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2013-09-26 00:22:54 -0500 commented answer Old data keeps being visualized in rviz

@domhege so I always should send out the same number of markers I understand?

2013-09-25 22:44:04 -0500 commented answer Old data keeps being visualized in rviz

Thank you for your reply. I first had a lifetime of zero. So shouldn't they disappear then straight afterwards in the next iteration? I did change it to ros::Duration because the lifetime is defined as that in the marker tutorial. I will try the DELETE action in a moment then.

2013-09-25 13:05:20 -0500 asked a question Old data keeps being visualized in rviz

I have a callback lineVisualization which publishes a MarkerArray containing lines. Inside rviz I visualize the lines. Now the problem I am facing is that some old lines which should not be detected anymore are showing up in rviz.

  • Sometimes they disapear after a while but somethines they don't.
  • If I then un-select the namespace from the MarkerArray and then disapear.

From the two above facts I observe I conclude that rviz for some reason stores my visualization data and keeps showing it? However since I never worked with Markers I wonder if I am not doing something wrong in my code.

The relevant code piece is displayed below.

void lineVisualization(const std_msgs::Float32MultiArray::ConstPtr& msgLines)
{
    // Create marker and markerarray
    visualization_msgs::MarkerArray lines;

    cmd_pub.publish(lines); 

    int offset = 0;

    // For each line
    for(int i = 0; i < (int)(msgLines->data.size() / 4); i++, offset = 4*i)
    {
        visualization_msgs::Marker line;

        // Init
        line.header.frame_id    = "/pico/base";
        line.header.stamp       = ros::Time::now();
        line.lifetime           = ros::Duration();
        line.id                 = i;
        line.ns                 = "HoughLines";
        line.type               = visualization_msgs::Marker::LINE_STRIP;
        line.action             = visualization_msgs::Marker::ADD;
        line.pose.orientation.w = 1.0;
        line.scale.x            = 0.05;
        line.color.r            = 0.0f;
        line.color.g            = 0.0f;
        line.color.b            = 1.0f;
        line.color.a            = 1.0f;


        // Create points
        geometry_msgs::Point p1;
        geometry_msgs::Point p2;

        p1.x =  (float)(msgLines->data[offset    ] / 100);
        p1.y = -(float)(msgLines->data[offset + 1] / 100);
        p1.z =  0;

        p2.x =  (float)(msgLines->data[offset + 2] / 100);
        p2.y = -(float)(msgLines->data[offset + 3] / 100);
        p2.z =  0;

        // Create line segment
        line.points.push_back(p1);
        line.points.push_back(p2);  

        // Add line to lines
        lines.markers.push_back(line);

        // Clear line point
        line.points.clear();
    }

    // Publish
    cmd_pub.publish(lines); 

    // Clear lines
    lines.markers.clear();
}
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2013-09-20 02:29:50 -0500 answered a question Does ROS include the boost libraries?

Okay most I found out that most linux systems include several pre-built boost libraries. I also found out that most of the boost libraries actually don't have to be built separately since they only exists out of header files. So what I did was just Downloaded the boost libraries from the website. Extracted the folder /usr/local. Then I just ran bootstrap.sh and I could include the header files in my own C++ files and compile.

For more info: http://www.boost.org/doc/libs/1_54_0/more/getting_started/unix-variants.html

2013-09-19 06:46:06 -0500 commented question Can't create a package

I also have this problem now. Don't know why. I first could create packages but now I can't anymore.

2013-09-18 11:51:39 -0500 asked a question Does ROS include the boost libraries?

I want to use the boost uBLAS library which contains functions for matrices. Now my question is does ROS include the boost libraries?

If yes why do I get the error displayed below? I checked out http://wiki.ros.org/rosbuild/CMakeLists/Examples#Using_Boost and believe I do everything correct. I am only including the header files at the moment.

If no where do I have to extract the boost package (the .tar file) which one can download from the boost website, http://www.boost.org/doc/libs/1_54_0/more/getting_started/unix-variants.html? When I look to the last line of the error I see that I should have unpacked them in either /usr /usr/include/ or /usr/lib?

Error

CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:892 (message): [rosboost-cfg --libs uBLAS] failed with error: Traceback (most recent call last):

  File "/opt/ros/fuerte/bin/rosboost-cfg",

line 35, in <module> rosboost_cfg.main() File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosboost_cfg/rosboost_cfg.py", line 359, in main output = lflags(ver, options.lflags.split(',')) File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosboost_cfg/rosboost_cfg.py", line 278, in lflags s += lib_flags(ver, lib) + " " File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosboost_cfg/rosboost_cfg.py", line 268, in lib_flags lib = find_lib(ver, name) File "/opt/ros/fuerte/lib/python2.7/dist-packages/rosboost_cfg/rosboost_cfg.py", line 249, in find_lib raise BoostError('Could not locate library [%s], version %s in lib directory [%s]'%(name, ver, dir))

rosboost_cfg.rosboost_cfg.BoostError:

"Could not locate library [uBLAS], version (1, 46, 1, '/usr', '/usr/include', True, True) in lib directory [/usr/lib]" Call Stack (most recent call first): CMakeLists.txt:26 (rosbuild_link_boost)

Source

// Include boost libs                                                           
#include <boost/numeric/ublas/matrix.hpp>                                       
#include <boost/numeric/ublas/io.hpp>

CMakelist.txt

rosbuild_add_boost_directories()                                                
rosbuild_link_boost(wallDetector uBLAS)                                         
rosbuild_add_executable(wallDetector src/wallDetector.cpp)
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2013-09-03 08:34:10 -0500 asked a question Installing ROS fuerte on Ubuntu 13.04

I am trying to install ROS fuerte on Ubuntu 13.04.

I tried to install the packages but I get the following message:

sudo apt-get install ros-fuerte-rospack
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:
 ros-fuerte-rospack : Depends: libboost-filesystem1.46.1 (>= 1.46.1-1) but it is not installable
                      Depends: libboost-program-options1.46.1 (>= 1.46.1-1) but it is not installable
                      Depends: libboost-system1.46.1 (>= 1.46.1-1) but it is not installable
E: Unable to correct problems, you have held broken packages.

Do I understand from this that it is impossible to install fuerte on 13.04? I would agree if I would not be able to install it on a earlier ubuntu version but a higher version should not be a problem I presume?

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2012-11-26 10:45:57 -0500 marked best answer Kinect microphone array (linux), HARK in combination with OpenNI.

I am working on sound-source localization for our robot. For our robot vision we use OpenNI.

In my search for software for reading the Kinect microphone array I did not found anything usefull at OpenNI. The old decrepated page says however that OpenNI supports the Kinect microphone array, http://www.ros.org/wiki/kinect.

Offtopic question: Can one read the Kinect microphone array using OpenNI? If so how? And why is there no documentation for it (I looked really hard)?

Now because I could not figure out if OpenNI supported the Kinect microphone array I looked for other solutions. I came in contact with HARK-kinect. Which is in fact a kind of API for ROS to communicate with HARK. HARK comes with a driver for the Kinect to read out the microphone array. Now I have already build some schematics in HARK and tested it with the Kinect.

This morning when bicycling to the university, it came up with me that all the work I am doing now is totally pointless. HARK namely has a own driver for communicating with the Kinect, so does OpenNI (I presume).

Main question: Does anybody know if both HARK and OpenNI can communicate with the Kinect at the same time?

I could imaging namely that both drivers would conflict with each other?

I hope someone can say something clever about this.

2012-11-26 10:45:47 -0500 commented answer Kinect microphone array (linux), HARK in combination with OpenNI.

Thank you very much for your indept information @Ben_S!

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2012-11-26 09:39:41 -0500 marked best answer Rosrun, node is not removed from rosnode list after exit

Hello,

I am new to ROS and currently I'm following the tutorial of ROS. Everything went smooth till now. I am at tutorial: http://www.ros.org/wiki/ROS/Tutorials/UnderstandingNodes

At about in the middle you have to execute the command rosrun turtlesim turtlesim_node. Which will starte a node called turtlesim, because no other name is provided. Then you have to run rosrun turtlesim turtlesim_node __name:=my_turtle and execute the command rosnode list.

In the tutorial there is a note below the laste command saying

Note: If you still see /turtlesim in the list, it might mean that you don't have $ROS_HOSTNAME environment variable defined as described in Network Setup - Single Machine Configuration.

Now I still see /turtlesim in the list, even after I try to kill it using rosnode kill turtlesim. I however, believe, have the correct settings for Network Setup. After echoing the variables ROS_HOSTNAME (which value is localhost) and ROS_MASTER_URI (which value is http://localhost:11311)

Now can I just ignore this that /turtlesim was still in the list, even when it was closed? Because the ROS_HOSTNAME is definitly set correct.

-edit- maybe this can give some light on the matter at hand?

[22:54|0] $ roscore
... logging to /home/<user>/.ros/log/b4b75b6a-c61a-11e1-ab73-00216b29721e/roslaunch-<user>-29448.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:56819/
ros_comm version 1.8.10

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [29464]
ROS_MASTER_URI=http://localhost:11311/

setting /run_id to b4b75b6a-c61a-11e1-ab73-00216b29721e
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [29477]
started core service [/rosout]
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