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2016-08-30 08:01:01 -0500 answered a question Depth map estimation from monocular camera

Hi Cerin ... I'm sorry don't have an answer for you but just wanted to connect to someone else trying to use Monocular Slam since I'm not getting any answers to my question posed several months ago [... search for this string in the Answers Forum: "How to display a 3D Map on RVIZ using ORB_SLAM2?". Please read that to understand where I am with ROS and Slam. Are you using ORB SLAM or ORB SLAM2? It's my understanding that you only get a depth 'scaled' map using a monocular camera since there is no Lidar or other range measurement device. The article links you provided are very interesting as an approach to extract depth from a singe camera. As a Software Developer, I've done some image processing in the past to extract image features for automatic object recognition and classification for the defense industry. If you think we can help each other, please contact me at pbarile@gmail.com . Thanks, Phil

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2016-08-18 15:11:53 -0500 commented question my camera driver doesn't publish image to /camera/image_raw

I'm looking to collaborate with someone who has been running ORB_SLAM. I can successfully execute the ORB_SLAM2 ROS Package using this command: roslaunch ORB_SLAM ExampleGroovyOrNewer.launch. RVIZ displays correctly as well but I've got some other questions. Can you help?

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2016-07-30 12:51:07 -0500 asked a question How to display a 3D Map on RVIZ using ORB_SLAM2?

I'm a ROS newbie. I'm using ROS Indigo in a virtual session using Ubuntu 14.04 on my MacBook Pro laptop using my built-in camera. I can successfully execute the ORB_SLAM2 ROS Package using this command: roslaunch ORB_SLAM ExampleGroovyOrNewer.launch. Using RVIZ, I can see the a map with the keyframes etc under Global Options/Fixed Frame, I'm not sure what you call this type of map ... it appears to be a 'Point Cloud' display). However I would also like to visualize the actual 3D Map that is being built on the fly by ORB_SLAM2. I have attached an example image below of the type of Map that I would like to display on RVIZ (or maybe there is another tool I need to use). When I try to 'add' a 'Map' to RVIZ, I don't see any published topics to select from. Do I need, for example, to use the 'Map_server' or maybe the 'Gmapping' ROS packages to accomplish this. Also, I can't seem to determine the differences between ORB_SLAM and ORB_SLAM2. Can you shed some light on this. Should I have started with ORB_SLAM?

Can someone please help me with this question? Thanks ...Phil  image description

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2016-06-11 12:09:26 -0500 answered a question ROS Environmental variable problem

I'm continuing my response here since there isn't enough space in a 'Comment' field.
My apologies, since I've tried several other things since I posted this question, I can't duplicate that catkin_init_workspace error discussed above. However, I am posting my current command line outputs below to indicate my current state:

parallels@ubuntu:~/Documents/catkin_ws$ source devel/setup.bash /home/parallels/Documents/catkin_wsparallels@ubuntu:~/Documents/catkin_ws$ echo $PATH /opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games

parallels@ubuntu:~/Documents/catkin_ws$ env | grep ROS [no environmental variables were printed out here]

parallels@ubuntu:~/Documents/catkin_ws$ catkin_init_workspace Traceback (most recent call last): File "/opt/ros/indigo/bin/catkin_init_workspace", line 11, in <module> from catkin.init_workspace import init_workspace ImportError: No module named catkin.init_workspace

parallels@ubuntu:~/Documents/catkin_ws$ catkin_make Traceback (most recent call last): File "/opt/ros/indigo/bin/catkin_make", line 12, in <module> from catkin.init_workspace import init_workspace ImportError: No module named catkin.init_workspace

At this point, I believe I should uninstall ROS and then reinstall ROS. Would you agree? Can you please tell me the safest way to uninstall all ROS components so I can start clean again? Thanks for your help!

2016-06-11 11:58:30 -0500 commented question ROS Environmental variable problem

My apologies, since I've tried several other things since I posted this question, I can't duplicate that catkin_init_workspace error discussed above. However, I am posting more command line outputs below to indicate my current state: parallels@ubuntu:~/Documents/catkin_ws$ source devel/setup.bash /

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2016-06-10 18:21:54 -0500 asked a question ROS Environmental variable problem

I"m running ROS Indigo virtually using Ubuntu 14.04 on my Mac Book laptop using Parallels. All was ok initially, I was able to execute ROS packages and do some openCV software development with the iSight camera. I'm not sure what happened but now when I open up a new terminal, sourcing the /opt/ros/indigo/setup.bash file, none of the ROS environmental variables are getting set. I reinstalled ROS and created a new catkin workspace but my ROS env. variables are still not set to anything. Here's a dump of the error when I tried to initialize my new workspace:

parallels@ubuntu:~/Documents/catkin_ws/src$ catkin_init_workspace
Traceback (most recent call last):
  File "/opt/ros/indigo/bin/catkin_init_workspace", line 11, in <module>
    from catkin.init_workspace import init_workspace

Here's my path indicating that ROS indigo is in it:

parallels@ubuntu:~/Documents/catkin_ws$ echo $PATH
/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games

Examining my ROS Env. variables yields a blank screen indicating none are set:

parallels@ubuntu:~/Documents/catkin_ws$ env | grep ROS

Can someone please help with this problem? I have been struggling with this for hours now to no avail. Thanks, Phil


UPDATE1: I'm continuing my response here since there isn't enough space in a 'Comment' field.
My apologies, since I've tried several other things since I posted this question, I can't duplicate that catkin_init_workspace error discussed above. However, I am posting my current command line outputs below to indicate my current state:

parallels@ubuntu:~/Documents/catkin_ws$  source devel/setup.bash
/home/parallels/Documents/catkin_wsparallels@ubuntu:~/Documents/catkin_ws$ echo $PATH /opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games

parallels@ubuntu:~/Documents/catkin_ws$  env | grep ROS
[no environmental variables were printed out here]

parallels@ubuntu:~/Documents/catkin_ws$ catkin_init_workspace
Traceback (most recent call last):
  File "/opt/ros/indigo/bin/catkin_init_workspace", line 11, in <module>
    from catkin.init_workspace import init_workspace
ImportError: No module named catkin.init_workspace

parallels@ubuntu:~/Documents/catkin_ws$ catkin_make
Traceback (most recent call last):
  File "/opt/ros/indigo/bin/catkin_make", line 12, in <module>
    from catkin.init_workspace import init_workspace
ImportError: No module named catkin.init_workspace

At this point, I believe I should uninstall ROS and then reinstall ROS. Would you agree? Can you please tell me the safest way to uninstall all ROS components so I can start clean again? Thanks for your help!


I checked my python path and it's matches yours so I decided to uninstall ROS and all my packages and then reinstall ROS. I also installed the image_transport package [with this command: git clone https://github.com/ros-perception/ima... ] which is the package I believe I was using successfully with my first install. After reinstalling ROS and sourcing /opt/ros/indigo/setup.bashrc I have two problems:

1) My ROS environmental variables are blank. Can you please tell me how/where ...

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2016-05-21 21:28:59 -0500 commented answer How to use the Mac book pro's iSight camera in ROS for the webcam?

Dan, thanks for the help! I got further by installing the usb_cam package and then executing it. I'm getting the same 'CalibrationFile is missing' error that is described at the very bottom of this link: http://laukh.com/ros/usb_cam/ . Can you tell me how/if I need to calibrate? I'm very confused.

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2016-05-19 11:45:16 -0500 asked a question How to use the Mac book pro's iSight camera in ROS for the webcam?

I'm a ROS newbie and would like to use the internal camera called I believe iSight on my Mac Book Pro laptop to do some image processing development. I would like to know if anyone else has gone down this path and learn from their experinces. I'm running Parallels with Ubuntu 14.04 on my Mac. Thanks for any help, Phil.

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2016-03-26 10:15:06 -0500 commented question Python Error while using 'rostopic list'

Thanks for the help! I tried to follow the instructions on the link you supplied but was somewhat confused on some of the parameters used in the commands i.e. what is the <problematic_formula> Anyway, I decided to go ahead and start over running ROS under Ubuntu on my Mac using Oracle's VirtualBox

2016-03-25 00:10:04 -0500 asked a question Python Error while using 'rostopic list'

I've successfully installed ROS & Gazebo using Homebrew and following the Wiki instructions on my Mac, running Yosemite 10.10.5. Both of these execute ok. But when I try to run rostopic list I'm getting this Python error:

Philips-MBP:install_isolated philipbarile$ rostopic list
Fatal Python error: PyThreadState_Get: no current thread
Abort trap: 6

Any help with a solution would be greatly appreciated.

Below is a full error dump when it crashes. Thanks, Phil

Process:               Python [649]
Path:                  /usr/local/Cellar/python/2.7.11/Frameworks/Python.framework/Versions/2.7/Resources/Python.app/Contents/MacOS/Python
Identifier:            Python
Version:               2.7.11 (2.7.11)
Code Type:             X86-64 (Native)
Parent Process:        bash [362]
Responsible:           Terminal [359]
User ID:               501

Date/Time:             2016-03-22 22:11:52.769 -0400
OS Version:            Mac OS X 10.10.5 (14F1605)
Report Version:        11
Anonymous UUID:        29CC205B-E456-E202-B22F-2566432FB5DD


Time Awake Since Boot: 1900 seconds

Crashed Thread:        0  Dispatch queue: com.apple.main-thread

Exception Type:        EXC_CRASH (SIGABRT)
Exception Codes:       0x0000000000000000, 0x0000000000000000

Application Specific Information:
abort() called

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   libsystem_kernel.dylib          0x00007fff9719b286 __pthread_kill + 10
1   libsystem_c.dylib               0x00007fff9cf369ab abort + 129
2   org.python.python               0x0000000105e372a3 Py_FatalError + 49
3   org.python.python               0x0000000105e36785 PyThreadState_Get + 28
4   org.python.python               0x0000000105e33522 Py_InitModule4_64 + 62
5   _roslz4.so                      0x0000000105d8c5a3 init_roslz4 + 83
6   org.python.python               0x0000000105104f61 _PyImport_LoadDynamicModule + 140
7   org.python.python               0x0000000105103c04 import_submodule + 285
8   org.python.python               0x000000010510377f load_next + 266
9   org.python.python               0x00000001051028f7 PyImport_ImportModuleLevel + 1147
10  org.python.python               0x00000001050e228c builtin___import__ + 135
11  org.python.python               0x000000010506a7d5 PyObject_Call + 100
12  org.python.python               0x00000001050f1d9a PyEval_CallObjectWithKeywords + 175
13  org.python.python               0x00000001050ec9da PyEval_EvalFrameEx + 22401
14  org.python.python               0x00000001050e704e PyEval_EvalCodeEx + 1611
15  org.python.python               0x00000001050e69fd PyEval_EvalCode + 54
16  org.python.python               0x000000010510132e PyImport_ExecCodeModuleEx + 248
17  org.python.python               0x000000010510419d load_source_module + 1103
18  org.python.python               0x000000010510443a load_package + 303
19  org.python.python               0x0000000105103c04 import_submodule + 285
20  org.python.python               0x00000001051037c1 load_next + 332
21  org.python.python               0x00000001051028f7 PyImport_ImportModuleLevel + 1147
22  org.python.python               0x00000001050e228c builtin___import__ + 135
23  org.python.python               0x000000010506a7d5 PyObject_Call + 100
24  org.python.python               0x00000001050f1d9a PyEval_CallObjectWithKeywords + 175
25  org.python.python               0x00000001050ec9da PyEval_EvalFrameEx + 22401
26  org.python.python               0x00000001050e704e PyEval_EvalCodeEx + 1611
27  org.python.python               0x00000001050e69fd PyEval_EvalCode + 54
28  org.python.python               0x000000010510132e PyImport_ExecCodeModuleEx + 248
29  org.python.python               0x000000010510419d load_source_module + 1103
30  org.python.python               0x0000000105103c04 import_submodule + 285
31  org.python.python               0x000000010510377f load_next + 266
32  org.python.python               0x00000001051028f7 PyImport_ImportModuleLevel + 1147
33  org.python.python               0x00000001050e228c builtin___import__ + 135
34  org.python.python               0x000000010506a7d5 PyObject_Call + 100
35  org.python.python               0x00000001050f1d9a PyEval_CallObjectWithKeywords + 175
36  org.python.python               0x00000001050ec9da PyEval_EvalFrameEx + 22401
37  org.python.python               0x00000001050e704e PyEval_EvalCodeEx + 1611
38  org.python.python               0x00000001050e69fd PyEval_EvalCode + 54
39  org.python.python               0x000000010510132e PyImport_ExecCodeModuleEx + 248
40  org.python.python               0x000000010510419d load_source_module + 1103
41  org.python.python               0x000000010510443a load_package + 303
42  org.python.python               0x0000000105103c04 import_submodule + 285
43  org.python.python               0x00000001051037c1 load_next + 332
44  org.python.python               0x00000001051028f7 PyImport_ImportModuleLevel + 1147
45  org.python.python               0x00000001050e228c builtin___import__ + 135
46  org ...
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