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2018-05-11 15:56:20 -0500 asked a question using multiple hardware interfaces (kuka tool)

using multiple hardware interfaces (kuka tool) Hello everybody, I'm currently trying to connect two "robots". First I u

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2017-09-05 10:40:43 -0500 asked a question pcl cuda cuda_runtime.h no such file or directory with ros

pcl cuda cuda_runtime.h no such file or directory with ros Hello everybody. I'm trying to use cuda in my pcl/ros applic

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2016-08-18 03:54:51 -0500 commented answer RGBDSLAM v2 waiting for ...

Hey, yes I'm starting it externally and on the hw_registered topic is data. Futhermore I have solved the problem. I created a relay from /xtion/rgb/camera_info to /camera/rgb/camera_info.

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2016-08-15 15:19:40 -0500 asked a question RGBDSLAM v2 waiting for ...

Hello guys, i'm currently testing some RGBD algorithms, but when i use RGBDSLAM v2 i cant get any input data (Waiting for visual image on topic /xtion/rgb/image_rect_color and waiting for depth image on topic /xtion/depth_registered/hw_registered/image_rect_raw)

On this two topics is data. Rtabmap working without any problem.

Here is my launch file:

  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen"> 
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/xtion/rgb/image_rect_color"/> 
    <param name="config/topic_image_depth"             value="/xtion/depth_registered/hw_registered/image_rect_raw"/>
    <param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

    <!-- These are the default values of some important parameters -->
    <param name="config/feature_extractor_type"        value="ORB"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. -->
    <param name="config/feature_detector_type"         value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
    <param name="config/detector_grid_resolution"      value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) -->
    <param name="config/max_keypoints"                 value="600"/><!-- Extract no more than this many keypoints -->
    <param name="config/max_matches"                   value="300"/><!-- Keep the best n matches (important for ORB to set lower than max_keypoints) -->

    <param name="config/min_sampled_candidates"        value="4"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
    <param name="config/predecessor_candidates"        value="4"/><!-- Frame-to-frame comparisons to sequential frames-->
    <param name="config/neighbor_candidates"           value="4"/><!-- Frame-to-frame comparisons to graph neighbor frames-->
    <param name="config/ransac_iterations"             value="100"/>
    <param name="config/cloud_creation_skip_step"      value="2"/><!-- subsample the images' pixels (in both, width and height), when creating the cloud (and therefore reduce memory consumption) -->

    <param name="config/cloud_display_type"            value="POINTS"/><!-- Show pointclouds as points (as opposed to TRIANGLE_STRIP) -->
    <param name="config/pose_relative_to"              value="largest_loop"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the current one. Use "first" to optimize the full graph, "inaffected" to optimize only the frames that were matched (not those inbetween for loops) -->
    <param name="config/backend_solver"                value="pcg"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline optimization (without good initial guess)-->
    <param name="config/optimizer_skip_step"           value="1"/><!-- optimize only every n-th frame -->

Im using Ros Indigo (Ubuntu 14.04) with an asus xtion camera. What i'm doing wrong ? :/

greets tobi

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2016-04-22 09:00:05 -0500 commented question clear_costmap_recovery is not clearing the map

I have the same issue (as describe here) Did you find a solution for the problem?

2016-04-22 08:38:18 -0500 commented answer costmap not cleared after executing all recovery behaviors

hey, i tried the aggressive_reset, but it's like you said. It doesn't cleared the obstacle.

After calling the clear_costmap service every obstacle is now cleared from the costmap. The problem is, that the robot plans now a new trajectories through walls, because the walls will be cleared, too.

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2016-04-21 11:03:15 -0500 asked a question costmap not cleared after executing all recovery behaviors

Hi everyone,

i have a problem with clearing my costmap. First the robot is seeing an obstacle (for example a door, which will be closed infront of him) and then the robot is driving out of distance of the obstacle, but if the robot wants to reenter the room with the closed door opened again it can't plan a new way. Even after executing all recovery behaviors.

Here is a screenshot of my problem: image description

thank you in advance for your help.