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2020-10-16 09:08:29 -0500 commented answer MoveIt stop command usage

@rajk97 @macrot51 @bottlesong @akosodry Did any of you guys manage to solve how to do this? I am struggling with checkin

2020-10-16 08:29:06 -0500 commented answer MoveIt stop command usage

@Lauran Can oyu please share the script for doing it in 1 file?

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2018-09-18 19:50:38 -0500 marked best answer kinect virtual machine

Does anyone know how to have it correctly configured. I found these 2 blogs which basically say the same thing: Except when it is run i get the following output:


core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [9197] process[camera/driver-2]: started with pid [9198] process[camera/rgb_debayer-3]: started with pid [9199] process[camera/rgb_rectify_mono-4]: started with pid [9200] process[camera/rgb_rectify_color-5]: started with pid [9212] process[camera/ir_rectify_ir-6]: started with pid [9226] process[camera/depth_rectify_depth-7]: started with pid [9239] process[camera/depth_metric_rect-8]: started with pid [9247] process[camera/depth_metric-9]: started with pid [9262] process[camera/depth_points-10]: started with pid [9269] process[camera/register_depth_rgb-11]: started with pid [9280] process[camera/points_xyzrgb_sw_registered-12]: started with pid [9290] process[camera/depth_registered_sw_metric_rect-13]: started with pid [9298] process[camera/depth_registered_rectify_depth-14]: started with pid [9305] process[camera/points_xyzrgb_hw_registered-15]: started with pid [9317] process[camera/depth_registered_hw_metric_rect-16]: started with pid [9332] process[camera/depth_registered_metric-17]: started with pid [9336] process[camera/disparity_depth-18]: started with pid [9351] process[camera/disparity_registered_sw-19]: started with pid [9361] process[camera/disparity_registered_hw-20]: started with pid [9376] process[camera_base_link-21]: started with pid [9381] process[camera_base_link1-22]: started with pid [9393] process[camera_base_link2-23]: started with pid [9409] process[camera_base_link3-24]: started with pid [9421] [ INFO] [1475754659.014660672]: Initializing nodelet with 4 worker threads. Warning: USB events thread - failed to set priority. This might cause loss of data... Warning: USB events thread - failed to set priority. This might cause loss of data...

[ INFO] [1475754661.349678945]: Number devices connected: 1

[ INFO] [1475754661.350816379]: 1. device on bus 001:18 is a SensorKinect (2ae) from PrimeSense (45e) with serial id 'A00366A03094046A'

[ INFO] [1475754661.353426645]: Searching for device with index = 1

[ INFO] [1475754661.873200396]: Opened 'SensorKinect' on bus 1:18 with serial number 'A00366A03094046A'

[ INFO] [1475754661.932177037]: rgb_frame_id = 'camera_rgb_optical_frame'

[ INFO] [1475754661.932592992]: depth_frame_id = 'camera_depth_optical_frame'

[ WARN] [1475754661.938842439]: Camera calibration file /home/gijs/.ros/camera_info/rgb_A00366A03094046A.yaml not found.

[ WARN] [1475754661.939210597]: Using default parameters for RGB camera calibration.

[ WARN] [1475754661.939919751]: Camera calibration file /home/gijs/.ros/camera_info/depth_A00366A03094046A.yaml not found.

[ WARN] [1475754661.940174503]: Using default parameters for IR camera calibration.

It says it started but when using rostopic no messages will be published. Does anyone know how to fix this?

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2018-04-29 22:01:38 -0500 marked best answer rtabmap ignore odometry

Can i set rtabmap_ros to ignore the odometry of the robot? At this moment the odometry of the robot is not good enough and will start to conflict with rtabmap resulting in a robot not knowing its position.

2018-04-29 22:01:28 -0500 marked best answer Robot position flashing rviz using rtabmap

When using rtabmap somehow my robot position starts to flash. It will flash extremely quick between several positions. Also this impacts it drive ability. This could be due to more locations being possible? I am using an roomba with the create_autonomy package with an kinect on top of it. It will reach a goal but will take a weird route to do so.

output ROSwtf

Found 2 error(s).

ERROR The following nodes should be connected but aren't: * /move_base_node->/move_base_node (/move_base_node/global_costmap/footprint) * /move_base_node->/move_base_node (/move_base_node/local_costmap/footprint)

ERROR TF multiple authority contention: * node [/rtabmap/rtabmap] publishing transform [odom] with parent [map] already published by node [/slam_gmapping] * node [/slam_gmapping] publishing transform [odom] with parent [map] already published by node [/rtabmap/rtabmap]

EDIT: When disabling gmapping roswtf will not give me the error anymore. There is only one more problem that. When setting /rtabmap/grid_map as my map topic in the global costmap it will no longer react to any goals send to the robot.

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2018-02-28 20:37:01 -0500 marked best answer Add object to map with bumpersensor

Hi there,

I am using navigation stack for my navigation. I use Kinect combined with depthimage to laserscan to get an accurate laserscan. The only problem with the Kinect of course is that it uses infrared signal therefore it sees through glass and will not detect cetain object.

For the base I am using a roomba. This roomba contains a bump sensor. I want to build when the bump sensor bumps into an object it places a static object on the map which cannot be removed. Is there an easy way to do this?

Thanks in advance.

2018-02-28 20:32:59 -0500 marked best answer use rtabmap/grid_map for move_base

I can not get move_base to work with the rtabmap grid_map. I used this link to try and get some direction and changed the openni_points to my laserscan but whenever i send a command the robot will just start to rotate (recovery behaviour?) in place. I am using an roomba 780 as vehicle with an Kinect mounted on top of it for navigation and 3D mapping. Even when using the Pointcloud2 variable it will instantly go into recovery mode.d

2018-02-28 20:17:28 -0500 marked best answer RTAB-map double walls

I just keep getting double walls in rtabmap when using it on my robot. I am using a Kinect to map the building. Settings:

The result:

image description

EDIT in response to matlabbe: My odometry source is from the create_autonomy using the roomba 780. I know it has a reasonable drift. The launchfile I am using is RGBD_mapping.launch

2018-02-28 20:16:53 -0500 marked best answer Interrupt navigation stack and spin once


I want a node which on receiving a goal from the navigation stack makes a turn continue's to the goal and after like 10 seconds spins again etc. How am i going to implement this? I know i need to subscribe to like /newgoal or something. Also i know i have to use move_base/cancel to stop navigation stack. Then i should somehow spin exactly 360 degrees? Then i should send my newgoal to /move_base_simple/goal Is there any tutorial i could follow to implement this? especially the part of an exact 360 degrees spin using odom.

Thanks in advance

2018-01-30 21:36:25 -0500 marked best answer Create_autonomy stops reacting

I am currently using create_autonomy with my Virtual machine . I have ROS hydro installed with create autonomy. But after running it for severel minutes on my roomba 780 I won't be able to send any more cmd_vel messages. Basically the roomba will just continue to move in the last given direction. Is there a simple solution to this problem or could it be caused by the virtual machine for instance?

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2017-09-13 19:35:00 -0500 marked best answer Autonomously map entire indoor

Is it possible to use for instance navigation stack to automatically map a building? Meaning i dont have to send any goals to it and it will automatically discover the building till it is fully done.

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2017-09-13 19:34:14 -0500 marked best answer Messagefilter dropped 100% of messages

When launching the navigation stack (gmapping and movebase) I will frequently receive the following message:

[ WARN] [1477990695.164889638]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1477990695.175311684]: MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.

When looking at my tf tree i see the following information. image description

I will update this post with rosconsole logger to debug information soon. The following message is given:

[DEBUG] [1299740216.768663556, 1299651571.155978846]: MessageFilter [target=/odom ]: Removed oldest message because buffer is full, count now 5 (frame_id=camera_depth_frame, stamp=1299651570.618031)

[DEBUG] [1299740216.768820286, 1299651571.155978846]: MessageFilter [target=/odom ]: Added message in frame laser at time 1299651571.154, count now 5
2017-09-13 19:34:09 -0500 marked best answer Rtabmap transform error with kinect

So I want to use rtabmap in order to map my environment. I am using Freenect to extract the data from the kinect using roslaunch freenect_launch freenect-registered-xyzrgb.launch Then i want to run roslaunch rtabmap_ros kinectlaser.launch where kinectlaser consists of the following link : kinectlaser.launch

Unfortunately I am encountering an TF error which says

[ WARN] [1477558055.097346892]: rtabmap: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1477558054.541588)!

[ERROR] [1477558055.097900220]: TF of received depth image 0 at time 1477558054.541588s is not set, aborting rtabmap update.

[ WARN] [1477558056.855120061]: rtabmap: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1477558056.609746)!

[ERROR] [1477558056.855669588]: TF of received depth image 0 at time 1477558056.609746s is not set, aborting rtabmap update.

Also when looking into my tf_view I can only see odom, base_footprint, base_link and specific topics for my roomba.

As can be seen in the tf tree this is because camera_rgb_optical_frame is not present in the tf tree image description

This is the same when using freenect.launch and freenect-registered-xyzrgb.launch. Probably the problem is within the freenect package. The best way to solve this is to add the following lines to /opt/ros/kinetic/share/freenect_launch/launch/freenect.launch:

<node pkg=" tf"  type=" static_transform_publisher" name="depth_frame" args="0 0 0 0 0 0 /base_link /camera_depth_frame 100"/>
<node pkg=" tf"  type=" static_transform_publisher" name="rgb_frame" args="0 0 0 0 0 0 /base_link /camera_rgb_optical_frame 100"/>

To see what the numbers mean please visit this link static-transform-publisher And finally you will also see the /camera_depth_frame and /camera_optical_rgb_frame in the tf tree.

In my image i attached them to the odom to make it easily visible but it is best to connect it to the base_link. image description

2017-09-13 19:34:05 -0500 marked best answer Rtabmap won't start use frames

For some reason rtabmap won't use frames anymore. After the line:

rtabmap 0.11.8 started...

Nothing more follows. I am using freenect_launch freenect-registered-xyzrgb.launch but also freenect_launch freenect.launch will not work currently. For the launch file of rtabmap I am using the following:

  <!-- Kinect cloud to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
      <remap from="image"     to="/camera/depth_registered/image_raw"/>
      <remap from="camera_info" to="/camera/depth_registered/camera_info"/>
      <remap from="scan" to="/base_scan"/>
      <param name="range_max" type="double" value="4"/>

  <!-- SLAM -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_footprint"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_scan" type="bool" value="true"/>

          <remap from="odom" to="/base_controller/odom"/>
          <remap from="scan" to="/base_scan"/>

          <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
          <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
          <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>

          <param name="queue_size" type="int" value="10"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/ProximityBySpace"     type="string" value="false"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Optimizer/Slam2D"          type="string" value="true"/>
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          <param name="Reg/Force3DoF"             type="string" value="true"/>
          <param name="Vis/MaxDepth"              type="string" value="4.0"/>
          <param name="Vis/MinInliers"            type="string" value="5"/>
          <param name="Vis/InlierDistance"        type="string" value="0.05"/>
          <param name="Rtabmap/TimeThr"           type="string" value="700"/>
          <param name="Mem/RehearsalSimilarity"   type="string" value="0.45"/>
          <param name="Icp/CorrespondenceRatio"   type="string" value="0.5"/>
          <param name="Vis/MaxFeatures"           type="string" value="500"/>
          <param name="Mem/ImagePreDecimation"    type="string" value="2"/>
          <param name="Mem/ImagePostDecimation"   type="string" value="2"/>
          <param name="Kp/DetectorStrategy"       type="string" value="6"/>
          <param name="OdomF2M/MaxSize"           type="string" value="1000"/>
          <param name="Odom/ImageDecimation"      type="string" value="2"/>
          <param name="delete_db_on_start"        type="string" value="true"/>

When using the debugger it says:

TCP socket [14] closed
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2017-05-16 19:33:02 -0500 marked best answer Stage navigation multiple robots


I want to have multiple robots in stage navigation. I used the stage navigation tutorial code. The problem is I can have gmapping with 1 robot. But if I include a second robot the TF doesnt work and gmapping does not work any more.

My file:

define obstacle model ( size [0.5 0.5 0.5] gui_nose 0 obstacle_return 1 )

define hokuyo ranger ( sensor( range [ 0.02 4.0 ] fov 180 samples 682 ) block( points 4 point[0] [0 1] point[1] [1 1] point[2] [1 0] point[3] [0 0] z [0 1] ) color "black" size [ 0.05 0.05 0.1 ] )

define roomba position ( block ( points 4 point[0] [ 0.700 0.705 ] point[1] [ 0.700 0.0 ] point[2] [ 0.0 0.0 ] point[3] [ 0.0 0.705 ] z [0 1] ) size [0.7 0.705 0.3] origin [-0.125 0 0 0] color "gray50"

gui_nose 1 obstacle_return 1

drive "diff"

localization "gps" )

define roomba_hokuyo roomba( color "gray90" hokuyo(pose [ 0.1 0.0 0.0 0.0 ]) )

define turtlebot roomba( color "gray90" origin [-0.100 0 0 0] )

define floorplan model ( color "gray30" boundary 1

gui_nose 0 gui_grid 0
gui_outline 0 gui_move 0
gripper_return 0 fiducial_return 0
obstacle_return 1 ranger_return 0.8 )

define zone model ( color "orange"
size [ 4 4 0.01 ]

gui_nose 0 gui_grid 0 gui_move 1 gui_outline 0

obstacle_return 0 ranger_return -1 )

window ( size [ 500.000 400.000 ]
scale 20 center [ 0.0 0.0 ] rotate [ 0 0 ] show_data 1 show_trailarrows 0 ) floorplan (
name "map" size [20.000 15.000 0.800] pose [0 1 0 0] bitmap "map.png" )

roomba_hokuyo (
name "roomba_hokuyo_0" pose [ 0.00 0.00 0 0.00 ] )

roomba_hokuyo (
name "roomba_hokuyo_1" pose [ 1.00 0.00 0 0.00 ] )



  <!-- Launch stage world -->
    <param name="/use_sim_time" value="true"/>
  <include file="$(find stage_worlds)/launch/laser_world.launch" />

  <!-- Launch robot model -->
  <param name="robot_description" command="$(find xacro)/ '$(find stage_navigation)/urdf/robot.urdf.xacro'" />

  <!-- Run gmapping -->
  <include file="$(find stage_navigation)/move_base_config/slam_gmapping.xml"/>

  <!-- Run Move Base  -->
  <include file="$(find stage_navigation)/move_base_config/move_base.xml"/>

  <group ns="robot1">
    <param name="tf_prefix" value="robot1_tf" />
    <param name="amcl/initial_pose_x" value="1" />
    <param name="amcl/initial_pose_y" value="1" />

  <group ns="robot2">
    <param name="tf_prefix" value="robot2_tf" />
    <param name="amcl/initial_pose_x" value="-1" />
    <param name="amcl/initial_pose_y" value="1" />

  <!-- Run rviz -->
  <include file="$(find stage_navigation)/launch/navigation_rviz.launch" />


Tell me if you need more files.

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