bluehash's profile - activity

ros2_control temperature sensor broadcaster I have setup a hardware interface to read/write to a robot base. The base ha

Handling sensor timeouts/disconnects in ROS2 We have a couple of sensors, some come under sensor_msgs, some are custom.

I have a set of Marvelmind robotics indoor GPS beacons and have it setup with pose data(no yaw, only x,y) published on a topic with msg type: nav_msgs::Odometry

Is there a way to get this works with the Navsat transform? UTM co-ordinates are not used here.

Is this the route to go:

1. One instance of robot_localization with continuous sensors, in odom_frame.
2. Second instance of robot_localization with output of (1.) + GPS(pose0) in map frame

I'm using this documentation as a reference. Thanks.

Hello, In the diff_drive_controller plugin: https://github.com/ros-controls/ros_c...

What does the below line do? What is the 0.5 for?

const double direction = heading_ + angular * 0.5

The RK2 function is called when angular velocities are less than 1e-6 rads,

Environment: Ubuntu 16, ROS Kinetic.

I have a robot_parameters.yaml file with robot parameters: wheel_separation : 0.235 PI : 3.142

In a xacro file I have:

<?xml version="1.0"?>
<robot name="robot_name" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:property name="PI" value="${load_yaml('robot_parameters.yaml')}" />

  <link name="left_front_wheel_link">
    <visual>
      <origin xyz="0.123 0.456 0.101" rpy="${PI/2} 0 0" />
      <geometry>
        <cylinder radius="0.101" length = "0.0254"/>
      </geometry>
    </visual>
  </link>
</robot>

When I do a --check-order on the xacro, I get the following error:

unsupported operand type(s) for /: 'dict' and 'int' 
when evaluating expression 'PI/2'
XacroException(None,)

How would I use an imported name(in this case, PI) via yaml and use it for xacro calculations.

I'm unable to get rid of include directory warnings during a catkin_make.

One of my packages is dependent on boost. I made sure to use find_package so that the include dirs variables get populated, but still get warnings during a build...although boost is discovered during the build. See warning at the end of the post. Thanks.

cmake_minimum_required(VERSION 2.8.3)
project(test)

# search for everything we need to build the package
find_package(catkin REQUIRED COMPONENTS
  roscpp
  sensor_msgs
  std_msgs
)

# since we need boost search it as well
# find_package makes the ${..._INCLUDE_DIRS} ${..._LIBRARIES} variables we use later
find_package(Boost REQUIRED COMPONENTS system thread)

# export the dependencis of this package for who ever depends on us
catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS roscpp sensor_msgs std_msgs 
  DEPENDS boost
)

# tell catkin where to find the headers for this project
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

# make the executables
add_executable( test_node src/test.cpp )

add_dependencies( test_node   ${catkin_EXPORTED_TARGETS} )

target_link_libraries( test_node  ${catkin_LIBRARIES} ${Boost_LIBRARIES} )

Warning:

-- +++ processing catkin package: 'test'
-- ==> add_subdirectory(test)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'boost' but neither 'boost_INCLUDE_DIRS' nor
  'boost_LIBRARIES' is defined.

Please see answer here.

A little confused with the documentation here and what you said. Do I still use two state estimation nodes? The GPS is d

Indoor GPS with Navsat_transform I have a set of Marvelmind robotics indoor GPS beacons and have it setup with pose data

Could it be that your world_frame in robot_localization_collaborative.yaml should be set to the map_frame and not odom.

Could it be that your world_frame in robot_localization_collaborative.yaml should be set to the map_frame and not odom.

Thanks Tom!

Please see answer here: http://answers.ros.org/question/258491/help-initializing-ekf-to-a-set-position/?answer=258964#po

I've added data to the bottom of my pose. I've made w=1. I usually press tab after /set_pose and was not paying attention to orientation. The default is 0. This is a controlled test with sensor data(odom+imu) streaming into the EKF. I see the EKF latching to the /set_pose value and not change.

Hello,

I have two sensors - odometry(wheel encoders) and an IMU for localization. The EKF params are as below:

odom0: /odom
imu0:  /imu/data

odom0_config: [true,  true,  false,          
               false, false, true,
               false, false, false,
               false, false, false,
               false, false, false]

imu0_config:  [false, false,  false,
               false, false,  true,
               false, false,  false,
               false, false,  true,
               false, false,  false]

odom0_differential: false
imu0_differential:  false

odom0_relative: true
imu0_relative:  true

If I need to initialize the filter, at say (1,2), I issue a /set_pose service call with a frame_id = odom. This only works if odom0_differential = true.

The odometry is pure pose(x,y and yaw) and IMU yaw is calculated via the complimentary filter. From what I understand, setting the differential term to true causes the odometry to be differentiated and then integrated to get the same pose value. How do I initialize the filter at a location, with odom0_differential = false.

Thanks.