] But there are still two problems: - You need to tell hector (I use rviz for that) where the robot is on the map. Must be the perfect position - You need to drive a little but around so that hector can find itself on the map

Hi,

I am trying to use yaml-cpp in ROS Indigo. My minimal example works fine in plain c++ so a started a new ROS service to return nicely formatted yaml-code. I added <build_depend>yaml-cpp</build_depend> and <run_depend>yaml-cpp</run_depend> to package.xml and updated to target_link_libraries(stairwaydetector ${catkin_LIBRARIES} yamĺ-cpp) in CMakeLists.txt. But catkin_make does not find it: /usr/bin/ld: cannot find -lyamĺ-cpp.

All necessary packages should be installed:

i A libyaml-cpp-dev - YAML parser and emitter for C++ - development files
p libyaml-cpp-dev:i386 - YAML parser and emitter for C++ - development files
p libyaml-cpp0.3 - YAML parser and emitter for C++ (0.3 series)
p libyaml-cpp0.3:i386 - YAML parser and emitter for C++ (0.3 series)
p libyaml-cpp0.3-dev - YAML parser and emitter for C++ - development files (0.3 series)
p libyaml-cpp0.3-dev:i386 - YAML parser and emitter for C++ - development files (0.3 series)
i A libyaml-cpp0.5 - YAML parser and emitter for C++
p libyaml-cpp0.5:i386 - YAML parser and emitter for C++
i ros-indigo-yaml-cpp-0-3 - Legacy version of yaml cpp without boost, namespaced to avoid system con p ros-indigo-yaml-cpp-0-3:i386 - Legacy version of yaml cpp without boost, namespaced to avoid system con

What do I miss? Thanks in advance!

UPDATE: It works! Had a nearly invisible typo in "yaml-cpp".

I am sorry I never had this warning. Does your CPU have enough power? ROS starts dropping messages when the system load increases dramatically.

Yes, you need to remap hector_mapping's map and frame topics: <remap from="map" to="/mapcurrent"/> and < param name="map_frame" value="/mapcurrent" /> .

Thanks, I used an ApproximateTimeSynchronizer ( http://docs.ros.org/api/message_filte... )

Hi, "amcl is a probabilistic localization system for a robot moving in 2D". This means that AMCL takes the initial position that you provide and tries to find the correct position in the map. When you move the robot AMCL approximates its position. Is your transform tree correct?

You are right, the transform scanmatcher_odom->map is missing. I can't check at the moment but normally it is there. dodomtransformer.py takes odometry input (in my case from hector_mapping) and outputs this data as transform. How do you get the odometry data?

You could use an ApproximateTimeSynchronizer ( http://docs.ros.org/api/message_filte... ).

Looks good, thank you. I will take a closer look next week.

Hi,

I implement a stair detection algorithmus for ROS. Therefore the node analyzes input data from an Asus Xtion camera via openni_launch. Can the node subscribe to both topics, /camera/depth/image and /camera/rgb/image, and receive both image frames to the same time?

Thanks in advance, Max

Hi quentin, no problem. Transform tree ( https://ne0h.de/cloud/index.php/s/nwc... ) and messages tree ( https://ne0h.de/cloud/index.php/s/BHS... ).

Hi pJ, the timer delay has nothing to do with the amcl approach. We had to add the delay to get hector_slam working due to some timing errors in hector_slam. Perhabs the cpu was just to slow to meet the ROS timing rate...

I got it running by providing the odometry data from hector_mapping as transform from scanmatcher->base_link. Here is my launch file: https://github.com/ne0h/hmmwv/blob/ma...

Did you make any process since this?

Do you try to use AMCL?

Hi Fahad,

did you manage to get this working?

Greetings, Max

Hi Fahad,

did you manage to get this working?

Greetings, Max

Did you get "normal" hector_mapping running? I am not sure, but I think you need it. You can check out our launch files under https://github.com/ne0h/hmmwv/tree/ma... and adapt them to the topics your robot uses.