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2016-06-10 07:38:17 -0500 commented answer Qt - Display topic image_raw on GUI

Oh sorry. Ok Thank you very much.
2016-06-10 06:07:22 -0500 received badge ● Student (source)
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2016-06-09 14:25:19 -0500 asked a question Qt - Display topic image_raw on GUI

I think the title says all. I have a GUI on qt and I have a topic called robot/image_raw.

The problem is how can i display it on my gui project?

Thanks
2016-06-08 15:40:32 -0500 commented answer Error: Threads Multiple Definition of

I dont but I will download and add you.
2016-06-08 14:37:10 -0500 commented answer Error: Threads Multiple Definition of

On the bottom there's the copy-pasted drone_estimation2,UINode2 and autopilot2. If you need any help talk to me and I answer fast. http://www.megafileupload.com/juZD/ca...

Thx for helping me :) Greetings from Portugal. Is that a KUKA robot behind you?
2016-06-08 14:35:02 -0500 commented answer Error: Threads Multiple Definition of

I uploaded the catkin folder. The project is on catkin/src/tum_ardrone/src and it's the UINode. I already deleted but I had a copy-paste folder renamed to UINode2. If u see I have drone_estimation2 and autopilot2 and they work fine. The only problem is on UINode. Check the CMakeLists.
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2016-06-08 14:20:32 -0500 commented answer Error: Threads Multiple Definition of

Thank you. Anyhow I would like to pay you if u fix it. :D
2016-06-08 14:07:28 -0500 commented answer Error: Threads Multiple Definition of

Maybe I can give you the code and u fix it? I can pay via paypal. Thank you.
2016-06-07 18:35:38 -0500 commented answer Error: Threads Multiple Definition of

Everything works perfectly if I compile only one UINode. I just copy-pasted and renamed another folder to UINode2. But I cant compile UINode and UINode2 because it gives me the error above. tum_ardrone_gui.h is the header file. It only declares functions
2016-06-07 15:39:29 -0500 received badge ● Popular Question (source)
2016-06-07 14:28:54 -0500 commented answer Error: Threads Multiple Definition of

Already posted it.
2016-06-07 14:27:08 -0500 commented answer Error: Threads Multiple Definition of

Thx for helping. In tum_ardrone_gui.h I will post it.
2016-06-07 13:55:51 -0500 asked a question Error: Threads Multiple Definition of

I have two GUI exactly the same except a few alterations. I copy-paste the code and changed only the node.

Code:

  #include "tum_ardrone_gui.h"
#include "RosThread.h"
//#include "PingThread.h"
#include "time.h"
//#include "../HelperFunctions.h"

#include "ros/ros.h"
#include "ros/package.h"

#include <sys/types.h>
#include <dirent.h>
#include <errno.h>
#include <vector>
#include <string>
#include <iostream>
#include <fstream>
#include <string.h>

int getdirtxt (std::string dir, std::vector<std::string> &files)
{
    DIR *dp;
    struct dirent *dirp;
    if((dp  = opendir(dir.c_str())) == NULL) {
        std::cout << "Error(" << errno << ") opening " << dir << std::endl;
        return errno;
    }

    while ((dirp = readdir(dp)) != NULL) {
        std::string f = dirp->d_name;
        if(f.size() > 4 && f.substr(f.size()-4) == ".txt")
            files.push_back(std::string(dirp->d_name));
    }
    closedir(dp);
    return 0;
}

tum_ardrone_gui::tum_ardrone_gui(QWidget *parent)
    : QWidget(parent)
{
    ui.setupUi(this);
    rosThread = NULL;
    sensGaz = sensYaw = sensRP = 1;
    currentControlSource = CONTROL_NONE;
    useHovering = true;

    for(int i=0;i<8;i++)
    {
        isPressed[i] = false;
        lastRepeat[i] = 0;
    }


    QObject::connect( this, SIGNAL(setCountsSignal(unsigned int,unsigned int,unsigned int,unsigned int) ),
                       this, SLOT( setCountsSlot(unsigned int,unsigned int,unsigned int,unsigned int) ) );

    QObject::connect( this, SIGNAL( setPingsSignal(int, int) ),
                       this, SLOT( setPingsSlot(int, int) ) );

    QObject::connect( this, SIGNAL( setControlSourceSignal(int) ),
                       this, SLOT( setControlSourceSlot(int) ) );

    QObject::connect( this, SIGNAL( addLogLineSignal(QString) ),
                       this, SLOT( addLogLineSlot(QString) ) );

    QObject::connect( this, SIGNAL( setAutopilotInfoSignal(QString) ),
                       this, SLOT( setAutopilotInfoSlot(QString) ) );

    QObject::connect( this, SIGNAL( setStateestimationInfoSignal(QString) ),
                       this, SLOT( setStateestimationInfoSlot(QString) ) );

    QObject::connect( this, SIGNAL( setMotorSpeedsSignal(QString) ),
                       this, SLOT( setMotorSpeedsSlot(QString) ) );

    QObject::connect( this, SIGNAL( closeWindowSignal() ),
                       this, SLOT( closeWindowSlot() ) );


    std::vector<std::string> files = std::vector<std::string>();
    getdirtxt(  ros::package::getPath("tum_ardrone") + std::string("/flightPlans/"),files);

    ui.comboBoxLoadFile->addItem(QString(""), QVariant());
    for(unsigned int i=0;i<files.size();i++)
        ui.comboBoxLoadFile->addItem(QString(files[i].c_str()), QVariant());

}



tum_ardrone_gui::~tum_ardrone_gui()
{
}

// clicked functions
void tum_ardrone_gui::LandClicked()
{
    rosThread->sendLand();
}

void tum_ardrone_gui::TakeoffClicked()
{
    rosThread->sendTakeoff();
}
void tum_ardrone_gui::ToggleCamClicked()
{
    rosThread->sendToggleCam();
}
void tum_ardrone_gui::FlattrimClicked()
{
    rosThread->sendFlattrim();
}
void tum_ardrone_gui::EmergencyClicked()
{
    rosThread->sendToggleState();
}

void tum_ardrone_gui::ClearClicked()
{
    rosThread->publishCommand("c clearCommands");
}
void tum_ardrone_gui::SendClicked()
{
    QStringList l = ui.plainTextEditSendCommand->toPlainText().split('\n');
    for(int i=0;i<l.length();i++)
    {
        std::string s = l[i].trimmed().toStdString();

        if(s.size() > 0)
            rosThread->publishCommand(std::string("c ")+s);
    }
    setControlSource(CONTROL_AUTO);
}
void tum_ardrone_gui::ClearSendClicked()
{
    ClearClicked();
    SendClicked();
}
void tum_ardrone_gui::ResetClicked()
{
    setControlSource(CONTROL_NONE);
    ClearClicked();
    rosThread->publishCommand("f reset");
}


void tum_ardrone_gui::LoadFileChanged(QString val)
{
    if(val == "")
        ui.plainTextEditSendCommand->setPlainText("");
    else
    {
        std::string path = ros::package::getPath("tum_ardrone") + std::string("/flightPlans/") + val.toStdString();
        addLogLine("Load File "+ path);

        std::ifstream t;
        t.open(path.c_str());
        std::string buffer = "";
        std::string line;
        while(!t.eof())
        {
            std::getline(t, line);
            buffer = buffer + line + "\n";
        }
        t.close();

        ui.plainTextEditSendCommand->setPlainText(buffer.c_str());
    }
}
void tum_ardrone_gui::ToggledUseHovering(int val)
{
    useHovering = (val != 0);
}

void tum_ardrone_gui::ToggledPingDrone(int val)
{
    pingThread->measure = (val != 0);
}

// change control source functions
void tum_ardrone_gui::ControlSourceChanged()
{
    ControlSource s = CONTROL_NONE;

    if(ui.radioButtonControKB->isChecked())
        s = CONTROL_KB;
    if(ui.radioButtonControlNone->isChecked())
        s = CONTROL_NONE;
    if(ui.radioButtonControlJoy->isChecked())
        s = CONTROL_JOY;
    if(ui.radioButtonControlAuto->isChecked())
        s = CONTROL_AUTO;

    if(s != CONTROL_AUTO)
        rosThread->publishCommand("c stop");
    else
        rosThread->publishCommand("c ...
(more)
2016-06-06 14:35:17 -0500 received badge ● Popular Question (source)
2016-06-06 12:24:40 -0500 answered a question ROS two different nodes in the same package

Copy paste the code in CMakeLists.txt and replace with a 2 in the end did the trick. This is bad code development xD. Thanks anyway.
2016-06-06 12:10:17 -0500 received badge ● Editor (source)
2016-06-06 12:09:10 -0500 commented answer ROS two different nodes in the same package

The problem is that when I run roslaunch it only starts 2 instances of the nodes Autopilot,StateEstimation and UINode and not Autopilot,StateEstimation and UINode and Autopilot2,StateEstimation2 and UINode2
2016-06-06 12:08:39 -0500 commented answer ROS two different nodes in the same package

Basically I copy-paste the folders inside src ( Autopilot,StateEstimation and UINode ) and changed the code in each one to read /drone1/image_raw and /drone2/image_raw in ( Autopilot2,StateEstimation2 and UINode2 ).
2016-06-06 12:05:38 -0500 commented answer ROS two different nodes in the same package

Thank you for your help. Gives me: Error Cannot launch node of type tum_ardrone_droneautopilot2.
2016-06-06 12:01:36 -0500 commented answer ROS two different nodes in the same package

Thank you for your help. Gives me: Error Cannot launch node of type tum_ardrone_droneautopilot2.
2016-06-06 11:47:25 -0500 answered a question ROS two different nodes in the same package

Maybe I have to mess with CMakeLists.txt? But what can I do?

#

Author: Jakob Engel jajuengel@gmail.com

Contributor: Stefan Wilkes stefan.wilkes@gmail.com

# cmake_minimum_required(VERSION 2.8.3) project(tum_ardrone)

Find catkin macros and libraries

find_package(catkin REQUIRED COMPONENTS ardrone_autonomy cv_bridge dynamic_reconfigure geometry_msgs sensor_msgs std_msgs std_srvs message_generation roscpp rospy )

Compile third party libs

include(ExternalProject) ExternalProject_Add(thirdparty URL ${PROJECT_SOURCE_DIR}/thirdparty/thirdparty.tar.gz PREFIX ${CMAKE_BINARY_DIR}/thirdparty CONFIGURE_COMMAND "" BUILD_COMMAND make INSTALL_COMMAND "" BUILD_IN_SOURCE 1 )

------------------- add dynamic reconfigure api ------------------------------------

generate_dynamic_reconfigure_options( cfg/AutopilotParams.cfg cfg/GUIParams.cfg cfg/StateestimationParams.cfg )

################################################

Declare ROS messages, services and actions

################################################

Generate messages in the 'msg' folder

add_message_files(FILES filter_state.msg)

Generate services in the 'srv' folder

add_service_files( DIRECTORY srv FILES SetReference.srv SetMaxControl.srv SetInitialReachDistance.srv SetStayWithinDistance.srv SetStayTime.srv )

Generate added messages

generate_messages(DEPENDENCIES std_msgs)

###################################

catkin specific configuration

################################### catkin_package(CATKIN_DEPENDS message_runtime std_msgs ardrone_autonomy)

###########

Build

########### include_directories(${catkin_INCLUDE_DIRS})

--------------------------- stateestimation & PTAM --------------------------------

set header ans source files

set(STATEESTIMATION_SOURCE_FILES
src/stateestimation/GLWindow2.cc src/stateestimation/GLWindowMenu.cc
src/stateestimation/main_stateestimation.cpp src/stateestimation/DroneKalmanFilter.cpp src/stateestimation/Predictor.cpp src/stateestimation/PTAMWrapper.cpp src/stateestimation/MapView.cpp src/stateestimation/EstimationNode.cpp src/stateestimation/PTAM/ATANCamera.cc src/stateestimation/PTAM/Bundle.cc src/stateestimation/PTAM/HomographyInit.cc src/stateestimation/PTAM/KeyFrame.cc src/stateestimation/PTAM/Map.cc src/stateestimation/PTAM/MapMaker.cc src/stateestimation/PTAM/MapPoint.cc src/stateestimation/PTAM/MiniPatch.cc src/stateestimation/PTAM/PatchFinder.cc src/stateestimation/PTAM/Relocaliser.cc src/stateestimation/PTAM/ShiTomasi.cc src/stateestimation/PTAM/SmallBlurryImage.cc src/stateestimation/PTAM/Tracker.cc ) set(STATEESTIMATION_HEADER_FILES
src/stateestimation/GLWindow2.h src/stateestimation/GLWindowMenu.h
src/stateestimation/MouseKeyHandler.h
src/HelperFunctions.h
src/stateestimation/DroneKalmanFilter.h
src/stateestimation/Predictor.h src/stateestimation/PTAMWrapper.h src/stateestimation/MapView.h src/stateestimation/EstimationNode.h src/stateestimation/PTAM/ATANCamera.h src/stateestimation/PTAM/Bundle.h src/stateestimation/PTAM/customFixes.h src/stateestimation/PTAM/HomographyInit.h src/stateestimation/PTAM/KeyFrame.h src/stateestimation/PTAM/LevelHelpers.h src/stateestimation/PTAM/Map.h src/stateestimation/PTAM/MapMaker.h src/stateestimation/PTAM/MapPoint.h src/stateestimation/PTAM/MEstimator.h src/stateestimation/PTAM/MiniPatch.h src/stateestimation/PTAM/OpenGL.h src/stateestimation/PTAM/PatchFinder.h src/stateestimation/PTAM/Relocaliser.h src/stateestimation/PTAM/settingsCustom.h src/stateestimation/PTAM/ShiTomasi.h src/stateestimation/PTAM/SmallBlurryImage.h src/stateestimation/PTAM/SmallMatrixOpts.h src/stateestimation/PTAM/TrackerData.h src/stateestimation/PTAM/Tracker.h src/stateestimation/PTAM/VideoSource.h )

set required libs and headers

include_directories( ${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/TooN/include ${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/libcvd/include ${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/gvars3/include )

link_directories( ${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/libcvd/lib ${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/gvars3/lib ) set(PTAM_LIBRARIES GL glut cvd GVars3 blas lapack) add_definitions(-DKF_REPROJ)

build!

add_executable(drone_stateestimation ${STATEESTIMATION_SOURCE_FILES} ${STATEESTIMATION_HEADER_FILES}) set_target_properties(drone_stateestimation PROPERTIES COMPILE_FLAGS "-D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3") target_link_libraries(drone_stateestimation ${PTAM_LIBRARIES} ${catkin_LIBRARIES}) add_dependencies(drone_stateestimation thirdparty ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg)

------------------------- autopilot & KI -----------------------------------------

set header ans source files

set(AUTOPILOT_SOURCE_FILES
src/autopilot/main_autopilot.cpp
src/autopilot/ControlNode.cpp src/autopilot/DroneController.cpp src/autopilot/KI/KILand.cpp src/autopilot/KI/KIAutoInit.cpp src/autopilot/KI/KIFlyTo.cpp ...

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2016-06-06 11:23:48 -0500 asked a question ROS two different nodes in the same package

Hello. My package name is tum_ardrone. Inside the src file I have Autopilot,StateEstimation and UINode. I Created Autopilot2,StateEstimation2 and UINode2 to run two robots.

When I run the launch file:

<launch>
<group ns="controlo_drone1">
<node name="drone_stateestimation" pkg="tum_ardrone" type="drone_stateestimation">
</node>
<node name="drone_autopilot" pkg="tum_ardrone" type="drone_autopilot">
</node>
<node name="drone_gui" pkg="tum_ardrone" type="drone_gui">
</node>
</group>

<group ns="controlo_drone2">
<node name="drone_stateestimation2" pkg="tum_ardrone" type="drone_stateestimation">
</node>
<node name="drone_autopilot2" pkg="tum_ardrone" type="drone_autopilot">
</node>
<node name="drone_gui2" pkg="tum_ardrone" type="drone_gui">
</node>
</group>
</launch>

I want to run Autopilot,StateEstimation and UINode and Autopilot2,StateEstimation2 and UINode2.

But when I run the launch file it runs two instances of Autopilot,StateEstimation and UINode and not my Autopilot2,StateEstimation2 and UINode2.

Basically I copy-paste the folders inside src ( Autopilot,StateEstimation and UINode ) and changed the code in each one to read /drone1/image_raw and /drone2_image_raw in ( Autopilot2,StateEstimation2 and UINode2 ).

The problem is that when I run roslaunch it only starts 2 instances of the nodes Autopilot,StateEstimation and UINode and not Autopilot,StateEstimation and UINode and Autopilot2,StateEstimation2 and UINode2

Any idea? Please help me.

Edit: Maybe I have to mess with CMakeLists.txt? But what can I do?

    #
# Author: Jakob Engel <jajuengel@gmail.com>
# Contributor: Stefan Wilkes <stefan.wilkes@gmail.com>
#
cmake_minimum_required(VERSION 2.8.3)
project(tum_ardrone)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  ardrone_autonomy
  cv_bridge
  dynamic_reconfigure
  geometry_msgs
  sensor_msgs
  std_msgs
  std_srvs
  message_generation
  roscpp
  rospy
)

# Compile third party libs
include(ExternalProject)
ExternalProject_Add(thirdparty
    URL ${PROJECT_SOURCE_DIR}/thirdparty/thirdparty.tar.gz
    PREFIX ${CMAKE_BINARY_DIR}/thirdparty
    CONFIGURE_COMMAND ""
    BUILD_COMMAND make
    INSTALL_COMMAND ""
    BUILD_IN_SOURCE 1
)

# ------------------- add dynamic reconfigure api ------------------------------------
generate_dynamic_reconfigure_options(
  cfg/AutopilotParams.cfg
  cfg/GUIParams.cfg
  cfg/StateestimationParams.cfg
)

################################################
## Declare ROS messages, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(FILES filter_state.msg)

## Generate services in the 'srv' folder
add_service_files(
    DIRECTORY srv
    FILES
    SetReference.srv
    SetMaxControl.srv
    SetInitialReachDistance.srv
    SetStayWithinDistance.srv
    SetStayTime.srv
)

## Generate added messages 
generate_messages(DEPENDENCIES std_msgs)

###################################
## catkin specific configuration ##
###################################
catkin_package(CATKIN_DEPENDS message_runtime std_msgs ardrone_autonomy)

###########
## Build ##
###########
include_directories(${catkin_INCLUDE_DIRS})

# --------------------------- stateestimation & PTAM --------------------------------
# set header ans source files
set(STATEESTIMATION_SOURCE_FILES       
    src/stateestimation/GLWindow2.cc
    src/stateestimation/GLWindowMenu.cc  
    src/stateestimation/main_stateestimation.cpp
    src/stateestimation/DroneKalmanFilter.cpp
    src/stateestimation/Predictor.cpp
  src/stateestimation/PTAMWrapper.cpp
  src/stateestimation/MapView.cpp
  src/stateestimation/EstimationNode.cpp
  src/stateestimation/PTAM/ATANCamera.cc
  src/stateestimation/PTAM/Bundle.cc
  src/stateestimation/PTAM/HomographyInit.cc
  src/stateestimation/PTAM/KeyFrame.cc
  src/stateestimation/PTAM/Map.cc
  src/stateestimation/PTAM/MapMaker.cc
  src/stateestimation/PTAM/MapPoint.cc
  src/stateestimation/PTAM/MiniPatch.cc
  src/stateestimation/PTAM/PatchFinder.cc
  src/stateestimation/PTAM/Relocaliser.cc
  src/stateestimation/PTAM/ShiTomasi.cc
  src/stateestimation/PTAM/SmallBlurryImage.cc
  src/stateestimation/PTAM/Tracker.cc
)
set(STATEESTIMATION_HEADER_FILES    
  src/stateestimation/GLWindow2.h 
  src/stateestimation/GLWindowMenu.h    
  src/stateestimation/MouseKeyHandler.h  
  src/HelperFunctions.h   
  src/stateestimation/DroneKalmanFilter.h        
  src/stateestimation/Predictor.h 
  src/stateestimation/PTAMWrapper.h
  src/stateestimation/MapView.h
  src/stateestimation/EstimationNode.h
  src/stateestimation/PTAM/ATANCamera.h
  src/stateestimation/PTAM/Bundle.h
  src/stateestimation/PTAM/customFixes.h
  src/stateestimation/PTAM/HomographyInit.h
  src/stateestimation/PTAM ...
(more)
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