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2021-11-08 11:39:01 -0500 marked best answer How to configure /clock topic in launch file - costmap_2d

Hi,

I have this case, when I use rosrun costmap_2d costmap_2d_node everything works fine and I get my costmap. But I tried to run this node from a launch file, but this warning appears in the log:

[ WARN] [1378418356.560509543]: Costmap2DROS transform timeout. Current time: 1378418356.5604, global_pose stamp: 1.6400, tolerance: 0.3000
[ WARN] [1378418356.622218511]: Could not get robot pose, cancelling reconfiguration

So I supposed was something related with /clock topic. Comparing rosnode info /costmap_2d of both executions, the only difference is this connection when using rosrun:

Connections:
 [...]
 * topic: /clock
    * to: /vinter_sim (<a href="http://gustavo-HPprobook:36184/">http://gustavo-HPprobook:36184/</a>)
    * direction: inbound
    * transport: TCPROS

What should I do to correctly run this node from .launch file?
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2021-04-27 08:18:14 -0500 edited question How to differentiate float vs fix status in an RTK system?

How to differentiate float vs fix status in an RTK system? As mentioned in this question , the NavSatStatus message has

2021-04-27 06:31:12 -0500 edited question How to differentiate float vs fix status in an RTK system?

How to differentiate float vs fix status in an RTK system? As mentioned in this question , the NavSatStatus message has

2021-04-27 06:30:22 -0500 asked a question How to differentiate float vs fix status in an RTK system?

How to differentiate float vs fix status in an RTK system? As mentioned in this question , the NavSatStatus message has

2021-03-11 12:09:15 -0500 commented question How to determine if absolute orientation of IMU + magnetometer is correct?

What have you done so far or what is your setup?

2020-07-23 10:23:46 -0500 commented question nmea_navsat_driver ROS package and Emlid Reach GPS units

Hi @popenc, Any update on this issue? Did you find an answer?

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2020-04-01 14:08:59 -0500 marked best answer Using ROS Melodic with Python 3

I'm trying to install ROS M following the installation instructions,. I installed the desktop configuration, but when tried step 1.6, rosdep installation, it doesn't work for python3-rosdep. Is this the right way of doing it?

I'm using Ubuntu 18.04

$ sudo apt install python3-rosdep
[sudo] password for user: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 python3-rosdep : Depends: python3-catkin-pkg but it is not going to be installed
                  Depends: python3-rosdistro but it is not going to be installed
                  Depends: python3-rospkg but it is not going to be installed
                  Depends: python3-rosdep-modules (>= 0.18.0) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

EDIT:

If I try to install python3-rospkg it will attempt to remove a lot of ros-* packages I just installed
2020-04-01 13:45:20 -0500 commented question Using ROS Melodic with Python 3

@gvdhoorn Thanks for your explanation. It is clear now.

2020-04-01 09:00:06 -0500 commented question ROS Melodic Python 3 Source

Did you get it working in the end?

2020-04-01 08:50:40 -0500 edited question Using ROS Melodic with Python 3

Using ROS Melodic with Python 3 I'm trying to install ROS M following the installation instructions,. I installed the de
2020-04-01 08:25:01 -0500 edited question Using ROS Melodic with Python 3

Using ROS Melodic with Python 3 I'm trying to install ROS M following the installation instructions,. I installed the de
2020-04-01 06:59:55 -0500 asked a question Using ROS Melodic with Python 3

Using ROS Melodic with Python 3 I'm trying to install ROS M following the installation instructions, but when tried step
2020-03-25 10:38:13 -0500 commented question rosdep not found after installing melodic

sure. Thanks.

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2020-03-25 07:22:48 -0500 edited question rosdep not found after installing melodic

rosdep not found after installing melodic Hi, I just followed the installation tutorial for Melodic on Ubuntu 18.04 (lin
2020-03-25 07:09:17 -0500 edited question rosdep not found after installing melodic

rosdep not found after installing melodic Hi, I just followed the installation tutorial for Melodic on Ubuntu 18.04 (lin
2020-03-25 07:08:48 -0500 asked a question rosdep not found after installing melodic

rosdep not found after installing melodic Hi, I just followed the installation tutorial for Melodic on Ubuntu 18.04 (lin
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2018-07-24 03:13:27 -0500 edited answer ImportError: No module named rospkg (python3) <SOLVED>

This is what worked for me: sudo apt-get install python3-catkin-pkg-modules sudo apt-get install python3-rospkg-modules
2018-07-23 08:29:20 -0500 edited answer What is the difference between a topic and a message?

As you said, the topic is the channel where nodes are subscribed for to read messages or where the nodes publish those m
2018-07-23 08:28:55 -0500 edited answer What is the difference between a topic and a message?

As you said, the topic is the channel where nodes are subscribed for to read messages or where the nodes publish those m
2018-07-23 05:37:03 -0500 answered a question ImportError: No module named rospkg (python3) <SOLVED>

This is what worked for me: sudo apt-get install python3-catkin-pkg-modules sudo apt-get install python3-rospkg-modules
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2016-12-11 15:56:13 -0500 marked best answer Can't plot some messages types on rqt_plot

Hi,

I'm trying to plot some messages but this warning appears at executing rqt_plot:

TopicCompleter.update_topics(): could not get message class for topic type "atlas_msgs/ForceTorqueSensors" on topic "/atlas/force_torque_sensors"

and in general:

TopicCompleter.update_topics(): could not get message class for topic type "foo_msg" on topic "foo_topic"

If I execute rqt_plot with the data I want to plot (rqt_plot /atlas/force_torque_sensors/l_foot/force/x:y:z) this error shows up:

PluginHandlerDirect._restore_settings() plugin "rqt_plot/Plot#0" raised an exception:
Traceback (most recent call last):
  File "/opt/ros/hydro/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 116, in _restore_settings
    self._plugin.restore_settings(plugin_settings_plugin, instance_settings_plugin)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot.py", line 172, in restore_settings
    self._switch_data_plot_widget(int(instance_settings.value('plot_type', 0)))
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot.py", line 162, in _switch_data_plot_widget
    self._widget.switch_data_plot_widget(selected_plot['widget_class'](self._widget))
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 98, in switch_data_plot_widget
    self.add_topic(topic_name)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/plot_widget.py", line 193, in add_topic
    self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rqt_plot/rosplot.py", line 114, in __init__
    self.sub = rospy.Subscriber(real_topic, data_class, self._ros_cb)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 502, in __init__
    super(Subscriber, self).__init__(name, data_class, Registration.SUB)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 135, in __init__
    raise ValueError("topic parameter 'data_class' is not initialized")
ValueError: topic parameter 'data_class' is not initialized

Someone can help me with this? I can plot data over some topics, so, Is there something that I have to do before?

I'm using Hydro and Ubuntu 12.04
2016-11-07 23:16:21 -0500 marked best answer local costmap empty using move_base_node

Hi,

I'm using move_base_node in stage, and I've found that local costmap is empty. In this picture from rviz I can see that global costmap is fine but local costmap (the small square) is empty. The red dots are the laser scans from robot (green footprint) with which the local costmap should be generated. Is something wrong with this? Because although of this I can set goals and the robot can reach them.

EDIT 1:

Although the robot can reach the goals, it does it at a very low speed, even if I increase the value of max_vel_x parameter of local_planner. I don't know if this happens due to the lack of local_costmap.

EDIT 2:

If I change 

local_costmap:
      observation_sources: base_scan
      base_scan: {
        topic: /car_0/base_scan
...

for

local_costmap:
          observation_sources: base_scan
          base_scan: {
            topic: /base_0/base_scan
    ...

where /base_0/base_scan is another LaserScan topic, some black areas start to appear in local_costmap until origin of sensor its outside it.

EDIT 3:

This is my TF tree; base_* are "robots" on each corner of the intersection; I say "robots" because I use them as static lasers. And car_* are robots navigating as vehicles, in this case car_0 is the green polygon.

image description

Here are the parameters I use:

costmap_common file:

#This file contains common configuration options for the two costmaps used in the navigation stack for more details on the parameters in this file, and a full list of the parameters used by the costmaps, please see http://www.ros.org/wiki/costmap_2d

#For this example we'll configure the costmap in voxel-grid mode
map_type: voxel

#Voxel grid specific parameters
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0

#Set the tolerance we're willing to have for tf transforms
transform_tolerance: 0.3

#Obstacle marking parameters
obstacle_range: 2.5
max_obstacle_height: 2.0
raytrace_range: 3.0

#The footprint of the robot and associated padding
# included in both global and local costmaps params
#footprint: [[-0.25, -0.25], [-0.25, 0.25], [0.25, 0.25], [0.3, 0.0], [0.25, -0.25]]
footprint: [[-0.25, -0.25], [-0.25, 0.25], [0.25, 0.25], [0.3, 0.0], [0.25, -0.25]]
footprint_padding: 0.05

#Cost function parameters
# included in both global and local costmaps params
inflation_radius: 0.35
cost_scaling_factor: 10.0

#The cost at which a cell is considered an obstacle when a map is read from the map_server
lethal_cost_threshold: 100

#Configuration for the sensors that the costmap will use to update a map
# included in both global and local costmaps params
#observation_sources: base_scan
#base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
#  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

global_costmap file:

#Independent settings for the global planner's costmap. Detailed descriptions of these parameters can be found at http://www.ros.org/wiki/costmap_2d

global_costmap:
  observation_sources: "base_0 base_1 base_2 base_3"
  base_0: {
    topic: /base_0/base_scan,
    data_type: LaserScan, 
    expected_update_rate: 0.4,
    observation_persistence: 0.0, 
    marking: true, 
    clearing: true, 
    max_obstacle_height: 0.4, 
    min_obstacle_height: 0.08
    }

  base_1: {
    topic ...
(more)
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