thepirate16's profile - activity

Hi community!

I've got a problem, as the title suggests, with my custom messages used in arduino.

I publish here the arduino code and explain later:

#include <pkg1/Num.h>
#include <ros.h>
#include <std_msgs/String.h>


ros::NodeHandle  nh;

pkg1::Num type_Num;
std_msgs::String str_msg;

ros::Publisher chatter("chatter", &str_msg);
ros::Publisher PUB2("newmessage", &type_Num);

char hello[20]= "hello world";
int counter=0;

void setup()
{
  nh.initNode();
  nh.advertise(chatter);
}

void loop()
{
  type_Num.first_name = "danielooow";
  type_Num.last_name = "gonsaleeesss";
  type_Num.score = counter;
  PUB2.publish( &type_Num );
  str_msg.data = hello;
  chatter.publish( &str_msg );
  nh.spinOnce();
  counter++;
  delay(100);
}

As you see, the code is only an expansion of the HelloWorld example of ros_lib.

It compiles perfectly.

Once uploaded to my Arduino UNO, I call the rosserial connection:

~/catkin_ws$ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0

And i get this error:

    [INFO] [WallTime: 1458399926.066204] ROS Serial Python Node
    [INFO] [WallTime: 1458399926.072844] Connecting to /dev/ttyACM0 at 57600 baud
    [ERROR] [WallTime: 1458399943.176784] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

The thing is, when I upload the HelloWorld example, the connection works!! and the chatter topic is properly registered in the ROS master, but when I use the new code, it doesn't .

I just don't know what's going on here.

Thoughts:

• I thought it could be a delay problem but removing the delay in the code hasn't made anything.
• I also thought that maybe in the creation of the custom message there's a problem (something related with the CMakeLists.txt or the pakage.xml) but the message can be used in a normal non-arduino code, registering successfully in the ROS master and all that stuff, so that makes me doubt about it.
• It's maybe that i have to use a second Node Handle??

For possible answers regarding using #define USE_USBCON -> i've already tried that and then the compiler says something about it requires the iostream library --> i just don't think that is the way to go for solving this (maybe i'm wrong i don't know..).

Thanks to everyone in advance. I would appreciate a detailed answer.

SOLVED!!! LOOK AT THE ANSWERS!

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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()

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

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$ 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).

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).

How can I solve this?

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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.

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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.

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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.