McKracken82's profile - activity

Hi to all,

I'm kind of new to ROS and I'm having a problem while compiling the catkin workspace on my laptop. I'm using ROS Indigo on Ubuntu 14.04, and I'm trying to compile the irobotcreate2ros package (https://github.com/MirkoFerrati/irobotcreate2ros).

It requires the packages serial and joy to be installed. The problem is that when I compile the workspace, I received the following error:

CMakeFiles/basic_commands.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::getSensorPackets(int):

OpenInterface.cpp:(.text+0xf3c): undefined reference to serial::Serial::waitReadable()

CMakeFiles/basic_commands.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::streamSensorPackets():

OpenInterface.cpp:(.text+0x12a5): undefined reference to serial::Serial::waitReadable()

collect2: error: ld returned 1 exit status

make[2]: [/home/myhome/Projects/ros/indigo/catkin_ws/devel/lib/irobotcreate2/basic_commands] Error 1

make[1]: [irobotcreate2ros/CMakeFiles/basic_commands.dir/all] Error 2

make[1]: Waiting for unfinished jobs....

CMakeFiles/irobotcreate2_lightweight.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::getSensorPackets(int):

OpenInterface.cpp:(.text+0xf3c): undefined reference to serial::Serial::waitReadable()

CMakeFiles/irobotcreate2_lightweight.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::streamSensorPackets():

OpenInterface.cpp:(.text+0x12a5): undefined reference to serial::Serial::waitReadable()

collect2: error: ld returned 1 exit status

make[2]: [/home/myhome/Projects/ros/indigo/catkin_ws/devel/lib/irobotcreate2/irobotcreate2_lightweight] Error 1

make[1]: [irobotcreate2ros/CMakeFiles/irobotcreate2_lightweight.dir/all] Error 2

CMakeFiles/irobotcreate2.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::getSensorPackets(int):

OpenInterface.cpp:(.text+0xf3c): undefined reference to serial::Serial::waitReadable()

CMakeFiles/irobotcreate2.dir/src/irobotcreate2/OpenInterface.cpp.o: In function irobot::OpenInterface::streamSensorPackets():

OpenInterface.cpp:(.text+0x12a5): undefined reference to serial::Serial::waitReadable()

collect2: error: ld returned 1 exit status

make[2]: [/home/myhome/Projects/ros/indigo/catkin_ws/devel/lib/irobotcreate2/irobotcreate2] Error 1

make[1]: [irobotcreate2ros/CMakeFiles/irobotcreate2.dir/all] Error 2

make: [all] Error 2

Invoking "make" failed

This makes me think that probably the compiler is not able to find the serial package. Now:

1. The problem with serial is only related to the waitReadable() function, as if I comment it from the code, the rest of serial references do not rise any compilation error, and the process ends without problem (I've the right configuration of CMake. I know also because I'm using the same CMakeFile I used on other machines, that is the one provided within the package).
2. I compiled this package (irobotcreate2ros) on other machines without problem, so maybe there's a wrong version of serial installed on my laptop. I went digging around on the internet, and I found that previous version of serial (http://rosindex.github.io/p/serial/), e.g. until v1.1.7, didn't have any waitReadable() method. I then checked which version was installed, and it says 1.2.1.
3. To be completely sure, I also went through the code of serial.h in /opt/ros/indigo/include/serial/ to see if there was the waitReadable() method, and it's there (although there ...

Hi, I'm using move_base and stage_ros in the indigo release and I'm getting a strange behavior of the simulated robot. I'll try to explain it with an example:

I have a map which is loaded both by the map_server for move_base and by stage (the map is the same, I checked). I'm also using amcl as localiser. Then, if I open rviz, I can clearly see the map, the robot, and what the robot is sensing with is laser. What the laser is scanning is exactly compliant with the map I see (that is the one published by the map_server). If I give a goal through the Nav2Goal tool, the robot starts moving, following the path evaluated by the motion planner. Everything ok until here. The strange behavior starts happening when the robot, for some reasons, gets stuck in an obstacle: at that point, in stage the robot is stuck (with the exclamation mark on it), while for move_base (and so in rviz) it keeps moving along the path. Moreover, the laser scan stays consistent with stage, so that it starts misaligning with the map in rviz. Even more strange, although the path is evaluated by move_base to avoid obstacles, the robot still drive over there without problem (only in rviz, not in stage, where, instead, it gets stuck generating the strange behavior). It seems like stage keeps publishing the odometry of the robot moving, and so move_base move the robot independently. Moreover, I get this warning on move_base

[ WARN] [1468429179.824253819, 23.400000000]: MessageFilter [target=map laser ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.

I checked the tf tree, and everything is connected as due.

I report my launch and config files for consistency.

test_move_base.launch

<launch>
  <master auto="start"/>
   <!-- Run the map server -->
   <node name="map_server" pkg="map_server" type="map_server" args="maps/my_map.yaml" />
   <!--- Run AMCL -->
   <include file="$(find localisation)/launch/amcl.launch">
       <arg name="initial_pose_x"  value="0"/>
           <arg name="initial_pose_y"  value="0"/>
       <arg name="initial_pose_a"  value="0"/>

           <arg name="scan_topic"      value="/scan"/>
           <arg name="odom_frame_id"   value="odom"/>
           <arg name="base_frame_id"   value="base_link"/>
           <arg name="global_frame_id" value="map"/>
    </include>
    <!-- run move_base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
             <rosparam file="configs/costmap_common_params.yaml" command="load" ns="global_costmap" />
             <rosparam file="configs/costmap_common_params.yaml" command="load" ns="local_costmap" />
             <rosparam file="configs/costmap_param.yaml" command="load" />
             <rosparam file="configs/costmap_param.yaml" command="load" />
             <rosparam file="configs/stage_base_local_planner_params.yaml" command="load" />
 </node>

</launch>

test_stage.launch

<launch>
     <param name="/use_sim_time" value="true"/>

     <node pkg="stage_ros" type="stageros" name="stageros" args="maps/my_map.world" respawn="false" output="screen">
         <param name="base_watchdog_timeout" value="0.2"/>
         <remap from="/base_scan" to="/scan" />
     </node>
</launch>

my_map.yaml

image: my_map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

my_map.world

include "urg.inc"
include "erratic.inc"

define floorplan model
(
    color "black"
    boundary 1
    gui_nose 0
    gui_grid 0 ...