Atul Divekar's profile - activity

Hello I have one confusion
I am publishing cmd_vel ( geometry_msgs/Twist ) messages using teleop_twist_keyboard . The Robot subscribes this messages i.e cmd_vel message. When should my robot stop moving ? a) As soon as I stop sending or publishing the cmd_vel from the Keyboard OR b) It should stop moving If i send him a STOP command Please can anyone Suggest which one is the Right ?

In navigation stack I am using a launch file. In that launch file map_server package is launching map_server node.

For creating map I am using gmapping package. In Gmapping I am using map_saver node from map_server package to save a map. I am in confusion that in Navigation stack which node of map_server package I should use map_server or map_saver.

What is the difference between map_server and map_saver?

We have gmapping package in ROS Can we create a map in ROS at runtime using gmapping package and without using rosbag file ? If yes ,then how it can be done ?

Hi, I am using ros-indigo on ubuntu 14.04 LTS. I am trying to use navigation stack, but I have some problem. My robot can move "Initial Pose" to "goal", But can't avoid obstacles. Whether the obstacle require plugins (costmap_2d::StaticLayer) to be inserted in configuration file. Please can one suggest me asap. Thank's in advanced.

My configuration files are as following:

1) common_costmap_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0

footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, 0.20]]

footprint_padding : 0.03
inflation_radius: 0.30 
cost_scaling_factor: 1
map_type: costmap

max_obstacle_height: 1.0
min_obstacle_height: 0.65

transform_tolerance:  10.0 

obstacle_layer:
    observation_sources: laser_scan_sensor
    laser_scan_sensor: {sensor_frame: sensor, data_type: LaserScan, topic: scan, marking: true, clearing: true, observation_persistence: 0.0, expected_update_rate: 0.0, max_obstacle_height: 1.0, min_obstacle_height: 0.65, obstacle_range: 2.5, raytrace_range: 3.0, inf_is_valid: false}

2) global_costmap_params.yaml

global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0 #20 3
publish_frequency: 2.0 #20 2
static_map: true

rolling_window : true

width: 10.0
height: 10.0

resolution: 0.1

3) local_costmap_params.yaml

local_costmap:
  global_frame: /map 
  robot_base_frame: /base_link
  update_frequency: 8.0 #10
  publish_frequency: 6.0 #10
  static_map: false
  rolling_window: true

  width: 4 #10.0 
  height: 4 #10.0
  resolution: 0.01 #0.05

4) dwa_local_planner.yaml

DWAPlannerROS:
  max_vel_x: 0.1099    
  min_vel_x: -0.1099    

  max_vel_y: 0.0      
  min_vel_y: 0.0

  acc_lim_th: 0.01099    
  acc_lim_x: 0.07999
  acc_lim_y: 0.0 #0.0

  max_trans_vel: 0.0999     
  min_trans_vel: 0.0199     

  max_rot_vel: 0.05099       
  min_rot_vel: 0.01999    
  rot_stopped_vel: 0.02

  sim_time:   1.7           
  vx_samples: 10    
  vy_samples: 1            
  vtheta_samples: 40 

  forward_point_distance: 0.0 # this value is being used as a cost value for robot alignment to the path
  holonomic_robot: false   

  meter_scoring: true

  dwa: true

  yaw_goal_tolerance: 0.1    
  xy_goal_tolerance: 0.3   
  latch_xy_goal_tolerance: true

  publish_cost_grid: true

  path_distance_bias:   32.0 
  goal_distance_bias:  24.0 
  occdist_scale:  0.1  
  stop_time_buffer: 2.0 
  oscillation_reset_dist: 0.1  
  prune_plan: false

5) move_base_params.yaml

shutdown_costmaps: false

controller_frequency: 1.0 
controller_patience: 1.0

planner_frequency: 1.0
planner_patience: 1.0

conservative_reset_dist: 0.2 #distance from an obstacle at which it will unstuck itself

How to define values in Calibration File for FOV camera model Hi, I am using DSO package. In DSO there is a camera.txt f

Hello I am using ROS-indigo distribution on ubuntu 14.04 LTS. I am trying to execute fovis_ros package for visual Odometery, but I am facing some problems in it. I have properly configured the fovis_ros package on PC. I have created the following fovis_ros.launch , which publishes /odom topic .I have used kinect camera for the depth and rgb imagee, But When I launch fovis launch file I am getting the following warning in it .

Please can one suggest me what is going wrong and how can I correct it . Also when I move my camera , there are no changes in the Odometery value , it just publishes zero values for coordinate.Thank's in advanced.

My fovis_ros.launch file are :

<launch>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0.0 0.0 0.81 -1.5707 0.0 -1.5707 base_link camera_link 100"/>

<node pkg="nodelet" type="nodelet" args="manager" name="nodelet_manager"/> <node pkg="nodelet" type="nodelet" name="convert_openni_fovis" args="load depth_image_proc/convert_metric nodelet_manager"> <remap from="image_raw" to="/camera/hd/image_depth_rect"/> <remap from="image" to="/camera/hd/image_depth_rect_1"/> </node>

<node pkg="fovis_ros" type="fovis_mono_depth_odometer" name="fovis_mono_depth_odometer" output="screen">

 <remap from="/camera/rgb/image_rect" to="/camera/hd/image_color_rect" />

 <remap from="/camera/depth_registered/image_rect" to="/camera/hd/image_depth_rect_1" />

 <remap from="/camera/rgb/camera_info" to="/camera/hd/camera_info" />

 <remap from="/camera/depth_registered/camera_info" to="/camera/hd/camera_info" />

 <!-- Name of the world-fixed frame where the odometer lives -->
 <param name="odom_frame_id" value="/odom" />
 <!-- Name of the moving frame whose pose the odometer should report.-->
 <param name="base_link_frame_id" value="/base_link" />
 <!--If true, the odometer publishes tf's -->
 <param name="publish_tf" value=" true" />

</node>

</launch>

1. List item

Okay,and My fixed frame on rviz is /map frame

Also the local_map changes its behavior when the global_map gets disappear as seen in Image 3rd

Hello In 2nd image as you can see the the robot initial position as /base_link (frame ) when we give goal to the robot behind the Obstacle , the robot while avoiding the obstacle it loses its Global_map as in the 3rd image the /global_map has disappear , why this happens so please can you suggest me

Thanks for suggestion I attached the screenshots.

Hi,

I am facing one issue during localization in rtabmap. When there is an dynamic obstacle in front of the robot an even during the navigation time map data gets some times disappears on rviz and the robot gets delocalized. Why this happens so? What is the solution for this so that there is continuous update of map from rtabmap? Please suggest as soon as possible. Thanks.

EDIT:

1) map_with_rviz.png

C:\fakepath\map_with_rviz.png

2) map_with_obstacle.png

C:\fakepath\map_with_obstacle.png

3) disappear_map_with_obstacle.png

C:\fakepath\map_with_delocalize.png

4) disappear_map_with_obstacle_1.png

C:\fakepath\map_with_delocalize_1.png

Sorry for the late reply. And your suggestion work for me. Thanks for reply.

Hi, Sorry for late reply. I added following plugins in global_costmap_params.yaml and local_costmap_params.yaml which solved the problem.

plugins:

- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} 

- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

Hi, I am working on one project for which I am using rtabmap_ros package for localization, but I am facing one issue in it. As we knew rtabmap_ros package uses the following image data

                  <remap from="rgb/image" to="/camera/qhd/image_color"/>
          <remap from="depth/image" to="/camera/qhd/image_depth_rect"/>
          <remap from="rgb/camera_info" to="/camera/qhd/camera_info"/>

for mapping and localization. During day time the pkg localizes the mobile robot perfectly without any issue But at evening time, as we make light's on, it doesn't gets localize at some position. Please can any one suggest me Why it's not getting localize and what must be issue in. Or do we have to remap this image topic to other images type. Also Is there any parameter to solve this issue in rtabmap_ros pkg?

Hi, I am using teb_local_planner in navigation stack. My observation when I keep an obstacle on the goal that time teb_local_planner gets failed and gives a following warnings :

WARNING : TebLocalPlannerROS: trajectory is not feasible, Resetting planner .... WARNING : teb_local_planner was not able to obtain a local plan for the current setting.

Please can anyone suggest me what should be the robot behavior near the obstacle. Thank's in advanced.

Hi, I am using teb_local_planner in navigation stack. Which package provides dynamic obstacles (teb_local_planner/ObstacleMsg) message to the teb_local_planner Please can anyone suggest me and Is there any other package in ros which provides information of dynamic obstacle?. Thank's in advanced.

Yes I can see the obstacle in rviz.