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2015-12-17 18:34:32 -0500 asked a question World Frame Problem

Hi friend. I have a problem. I want to run my Bag file with nav2d_karto. So I use these launch file:

<launch>

    <!-- Some general parameters -->
    <param name="use_sim_time" value="true" />
    <rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>
        <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="lsm_node" output="screen">
        <param name="laser_topic" type="string" value="scan" />
        <param name="publish_pose_stamped" type="bool" value="true" />
        <param name="fixed_frame" value = "odom"/>
            <param name="base_frame" value="base_link"/>
        <param name="fixed_frame" value="world"/>
            <param name="use_alpha_beta" value="true"/>
            <param name="use_odom" value="false"/>
            <param name="use_imu" value="false"/>
            <param name="max_iterations" value="10"/>
            <param name="publish_pose" value="true"/>
            <param name="publish_tf" value="true"/>
            <param name="use_vel" value="false"/>
    </node>

<!-- lsm'nin yayınladığı /pose2D topic'ini kullanarak /odom topic'i publish eder  -->
        <node pkg="pose2d_to_odom" type="pose2d_to_odom" name="odom_lsm"/>

<!-- robot_pose_ekf launcher -->
<!-- farkli kaynaklardan verileri birlestirmek icin -->

    <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
        <!-- odom kullanılıyor -->
        <param name="odom_used" value="true"/>
        <!-- atalet duyargası off -->
            <param name="imu_used" value="false"/>
        <!-- çıktı frame'i odom -->
        <param name="output_frame" value="odom"/>
    </node> 
    <!-- Mapper node'unu başlat-->
    <node name="Mapper" pkg="nav2d_karto" type="mapper">   <!-- mapper, MapperNode-->
        <!-- parametreleri buradan ayarlıyoruz -->
        <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
        <remap from="base_scan" to="scan"/>
    </node>
    <!-- birden fazla koordinatı takip edebilmek için kullanılır tf -->
    <!-- parametreleri args="x y z yaw pitch roll frame_id child_frame_id period_in_ms"-->
    <!-- yaw: Z ekseni, pitch: Y ekseni, roll: X ekseni açısı -->
    <node pkg="tf" type="static_transform_publisher" name="tf1" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_footprint /base_link 100" />
    <node pkg="tf" type="static_transform_publisher" name="tf2" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /base_laser_link 100" />
    <node pkg="tf" type="static_transform_publisher" name="tf3" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_laser_link /laser 100" /> 
    <!-- world en baş frame'dir 0,0,0 -->
    <!--<node pkg="tf" type="static_transform_publisher" name="tf4" args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />-->
    <!--<param name="robot_description" command="cat $(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro" />-->
    <node pkg="rosbag" type="play" name="rosbag" output="screen" args="--clock /home/kursat/Bag/dekanlik.bag" />
    <!-- alt_laser_imu , bahce_laser_imu , ust_laser_imu , meydan_laser_imu, dekanlik -->
</launch>

And my TF tree:

image description

Why the TF tree has a World frame? I really don't know. Is it normal?

2015-12-17 08:04:49 -0500 commented question Tf has two or more unconnected trees

/Mapper node is nav2d_karto, lsm_node is LaserScanMatcher node, odom_lsm is my package. I take Pose2d message from LaserScanMatcher and I convert it to the nav_msgs/Odometry.

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2015-12-17 05:23:24 -0500 commented question Tf has two or more unconnected trees

Hey BennyRe, which node? I have these node now: /Mapper /lsm_node /odom_lsm /robot_pose_ekf /rosout /rostopic_7736_1450348973162 /rviz /tf1 /tf2 /tf3

2015-12-17 04:39:15 -0500 commented question Tf has two or more unconnected trees

Hey Akif, thanks for your reply. No it is not intentional and I didn't find, why it is on my tf tree.

2015-12-16 20:30:03 -0500 asked a question Tf has two or more unconnected trees

Hi friend. I have a problem. I want to run my bag file with Karto. So I use static transform publisher to connect frames.

My frames.pdf is here: tf

I set the fixed frame to the odom, My LaserScan sometimes red, sometimes green:

Like this(Red): image description

But it changes.

When I set fixed_frame to the base_link, LaserScan seems good, but at this time, map going to red(Error)sometimes and green sometimes. And it says me "No transform from [map] to [base_link]"

This is an error or normal? Is my TF tree correct?

2015-12-13 20:41:38 -0500 asked a question no transform from map to base_link

Hi friend.

I have a problem. I want to run Karto Mapping with my bag file. I used this bag file with gMapping without any problem.

Here is my transform:

image description

When I choosed fixed_frame=base_link, got a map error:"no transform from map to base_link"

When I choosed fixed_frame=map, got a laserScan error:"No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'laser' because they are not part of the same tree.Tf has two or more unconnected trees.]"

What is the problem? How can I solve this? Thanks for your reply...

2015-12-13 20:06:09 -0500 commented answer Bag file with Karto

Thanks mig!

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2015-12-09 19:42:40 -0500 commented answer Bag file with Karto

Hey mig! You are really good man.

I glanced /karto_out topic and MultiMapper.cpp. So MultiMapper.cpp so complex. I didn't understand methods :)

What did you mean "configure karto"? Add or remove some code to the MultiMapper.cpp? Or you mean only tf transform?

2015-12-06 21:39:02 -0500 asked a question Bag file with Karto

Hi friend.

I have a bag file and I run this bag file with gMapping, without any problem. Now, I want to run(autonom) this same bag file with KartoMapping(nav2d_karto). So, how can I do this?

Thanks for your help...