tercelkisor's profile - activity

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2017-11-08 15:41:37 -0500	received badge	● Famous Question (source)
2017-11-08 15:41:37 -0500	received badge	● Notable Question (source)
2016-05-24 18:07:15 -0500	commented question	Husky navigation stack setup did you ever get this to work? I'm currently having trouble with the navigation stack and husky
2016-05-24 14:27:29 -0500	received badge	● Commentator
2016-05-24 14:27:29 -0500	commented answer	Navigation with Clearpath Husky I have looked at sending simple goals, but I haven't tried anything since I don't even have the navigation stack running.
2016-05-24 13:27:01 -0500	commented answer	Navigation with Clearpath Husky It's like I said earlier. It's not that simple stuff that I have an issue with. I guess I don't see how any of the tutorials are helpful for the navigation stack. It seems like there is some other knowledge that isn't covered in the tutorials.
2016-05-24 13:25:42 -0500	commented answer	Navigation with Clearpath Husky I' know that that is how you start the physical husky. I don't know how to make the physical husky work from the navigation stack tutorial.
2016-05-24 13:21:15 -0500	commented question	Navigation with Clearpath Husky I mean that it has no GUI. It is the server version of ubuntu, i guess. I already can do what that tutorial teaches. I can sub and pub from with computer. I can even run rviz, but I guess I am doing something else wrong.
2016-05-24 13:14:24 -0500	commented answer	Navigation with Clearpath Husky I'll give it another shot. If the husky_bringup already has the gps and imu as dependencies, could I just include that package to cover the move_base, gps, and imu all in one? I think I read that on the navigation tutorial.
2016-05-24 07:48:09 -0500	received badge	● Famous Question (source)
2016-05-22 19:02:17 -0500	answered a question	Navigation with Clearpath Husky I just need an example of what this: catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep would look like for a clearpath husky. Anyone?
2016-05-22 14:28:33 -0500	received badge	● Scholar (source)
2016-05-21 06:25:34 -0500	received badge	● Notable Question (source)
2016-05-20 15:32:16 -0500	commented answer	Navigation with Clearpath Husky can the parameter arguments just be listed in any order? The wording is what is confusing me.
2016-05-20 12:46:34 -0500	answered a question	Navigation with Clearpath Husky Hi Icehawk. Thanks for the response. I have a few more questions. How would I go about adapting this demo for use on a real husky? I've been through the catkin tutorials, and basically understand how to create a workspace, but the format, naming, and choice of dependencies is what I don't get. I'm running indigo, so that's good, but the computer on the husky only has a terminal output, so I couldn't use rviz. I've tried running it from the remote pc that I ssh into the husky from, but I've had no luck with that. It seems like the tutorials are really good at teaching you to run demos or creating very simple nodes and whatnot, but it's not very helpful when doing things more complicated than basic publishers and subscribers. Thanks again.
2016-05-20 12:31:14 -0500	received badge	● Popular Question (source)
2016-05-19 20:52:38 -0500	asked a question	Navigation with Clearpath Husky Hello all, I am currently working on getting a Husky to navigate to GPS coordinates. I was able to do a simple version by writing a simple script that subscribes to GPS and magnetometer data and publishes velocity commands. Now I need to take advantage of the navigation stack to implement obstacle avoidance and more robust navigation, but I'm honestly at a loss. I have read through the navigation tutorial, and they lose me when they say: catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep I understand conceptually what it means. I just don't know what to put there. The same goes for making the launch file. Currently the husky publishes these topics: /diagnostics /diagnostics_agg /diagnostics_toplevel_state /gps/fix /gps/nmea_sentence /gps/nmea_sentence_out /gps/time_reference /gps/vel /imu/data /imu/data_raw /imu/mag /imu_filter/parameter_descriptions /imu_filter/parameter_updates /imu_manager/bond /imu_um6/data /imu_um6/mag /imu_um6/rpy /imu_um6/temperature /joy_teleop/cmd_vel /joy_teleop/joy /odometry/filtered /odometry/gps /rosout /rosout_agg /status /tf /tf_static I have attached a Hokuyo UG01 laser to it, and it publishes a topic called /scan which I am able to subscribe to with a simple python script. From my current understanding, I need to : 1. Get the laser node to launch with the other nodes on startup 2. Create the catkin workspace with all the correct dependencies (very lost on that one) 3. Create launch files for the required nodes. (Maybe 1 and 3 are overlapping?) 4. ??? Maybe do something with tf? That's where my understanding breaks down, I think. I would greatly appreciate any help on this. It's due in three weeks and I am stressing out. To give a bigger picture, the ultimate goal of the project is to have the husky navigate to GPS coordinates, then, at that location, read a color sequence using open cv or something similar (haven't done too much with that part yet), then travel to colored cones in the order of the color sequence that was read. For example, the lights flash red, green, blue, and the husky finds the red cone, travels to it, then the green, and so on. Thanks again for the help. EDIT: Hi Icehawk. Thanks for the response. I have a few more questions. How would I go about adapting this demo for use on a real husky? I've been through the catkin tutorials, and basically understand how to create a workspace, but the format, naming, and choice of dependencies is what I don't get. I'm running indigo, so that's good, but the computer on the husky only has a terminal output, so I couldn't use rviz. I've tried running it from the remote pc that I ssh into the husky from, but I've had no luck with that. It seems like the tutorials are really good at teaching you to run demos or creating very simple nodes and whatnot, but it's not very helpful when doing things more complicated than basic publishers and subscribers. Thanks again.
2016-05-12 13:47:11 -0500	received badge	● Enthusiast
2016-05-11 16:17:26 -0500	received badge	● Editor (source)
2016-05-03 05:12:43 -0500	received badge	● Popular Question (source)
2016-04-24 14:48:43 -0500	commented answer	Multiple subscribers and single publisher in one python script? I think I've decided to go this route. I've never used classes before, so I'll do a little reading on that first. Thanks.
2016-04-24 14:47:49 -0500	commented answer	Multiple subscribers and single publisher in one python script? Yes, I tried the while loop. It sort of works, but it won't stop the script when I crtl+c.
2016-04-24 14:46:01 -0500	received badge	● Famous Question (source)
2016-04-20 13:12:27 -0500	commented answer	Multiple subscribers and single publisher in one python script? So I removed the rospy.spin(), and the script just closes itself after printing "lat = 0 long = 0" I've read that the spin function is required to keep the script from "jumping out or something.
2016-04-20 02:19:38 -0500	received badge	● Notable Question (source)
2016-04-19 12:24:27 -0500	received badge	● Popular Question (source)
2016-04-19 10:13:16 -0500	received badge	● Student (source)
2016-04-19 09:53:30 -0500	commented answer	Multiple subscribers and single publisher in one python script? I've edited my question.
2016-04-18 22:41:00 -0500	asked a question	Multiple subscribers and single publisher in one python script? I'm having issues with getting this to work. What I need to do is pull magnetometer data from the imu topic, pull gps data from gps topic, do calculations, and publish to cmd_vel topic. It seems like it would be simple, but I can't seem to get it to work. I can get both subscribers and the publisher to work simoultenously, but I cannot get the data to play together, and I'm pretty sure i'm getting stuck in a callback function. My code is currently printing my bearing and heading, but it isn't moving, and I'm not sure what else I can try. My most recent code: #!/usr/bin/env python import rospy from geometry_msgs.msg import Twist from geometry_msgs.msg import Vector3Stamped from geometry_msgs.msg import Vector3 from math import radians from sensor_msgs.msg import NavSatFix import time import numpy global lat1 global long1 def call_head(um6): global heading global bearing r = rospy.Rate(5); # rospy.loginfo("Bearing: %s", um6.vector) #Print mag reading for bearing z = um6.vector.z y = um6.vector.y angles = Vector3() heading = numpy.rad2deg(numpy.arctan2(z, y)) + 90 angles.x = heading angles.z = bearing call_bear_pub = rospy.Publisher("navStuff", Vector3, queue_size=10) call_bear_pub.publish(angles) r.sleep() return "done heading" def call_nav(navsat): global heading global bearing global lat1 global long1 r = rospy.Rate(5); # rospy.loginfo("Latitude: %s", navsat.latitude) #Print GPS co-or to terminal # rospy.loginfo("Longitude: %s", navsat.longitude) angles = Vector3() lat1 = navsat.latitude long1 = navsat.longitude ########################################################### lat2 = 30.210406 # Destination long2 = -92.022914 ############################################################ dLon = long2 - long1 y = numpy.sin(dLon) * numpy.cos(lat2) x = numpy.cos(lat1)numpy.sin(lat2) - numpy.sin(lat1)numpy.cos(lat2)*numpy.cos(dLon) bearing = (numpy.rad2deg(numpy.arctan2(y, x)) + 360) % 360 angles.z = bearing call_nav_pub = rospy.Publisher("navStuff", Vector3, queue_size=10) # if (heading != 0): # call_nav_pub.publish(angles) # else: # pass r.sleep() return "done bearing" def call_move(data): r = rospy.Rate(5); pub = rospy.Publisher('/husky_velocity_controller/cmd_vel', Twist, queue_size=10) move_cmd = Twist() turn_cmd = Twist() ########################################################### lat2 = 30.210406 # Destination long2 = -92.022914 ############################################################ move_cmd.linear.x = 2 turn_cmd.angular.z = radians(45) heading = data.z bearing = data.x turn_angle = heading - bearing rospy.loginfo("bearing: %s", bearing) rospy.loginfo("heading: %s", heading) if (turn_angle > 180): turn_angle -= 360 elif (turn_angle < -180): turn_angle += 360 else: turn_angle = turn_angle if (abs(lat1-lat2)<.0005 and abs(long1-long2)<.0005): pub.publish(Twist()) r.sleep() else: if (abs(turn_angle) < 8): pub.publish(move_cmd) rospy.spin() else: pub.publish(turn_cmd) r.sleep() return "done move" def run(): rospy.init_node('navigate_that_husky') rospy.Subscriber("/imu_um6/mag", Vector3Stamped, call_head) rospy.Subscriber("/gps/fix", NavSatFix, call_nav) rospy.Subscriber("navStuff", Vector3, call_move) rospy.spin() if __name__ == '__main__': run() That's actually what I tried first, bit I couldn't get it to work. I switched to this method because of this I'm sure I just don't understand how to use global variables enough. I'll post a simple version my attempt at using global variables. `#!/usr/bin/env python import rospy from ...` (more)
2016-03-02 02:33:23 -0500	asked a question	Simple GPS logging with Husky Hello all, I am currently attempting to have a husky move in some arbitrary path (a square for now) while logging or the GPS coordinates at each turn. I'm new to python and ros, and c++ is totally foreign to me, so it's a little overwhelming. I've been able to write a script that moves a simulated husky around however I like, but the GPS part is stumping me. I've read through so many questions and wiki pages, but I think I'm just no familiar enough with ros to even understand exactly what I'm reading. Could someone provide a breakdown of each sub-task that must be completed to accomplish my goal? please be as basic as possible. I'm not even positive that I'm creating a work space correctly, though I guess running a python script that controls the husky means that something is right. Here is a version of my code with some GPS quesswork added in. I know it's probably not even close. square w/ gps attempt1 thanks