zkytony's profile - activity

I am trying to upgrade some existing code that use tf with kinetic to use instead tf2 with noetic.

In the following line of code, planner_ is of type base_local_planner::TrajectoryPlannerROS and the code wants to call its initialize function.

planner_.initialize("TrajectoryPlannerROS", &tf_, &costmap_ros_);

The function signature for "initialize" is:

void base_local_planner::TrajectoryPlannerROS::initialize   (   
  std::string   name,
  tf2_ros::Buffer *     tf,
  costmap_2d::Costmap2DROS *    costmap_ros 
}

and the documentation says that tf is "a pointer to a transform listener", despite its type being tf2_ros::Buffer.

In the line of code above, tf_ is of type tf2_ros::TransformListener, which seems to match the documentation. However, the compiler throws an error that:

error: cannot convert ‘tf2_ros::TransformListener’ to ‘tf2_ros::Buffer’

I am very confused. How should one pass in a tf2_ros::TransformListener as a parameter of type tf2_ros::Buffer? The documentation is very confusing.

Adding node from within OpaqueFunction in ROS2 Python Launch File Is it possible to do something like this def myfunc(c

Set string value based on boolean argument in ROS2 Python Launch File Suppose I have a boolean argument foo def generat

Set string value based on boolean argument in ROS2 Python Launch File Suppose I have a boolean argument foo def generat

Set string value based on boolean argument in ROS2 Python Launch File Suppose I have a boolean argument foo def generat

No DepthCloud in RViZ 2 In RViZ 1, there was a "DepthCloud" display type that allows you to configure an RGB image topic

In response to @tnajjar, to do this in Python, use RcutilsLogger under rclpy.impl from rclpy.impl import rcutils_logger

Unexpected Node Duplication and Unable to Kill node in ROS2 I got a warning that says Publisher already registered for

Point Cloud and Depth Image Processing Nodes in ROS2 With ROS1, it was possible to conveniently process point cloud and

The code from autoware is great!

This is in conflict with this post here that says you can subscribe to the same topic multiple times within one node: ht

This post here says you can subscribe to the same topic multiple times within one node: https://answers.ros.org/question

Thanks Mike. I had thought about that actually. But how come import mytest.msg works within hey.py in mytest? The sys.pa

Strange <package>.msg import behavior: "ModuleNotFoundError: No module named '<package>.msg'" Is this a ROS

Strange <package>.msg import behavior: "ModuleNotFoundError: No module named '<package>.msg'" Is this a ROS

Strange <package>.msg import behavior: "ModuleNotFoundError: No module named '<package>.msg'" Is this a ROS

Strange <package>.msg import behavior: "ModuleNotFoundError: No module named '<package>.msg'" Is this a ROS

Strange <package>.msg import behavior: "ModuleNotFoundError: No module named '<package>.msg'" Is this a ROS

Is there a way to delay launching the part in "<include>"?

Here is a work around. I found that I could install PyKDL by sudo apt install python3-pykdl This installs a library to

I am getting "error: static assertion failed: The number of argument annotations does not match the number of function a

As shown in the screenshot below, some of the points (green) from the Kinect2 camera point cloud (kinect2/sd/points) are really close to the robot, due to sensor noise.

These points overlap with the gripper, and causes Moveit! to keep output the following message:

Motion plan was found but it seems to be too costly and looking around did not help.

and the plan was in state ABORTED.

When I turn off the OctoMap layer for Moveit!, the arm can execute the motion plan smoothly.

How can I either remove these noisy points or tell Moveit! to not worry about these points?