shoemakerlevy9's profile - activity

Hi,

I'm very sorry if this is a repeat question, but I'm using robot_upstart which dumps all logging output into the single file /var/log/upstart/foo.log. This makes it really hard to tell which node is talking. I'm currently getting the generic error "Failed to open port" and I'm not sure how to figure out where this message is coming from.

Is there a way to get ROS logging to display to node name?

The ROS2 Launch system is explained here https://design.ros2.org/articles/roslaunch.html

Hi,
I have the ROS navigation stack running on a robot. I can choose a point in RVIZ for the robot to navigate to and it is working well, except for sometimes the robot will start doing clearing rotations because it can't find a route through the global map. I then check the global map and see that obstacles have been put into it even though I have it set to be a static map.

Also in RVIZ the global map sometimes doesn't update until I toggle it off and back on again.

Here is my global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true

And here is the part of my launch files that loads move_base

<node pkg="move_base" type="move_base" name="move_base" >
    <rosparam file="$(find goose_chaser_main)/move_base_config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find goose_chaser_main)/move_base_config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find goose_chaser_main)/move_base_config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find goose_chaser_main)/move_base_config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find goose_chaser_main)/move_base_config/base_local_planner_params.yaml" command="load" />
</node>

Also is there a way to verify that my .yaml file is being loaded?

Update:
I verified that the .yaml file is indeed being loaded by running

rosparam get /move_base/global_costmap/static_map

Which returned: true

Update 2

I am running move_base with the default recovery behavior which includes clear_costmap_recovery, so I'm confused at why this recovery isn't working

Here is a picture of a situation where my robot failed to find a valid plan

Update 3

Here are my config files:

base_local_planner_params.yaml
local_costmap_params.yaml
global_costmap_params.yaml
costmap_common_params.yaml

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Hi,

I am using robot_localization. I'm using the typical setup

EKF1 fuses encoders + IMU
EKF2 fuses encoders + IMU + GPS

My question is about encoder covariances. The robot_localization documentation says

• If the odometry provides both position and linear velocity, fuse the linear velocity.
• If the odometry provides both orientation and angular velocity, fuse the orientation.

Following this advice I am fusing the orientation that the wheel encoders report, but I don't know what to set the encoders pose covariance to. Logically I would think the pose covariance should grow every time you move. It would just keep growing and growing without bound. But when I look at the example pose covariance diagonals of the diff_drive_contoller package it says to use static values

pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]

I'm very confused because diff_drive_controller seems like a commonly used package but those covariances don't make sense to me.

Hi,

I'm trying to extract compressed images from a bag file. Here is my launch file:

<launch>   
  <!-- Play Bag File -->   
  <node pkg="rosbag" type="play" name="rosbag" required="true" args="-r
  0.2 /media/nick/Samsung\ USB/bag_files/_2018-07-20-16-30-09.bag"/>

  <!-- Uncompress images -->   
  <node pkg="image_transport" type="republish" name="decompress_node" args="compressed in:=/webcam1/image out:=/webcam1/image" />

  <!-- Extract images -->
  <node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true" output="screen" cwd="ROS_HOME">
    <remap from="image" to="/webcam1/image"/>
  </node>
</launch>

This results in some frames not being saved and some frames being saves multiple times. Also a lot of frames are saved out of order so the video I make out of the frames is really choppy.

Is there any way to specify a yaw_goal_tolerance for each waypoint you send to move_base? Sometimes I care which direction it ends up in and other times I don't care. And using dynamic reconfigure sounds overly complicated and would result in much less readable code and would be harder to debug.

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ROS2 Debugging Techniques I'm just getting started learning ROS2 and I'm going through the tutorials. I am trying to cre