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2019-04-30 09:37:52 -0500 commented question How to setup Cross Compilation for Arm64

Did you ever solve this? I'm running into the same problem. It looks like some packages that ROS relies on don't play wi

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2019-04-11 16:10:35 -0500 asked a question Cross-architecture deb package generation using bloom

Cross-architecture deb package generation using bloom Hi, I've been building deb packages using bloom according to http

2019-04-11 16:08:59 -0500 asked a question Cross-architecture deb package creation

Cross-architecture deb package creation Hi, I've been building deb packages using bloom according to https://answers.ro

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2018-09-04 17:12:34 -0500 marked best answer Why is my robot wheel not colliding with the floor in Gazebo?

Hey guys,

I have a differential drive robot in Gazebo where the drive wheels aren't colliding with the floor for some reason: image description

I have a "collision" tag in the link, but it doesn't seem to be working. I'm using gazebo 9 with ros kinetic.

Below is my xacro:

<?xml version="1.0"?>
<robot name="ssr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
</material>
<material name="black">
    <color rgba="0.2 0.2 0.2 1" />
</material>
<material name="body_color">
    <color rgba="0.3 0.8 0.4 1" />
</material>

<link name="base_link" />
<link name="base_footprint">
    <origin xyz="0 0 0" />
</link>

<joint name="base_footprint_joint" type="fixed">
    <parent link="base_link" />
    <child link="base_footprint" />
    <origin rpy="0 0 0" xyz="0 0 0" />
</joint>

<xacro:property name="body_width" value="0.5" />
<xacro:property name="body_length" value="0.7" />
<xacro:property name="body_height" value="0.15" />
<xacro:property name="floor_gap" value="0.15" />
<xacro:property name="body_mass" value="10" />
<xacro:property name="laser_dist_x" value="0.25" />
<xacro:property name="laser_dist_z" value="0.2" />
<xacro:property name="caster_radius" value="0.04" />
<xacro:property name="caster_mass" value="0.5" />
<xacro:property name="drive_wheel_length" value="0.05" />
<xacro:property name="drive_wheel_radius" value="0.15" />
<xacro:property name="drive_wheel_mass" value="2" />
<xacro:property name="drive_wheel_separation" value="0.4" />

<xacro:macro name="ssr_caster_link" params="prefix offset_x offset_y">
    <link name="${prefix}_caster_link">
    <visual>
        <origin xyz="0 0 0" />
        <geometry>
        <sphere radius="${caster_radius}" />
        </geometry>
        <material name="black" />
    </visual>
    <collision>
        <origin xyz="0 0 0" />
        <geometry>
        <sphere radius="${caster_radius}" />
        </geometry>
    </collision>
    <inertial>
        <mass value="${caster_mass}" />
        <origin xyz="0 0 0" />
        <inertia ixx="${2 / 3 * caster_mass * caster_radius * caster_radius}"
                ixy="0"
                ixz="0"
                iyy="${2 / 3 * caster_mass * caster_radius * caster_radius}"
                iyz="0"
                izz="${2 / 3 * caster_mass * caster_radius * caster_radius}" />
    </inertial>
    <surface>
        <friction>
        <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1</slip1>
            <slip2>1</slip2>
            <maxVel>0.01</maxVel>
            <minDepth>0.001</minDepth>
        </ode>
        </friction>
    </surface>
    </link>

    <gazebo reference="${prefix}_caster_link">
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1</slip1>
            <slip2>1</slip2>
            <maxVel>0.001</maxVel>
            <minDepth>0.001</minDepth>
    </gazebo>

    <joint name="${prefix}_caster_joint" type="fixed">
    <parent link="base_link" />
    <child link="${prefix}_caster_link" />
    <origin rpy="0 0 0" xyz="${offset_x} ${offset_y} ${caster_radius + 0.03}" />
    </joint>
</xacro:macro>

<xacro:macro name="ssr_drive_wheel" params="prefix offset_y">
    <link name="${prefix}_drive_wheel_link">
    <visual>
        <origin xyz="0 0 0" />
        <geometry>
        <cylinder length="${drive_wheel_length}" radius="${drive_wheel_radius}" />
        </geometry>
        <material name="black" />
    </visual>
    <collision>
        <origin xyz="0 0 0" />
        <geometry>
        <cylinder length="${drive_wheel_length}" radius="${drive_wheel_radius}" />
        </geometry>
    </collision>
    <inertial>
        <mass value="${drive_wheel_mass}" />
        <origin xyz="0 0 0" />
        <inertia ixx="${1 / 12 * drive_wheel_mass * (3 * drive_wheel_radius * drive_wheel_radius + drive_wheel_length * drive_wheel_length)}"
                ixy="0"
                ixz="0"
                iyy="${1 / 12 * drive_wheel_mass * (3 * drive_wheel_radius * drive_wheel_radius + drive_wheel_length * drive_wheel_length)}"
                iyz="0"
                izz="${1 / 2 * drive_wheel_mass * drive_wheel_radius * drive_wheel_radius}" />
    </inertial>
    </link>

    <joint name="${prefix}_drive_wheel_joint" type="continuous">
    <parent link="base_link" />
    <child link="${prefix}_drive_wheel_link" />
    <origin rpy="1.5707 0 0" xyz="0 ${offset_y} ${drive_wheel_radius}" />
    <axis rpy="0 0 0" xyz="0 0 -1" />
    <limit effort="50" velocity ...
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2018-09-04 17:12:34 -0500 received badge  Scholar (source)
2018-08-29 10:02:37 -0500 answered a question Why is my robot wheel not colliding with the floor in Gazebo?

I got rid of <gazebo reference="${prefix}_drive_wheel_link"> <mu1 value="100.0" /> <mu2 value="100.0" /&

2018-08-29 09:52:40 -0500 asked a question Why is my robot wheel not colliding with the floor in Gazebo?

Why is my robot wheel not colliding with the floor in Gazebo? Hey guys, I have a differential drive robot in Gazebo whe

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2017-06-25 21:34:29 -0500 commented answer Create a generic node in python

@gvdhoorn absolutely, there is a large architectural difference, and a definite difference in responsiveness. but if som

2017-06-23 02:06:48 -0500 commented answer Create a generic node in python

You don't need rospy.spin(). See explanation above.

2017-06-23 02:06:31 -0500 edited answer Create a generic node in python

rospy.spin() is a blocking call: http://docs.ros.org/lunar/api/rospy/html/rospy-module.html#spin Here is the source of

2017-06-23 01:56:28 -0500 commented answer Create a generic node in python

You don't need rospy.spin().

2017-06-23 01:56:09 -0500 edited answer Create a generic node in python

edit: shoot accidentally deleted my answer, will fix now

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2017-06-23 01:55:59 -0500 edited answer Create a generic node in python

edit: shoot accidentally deleted my answer

2017-06-23 01:55:41 -0500 edited answer Create a generic node in python

add more details

2017-06-23 01:39:54 -0500 answered a question Create a generic node in python

rospy.spin() is a blocking call. See http://docs.ros.org/lunar/api/rospy/html/rospy-module.html#spin

2017-06-23 00:02:32 -0500 asked a question teb_local_planner stuttering

teb_local_planner stuttering Hi, The local planner stutters pretty frequently for me, with this error message: "[ERROR

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2017-04-24 15:20:17 -0500 asked a question Avoiding downward stairs using Kinect and navigation stack?

Avoiding downward stairs using Kinect and navigation stack? Hi, I've been looking for some information on avoiding down

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2017-03-06 14:27:03 -0500 asked a question OpenNI2 with Kinect v1

Hi guys,

I know this might seem like a duplicate and the ros wiki says the kinect is not supported, but I used the OpenNI2-FreenectDriver and had success with NiViewer2 as well as sometimes with ROS.

The problem is that sometimes roslaunch openni2_launch openni2.launch works, while most of the time it gives me the following error:

┌┌(kota@kota-desktop)-(12:10pm-:-03/06)┌-¨-¨¨˙
└┌(data)┌¨˙roslaunch openni2_launch openni2.launch
... logging to /home/kota/.ros/log/e2541e38-0291-11e7-bd4e-64006a58bea8/roslaunch-kota-desktop-29242.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://kota-desktop:32950/

SUMMARY
========

PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/color_depth_synchronization: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /rosdistro: kinetic
* /rosversion: 1.12.6

NODES
/camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
/
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [29260]
process[camera/driver-2]: started with pid [29261]
process[camera/rgb_rectify_color-3]: started with pid [29262]
process[camera/depth_rectify_depth-4]: started with pid [29263]
process[camera/depth_metric_rect-5]: started with pid [29272]
process[camera/depth_metric-6]: started with pid [29286]
process[camera/depth_points-7]: started with pid [29300]
[ INFO] [1488821141.153037053]: Initializing nodelet with 4 worker threads.
process[camera/register_depth_rgb-8]: started with pid [29323]
process[camera/points_xyzrgb_sw_registered-9]: started with pid [29342]
process[camera/depth_registered_sw_metric_rect-10]: started with pid [29346]
process[camera_base_link-11]: started with pid [29360]
process[camera_base_link1-12]: started with pid [29376]
process[camera_base_link2-13]: started with pid [29392]
process[camera_base_link3-14]: started with pid [29409]
OpenNI2-FreenectDriver: Using libfreenect v0.5.5
OpenNI2-FreenectDriver: Found device freenect://0
[ INFO] [1488821142.943549346]: Device "freenect://0" found.
OpenNI2-FreenectDriver: Opening device freenect://0
[ERROR] [1488821143.690497721]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16
[Stream 80] Negotiated packet size 1920
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
write_register: 0x0005 <= 0x01
write_register: 0x0047 <= 0x00
[Stream 70] Negotiated packet size 1920
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
read_cmos_register: 0x0106 => 0x648e
write_cmos_register: 0x0106 <= 0x648e
[ERROR] [1488821145.740494035]: Could not set auto exposure. Reason: void openni2_wrapper::OpenNI2Device::setAutoExposure(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 534 : Couldn't set auto exposure:
        Stream setProperty(101) failed



read_cmos_register: 0x0106 => 0x648e
write_cmos_register: 0x0106 <= 0x648e
[ERROR] [1488821145.748960801]: Could not set auto white balance. Reason: void openni2_wrapper::OpenNI2Device::setAutoWhiteBalance(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 550 : Couldn't set auto white balance:
        Stream setProperty(100) failed



[FATAL] [1488821145.881735575]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1488821145.881735671]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc ...
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