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2018-11-16 03:49:09 -0600 marked best answer How to add message field in a rosbag

I got a rosbag with a number of topics being played. I am interested in adding a Header (more specifically, a frame_id) to the message received so some 3d points in it are automatically displayed in RViz in the correct frame defined.

Is this possible? I know you can iterate a rosbag with the type of loop:

for topic, msg, t in inbag.read_messages():

        if topic == "/desired_topic":

            outbag.write(topic,msg.h,t)

        if topic not in ["/desired_topic"]:
            outbag.write(topic,msg,t)

    outbag.close()

But I don't know how to add a field to the incoming message and save it in a new bag.

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2018-11-15 10:05:59 -0600 edited question How to add message field in a rosbag

How to add message field in a rosbag I got a rosbag with a number of topics being played. I am interested in adding a He

2018-11-15 10:04:19 -0600 edited question How to add message field in a rosbag

How to add message field in a rosbag I got a rosbag with a number of topics being played. I am interested in adding a He

2018-11-15 10:03:59 -0600 asked a question How to add message field in a rosbag

How to add message field in a rosbag I got a rosbag with a number of topics being played. I am interested in adding a He

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2018-05-24 16:57:57 -0600 marked best answer Unknown noise in uwsim 3D range mapping

I am working with UWSim, and I have modelled a rotating multibeam on the AUV (like a lidar on a car) that maps the 3D surroundings of the robot, creating a "range map".

I am facing a type of noise in my range values that I cannot determine (see photo). A part from the seafloor (shown above because I got a mess in the TF tree most probably and I haven't managed to put it below the AUV tf), one can see how sparse voxels are mapped as well.

image description

They appear behind the AUV (where there is nothing), and mapped at many different ranges.

Is the sonar assigning a wrong range to the tail of the AUV because of it being too close maybe?

2018-05-24 16:57:36 -0600 answered a question Unknown noise in uwsim 3D range mapping

I found the problem. The noise comes from false measurements of the sonar. The tail of the AUV might be too close to the

2018-04-02 06:10:48 -0600 commented question Vehicle not moving, but robot_localization shows motion

Have you checked that you are properly subscribed to the odometry topic in your visualizer? Also check that the origin f

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2018-04-01 13:09:54 -0600 marked best answer Not able to visualize Octomap in RViz

I am publishing an octomap from a .bt file with octomap_server such that:

$ rosrun octomap_server octomap_server_node btFile.bt

But when I try to visualize the octomap in RViz, I am only getting this ¿occupancy base? (see image).

image description

As you see, it is clear that the transform from /map to blocks is not published. Does this need to be there to be able to visualize it? Also, it is saying that the frame blocks does not exist.

In OCTOVIS, I do not have this problem and the whole octomap is loaded successfully (see image below).

image description

How can I solve this?

2018-04-01 13:09:36 -0600 answered a question Not able to visualize Octomap in RViz

I solved it. Surprisingly, when I added the OccupancyMap by doing Add->By topic, it worked and the octomap appeared

2018-03-30 08:49:10 -0600 received badge  Popular Question (source)
2018-03-30 05:10:05 -0600 edited question Not able to visualize Octomap in RViz

Not able to visualize Octomap in RViz I am publishing an octomap from a .bt file with octomap_server such that: $ ro

2018-03-30 05:08:49 -0600 edited question Not able to visualize Octomap in RViz

Not able to visualize Octomap in RViz I am publishing an octomap from a .bt file with octomap_server such that: $ ro

2018-03-30 05:06:07 -0600 asked a question Not able to visualize Octomap in RViz

Not able to visualize Octomap in RViz I am publishing an octomap from a .bt file with octomap_server such that: $ ro

2018-03-22 03:38:40 -0600 marked best answer Is the .bt Octomap preserving the coordinates of the ROS environment it has been built from?

I think the title is self-explicative. I constructed an Octomap out of a robot moving in a simulated environment. In that environment, the coordinate (x1, y1, z1) with respect to the world frame was occupied by an obstacle. If I check the node (x1, y1, z1) of the created Octomap, will it be occupied, and if so, by the same obstacle? Or will the Octomap have assigned new coordinates based on the .bt file created?

Also, will it happen the same when the octomap is not in a .bt file and it is being updated continuously?

Thank you. This was also posted on Octomap's GitHub, so I will copy the answer given in one site to the other.

2018-03-22 03:38:22 -0600 answered a question Is the .bt Octomap preserving the coordinates of the ROS environment it has been built from?

As answered in Octomap's GitHub by @AHornung: https://github.com/OctoMap/octomap/issues/204 "The .bt format does not co

2018-03-19 09:19:48 -0600 asked a question Is the .bt Octomap preserving the coordinates of the ROS environment it has been built from?

Is the .bt Octomap preserving the coordinates of the ROS environment it has been built from? I think the title is self-e

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2018-02-26 03:45:24 -0600 marked best answer Do I really need to $ source ~/catkin_ws/devel/setup.bash ?

Novice question:

I've created a custom message, package, etc as the official tutorial does. But when i do:

$ rosrun pkg_test1 pkg_test1_node

it gives me: [rospack] Error: package 'pkg_test1' not found

Indeed, if i do: $ source ~/catkin_ws/devel/setup.bash the problem is fixed. But do i really need to do that every time i want to use my custom programs? Is there any simple way to mantain them in the ROS path (i think that is what i am doing when i call these commands).

Thanks in advance.

2018-02-22 09:30:00 -0600 edited question Unknown noise in uwsim 3D range mapping

Problem making a joint rotate with attached multibeam to do 3D mapping I am working with UWSim, and I have modelled a ro

2018-02-22 09:25:18 -0600 asked a question Unknown noise in uwsim 3D range mapping

Problem making a joint rotate with attached multibeam to do 3D mapping I am working with UWSim, and I have modelled a ro

2018-02-16 04:20:50 -0600 edited answer Rosserial mbed comunication does not work

rosserial_python was a bit unstable when I used it to connect an Arduino to ROS. Could you try using rosserial_server in

2018-02-16 04:19:22 -0600 answered a question Rosserial mbed comunication does not work

rosserial_python was a bit unstable when I used it to connect an Arduino to ROS. Could you try using rosserial_server in

2018-02-14 13:50:33 -0600 marked best answer RViz doesn't load .dae mesh. Cannot locate it.

I am trying to load an underwater robot mesh in RViz. Because I could not do this with a .osg file, I converted it to .dae with Blender. Even though I have done that, RViz is still not able to load it (it doesn't even locate it although, of course, the file is there).

The file is called newestexport.dae.

The error is the following:

[ERROR] [1518623879.761036843]: Could not load resource [robot/nessie/newestexport.dae]: Unable to open file "robot/nessie/newestexport.dae". [ERROR] [1518623879.761668482]: Could not load model 'robot/nessie/newestexport.dae' for link 'nessie_base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource robot/nessie/newestexport.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

Also, Meshlab and Blender are able to open the mesh without any problem.

The name of the file is correct. So that is discarded.

Any thoughts?

EDIT: I show the .URDF file that calls the mesh:

    <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="nessie" >

  <xacro:property name="pi" value="3.141592654" />

<link name="base_link">
      <origin rpy="3.141592654 0 3.141592654" xyz="0 0 0"/>
 </link>

<joint name="base_link_to_nessie_base_link" type="fixed">
    <parent link="base_link"/>
    <child link="nessie_base_link"/>
</joint>

  <link name="nessie_base_link">
    <inertial>
      <mass value="95" />
      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
    </inertial>
    <visual>
      <origin rpy="-${pi/2} 0 ${pi}" xyz="-0.2 0 0.75"/>
      <geometry>
        <mesh filename="robot/nessie/newestexport.dae"/>
      </geometry>
    </visual>
  </link>


</robot>

Thank you.

UPDATE: If you change the path "robot/nessie/newestexport.dae" for ithe absolute path "/home/daniel/.uwsim/data/robot/nessie/newestexport.dae" it doesn't work, the error still appears. Nor if you put it in the /home/daniel folder.

2018-02-14 13:50:19 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

OKAY! Using file:///home/daniel/newestexport.dae did the job. UWSim does not complain. :-) Thank you @gvdhoorn and @Javi

2018-02-14 13:24:54 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@gvdhoorn UWSim is finding perfectly the mesh and simulating it. It's RViz who is not.

2018-02-14 12:50:18 -0600 received badge  Notable Question (source)
2018-02-14 11:14:56 -0600 edited question RViz doesn't load .dae mesh. Cannot locate it.

RViz doesn't load .dae mesh. Cannot locate it. I am trying to load an underwater robot mesh in RViz. Because I could not

2018-02-14 11:10:23 -0600 edited question RViz doesn't load .dae mesh. Cannot locate it.

RViz doesn't load .dae mesh. Cannot locate it. I am trying to load an underwater robot mesh in RViz. Because I could not

2018-02-14 10:52:33 -0600 edited question RViz doesn't load .dae mesh. Cannot locate it.

RViz doesn't load .dae mesh. Cannot locate it. I am trying to load an underwater robot mesh in RViz. Because I could not

2018-02-14 10:47:59 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

I tried to put the file in /home/daniel/ but it is not working either. Could not load resource [/home/daniel/newestexpor

2018-02-14 10:47:39 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

I tried to put the file in /home/daniel/ but it is not working either. Could not load resource [/home/daniel/newestexpor

2018-02-14 10:44:17 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@gvdhoorn @Javier Perez the fact is that I am not using the same mesh file for UWSim and RViz. I am using an .osg mesh f

2018-02-14 10:22:21 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@Javier Perez what do you mean with "not loadable"? .uwsim is a hidden folder, a part from that if the absolute path is

2018-02-14 10:22:01 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@Javier-Perez what do you mean with "not loadable"? .uwsim is a hidden folder, a part from that if the absolute path is

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2018-02-14 10:04:35 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@gvdhoorn I did put the absolute path, and the error still appears. I guess the path is not a problem as one folder is a

2018-02-14 10:02:45 -0600 edited question RViz doesn't load .dae mesh. Cannot locate it.

RViz doesn't load .dae mesh. Cannot locate it. I am trying to load an underwater robot mesh in RViz. Because I could not

2018-02-14 10:01:00 -0600 commented answer RViz doesn't load .dae mesh. Cannot locate it.

@gvdhoorn I did, and the error still appears. I guess the path is not a problem as one folder is an autogenerated folder