Shantnu's profile - activity

Publish pointCloud2 from csv files for LOAM Hi everyone, I have laser scans in the form of .csv files. I want to read t

Is there any update on this? I am in the same situation and need to convert a Matlab pointCloud object to PointCloud2 o

LOAM: How to get fully registered point cloud in Rviz/pcd? Hi, Using LOAM, I want to be able to visualize the complete

I am facing the same problem. The terminal shows the error " ROS get_physics_properties service call does not yet suppor

I am facing the same problem. The terminal shows the error, however, the GUI is showing DART correctly. Is this a bug?

I am facing the same problem. The terminal shows the error, however, the GUI is showing DART correctly. Is this a bug?

Just installing one of these packages (ros-indigo-gazebo-ros-control) helped me.

Just installing one of these packages (ros-indigo-gazebo-ros-control) helped me.

I have the exact same issue. Is it resolved?

it feels like the sequence of tf is wrong. It should be like map->odom-> base_footprint-> base_link. For you, it odom comes after base_footprint, which feels weird.

Secondly, the problem is the missing connection between base_link and map frame. To set that up, try doing this in your terminal before launching your launch file:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map base_footprint 100

So basically some node name base_controller which belongs to beginner_tutorials pkg is publishing the tf for you? Is that correct?

Are you publishing map->odom transformation anywhere or is it there by default?

Hi IceHawk,

I have MPU 9150 (which is similar to MPU6050) and Arduino. Could you suggest me the right way to publish tf messages using this combo?

Hi Ateator, Could you keep me updated with your next step: that is how to get point_cloud2 published and use octomap. I am working on the exact same problem and my next step is also same. Please contact me at shantnukakkar1992@gmail.com and we can discuss and put our doubts on ROS answers.

Please see my answer at http://answers.ros.org/question/23649... .

If you still have problem, please message me..

Unable to get any point in the cloud. The periodic_snapshotter node gives the message: Published Cloud with 0 points My aim is to make a point cloud from the tilt_laser topic published by the bag file. (See below)

This is my launch file:

<launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">

   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

I am using following bag file from MIT: http://infinity.csail.mit.edu/data/20...

This is my tf frames: https://onedrive.live.com/redir?resid...

EDIT=================================== The following is being published by the MIT bag file that I am using:

topics: /base_odometry/odom 21032 msgs : nav_msgs/Odometry
/base_odometry/odometer 224 msgs : pr2_mechanism_controllers/Odometer
/base_odometry/state 224 msgs : pr2_mechanism_controllers/BaseOdometryState /base_scan 4489 msgs : sensor_msgs/LaserScan
/robot_pose_ekf/odom_combined 6333 msgs : geometry_msgs/PoseWithCovarianceStamped
/tf 12687 msgs : tf/tfMessage
/tilt_scan 4489 msgs : sensor_msgs/LaserScan
/torso_lift_imu/data 22451 msgs : sensor_msgs/Imu
/torso_lift_imu/is_calibrated 1 msg : std_msgs/Bool
/wide_stereo/left/camera_info_throttle 220 msgs : sensor_msgs/CameraInfo
/wide_stereo/left/image_rect_throttle 220 msgs : sensor_msgs/Image
/wide_stereo/right/camera_info_throttle 220 msgs : sensor_msgs/CameraInfo
/wide_stereo/right/image_rect_throttle 220 msgs : sensor_msgs/Image

It worked finally!!!. The tutorial ( http://wiki.ros.org/laser_assembler/T... ) documentation is little confusing. After reading the tutorial, it feels like the input topic to the laser_assembler is tilt_scan. However, if you see the code in laser_scan_assembler.cpp, it turns out that the subscribed topic is /scan.

After realizing that the required topic is scan and not tilt_scan, I tried to do remapping as follows:

    <launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
 <remap from="tilt_scan" to="scan"/>
   <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 1 0 0 0 map odom_combined 10"/>

</launch>

However, it still produced 0 point clouds. Finally, running the bag file as rosbag play --clock bagfiles/b.bag /tilt_scan:=/scan helped me get the point clouds. Don't do remapping inside the launch file. Just do it when you are playing bag file..

Let me know if anyone faces problem in using laser_assembler. Below is the launch file that worked for me using the MIT bag file that I have attached above

<launch>


 <node pkg="laser_assembler" type="laser_scan_assembler" output="screen"  name="laser_scan_assembler">
    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="map" />
  </node>

 <node pkg="laser_assembler" type="periodic_snapshotter" output="screen" name="periodic_snapshotter" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 0 0 0 0 map odom_combined 10"/>

</launch>