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2015-06-10 02:40:12 -0600 marked best answer Is there a good tf2 tutorial ?

Hi there,

Trying to use tf2 with hydro here, however I just can't get the tutorials to work. For the broadcaster, the C++ tutorial is missing. For the listener, there is a structure that seems to be inexistant : tf2_ros::PoseStamped; and the broadcaster uses another structure geometry_msgs::TransformStamped. The listener tells me there it doesn't have a lookupTransform method.

I think the existing tutorials are outdated, so any help in understanding how to use tf2 : listeners, broadcasters and data types, would be appreciated.

Guido

2015-04-07 07:10:56 -0600 answered a question Ros PCL segmentation for dominant plane

The solution proposed by Stefan suppose your cloud is expressed in a frame where Z points upwards. If the point cloud is expressed in the camera frame, there is no easy way to make the difference between the floor and a wall without more assumptions. If your camera is pointing to the floor you could choose the plan intersecting the optical axis (Z camera axis).

2015-04-06 09:02:58 -0600 asked a question Full body navigation stack

Hi,

I am looking for a stack/package which allows planning a motion to get near a table for manipulation. The pr2 navigation stack is more into avoiding obstacles than going near them. I used to rely on http://wiki.ros.org/3d_navigation but it does not work anymore since fuerte. Is anyone aware of a solution ?

Best regards,

Guido

2015-03-04 10:47:38 -0600 received badge  Famous Question (source)
2014-09-25 06:21:35 -0600 commented question perspective or projection matrix

You will need some assumptions to compute the projection matrix from a mono camera, like some known calibration pattern. What are your assumptions ?

2014-09-25 06:19:50 -0600 asked a question Ork Renderer Sampling

Hi,

I want to use the ork_renderer package to extract views of a textured 3D model. I was curious about the sampling limits and step. Taking a look at the code I find that the default values are -80° to +80°, for the limits, and 40° for the step. Where does these values come from ? Why -80 to 80 and not -180 to 180 ? Is it possible to change these values without hard coding them ?

Best regards,

Guido Manfredi

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2014-07-18 19:19:09 -0600 received badge  Popular Question (source)
2014-04-20 06:51:23 -0600 marked best answer What are ground_object_cloud and base_scan_marking ?

Hi all,

Looking into the pr2 navigation configuration: costmap_common_params.yaml, we saw that there are 4 sources: tilt_scan, base_scan, base_scan_marking, ground_object_cloud.

We suffered from fantom obstacles when navigating. When removing the ground_object_cloud source the fantom disapeared. What is this source for ? By the way, what is base_scan_marking for ?

Guido

2014-04-20 06:50:37 -0600 marked best answer How to add prefix to "/set_camera_info" service ?

Hi all,

I'm trying to advertise a camera image+info in order to calibrate it. I create my info manager like follows :

camera_info_manager::CameraInfoManager info_mgr(nh, "webcam");

webcam is my camera name. Though, when I start the programme and ask for a "rosservice list" I only get :

/set_camera_info

with no prefix. What am I missing ?

2014-04-20 06:48:26 -0600 marked best answer From structure to message

Hi everybody,

Does someone has ideas about how to directly send a C structure over topics/services/actions ? Currently I read some data from a file and end up with this data in a structure S, then I copy the data in S into a ROS msg data structure ROS_S (which is identical to S). This copy-past step bothers me and I would like to know if someone has a simple solution about this.

Guido

2014-04-20 06:48:20 -0600 marked best answer openni detecting device only in debug mode

Hi all,

I'm trying to run the openni_node.launch file on a PR2 with ubuntu lucid and diamondback. When starting the launch file with "debug=true" the kinect is detected correctly and I can visualize its output in rviz. However when starting the .launch with "debug=false", the node can't find the device.

The main difference with debug is that it launchs the node on a separate xterm. As far as I have seen, no environement variable is different in the xterm.

Someone has any idea ?

Guido

2014-04-20 06:48:10 -0600 marked best answer roboearth no models ?

Hi all,

I'm trying to use the roboearth stack. However, when trying to download the test model I get a "410 GONE". Are there available models to test with ? Or do I have to build one ?

Best regards,

Guido

2014-04-20 06:48:10 -0600 marked best answer Which controller for the PR2 base

Dear all,

I'm trying to customize the base controller on pr2. However when I compile BaseController2, the compiler tells me that a lot of functions in there are deprecated. Which controller am I supposed to use ?

Guido

2014-04-20 06:48:09 -0600 marked best answer Why roscore can' find the good IP adress ?

Hi all,

My computer has two IPv4 adresses (one for the wired lan, one for the wifi). The computer name is gilgamesh. Its name on the wired lan is gilgamesh too. But its name through wifi is gilgamesh-wifi. When I start roscore, with wifi on, it complains about not being able to ping gilgamesh (While it should try to ping gilgamesh-wifi).

How to specify the name of the host computer when launching roscore ? (or any ros server)

2014-04-20 06:48:02 -0600 marked best answer Is there a way to follow a trajectory with no collision detection ?

Hi all,

Is there a way, in ROS, to do a simple trajectory following with no costmap and no collision detection ? The trajectory is specified in terms of (x,y) waypoints.

I can't figure out how to twick the navigation stack in order to do this, and I would like to avoid setting the objects perception distance (obstacle range) to 0.

Thanks for your help,

Guido

2014-04-20 06:47:46 -0600 marked best answer How to add objects to a local household database ?

Hi all,

I'm trying to add objects to the household database downloaded from willow garage. However, i don't know how to add the objects to the database. The API documentation of household_objects_database mention a PLYModelLoader class, but i'm unable to find it in my ROS files. My ROS version is cturtle 1.2.4 .

Any idea how to do this ?

Best regards,

Guido

2014-04-20 06:47:43 -0600 marked best answer Why sound play doesn't use festival's default voice ?

Hi all,

I'm trying to make our pr2 speak. However the (sound_play node + say.py script) gives a deep and slow voice hardly understandable. I changed voices in festival, but sound_play doesn't take it into account. How to make sound_play use the voice set as default in festival ?

Guido

2014-04-20 06:47:41 -0600 marked best answer why pr2-controllers use a shared pointer + realtimebox ?

Hi all,

As I further explore controllers, I notice that shared access is made possible by a realtimebox containing a shared pointer. If I understand correctly, the realtimebox uses a mutex for thread safety. However the shared pointer, too, offers multiple access protection. This seems redundant to me. Maybe I'm missing something ? Why is it done this way ?

2014-04-20 06:47:39 -0600 marked best answer how to use roscd with folders which are not ros nodes ?

Hi all,

I am currently using ROS in conjunction with Genom. However, Genom doesn't have an equivalent to roscd. I would like to know if there is a way to use roscd to fastly go into Genom module folders.

Guido

2014-04-20 06:47:36 -0600 marked best answer How to write a rviz plugin

Hi ros answers,

I was wondering about how to add plugins to rviz. I read on the wiki that it was not documented on purpose as there is no stable API. But i would like to take a look at how it is done. Where should I start ? Thank you.

Guido

2014-04-20 06:47:35 -0600 marked best answer Why realtime loop could die ?

Hi all,

I'm facing a strange problem. While running a custom controller for the whole pr2 joints, the realtime-loop2 die. It happens randomly when a trajectory is sent to the controller. Sometimes at the first trajectory, some other times after the Nth trajectory. After the realtime loop die, the whole robot die. The robot is started with the command roslaunch /etc/ros/robot.launch (and not sudo robot start, i don't know if this makes a difference). He are some logs.

Realtime-loop2:

[roscpp_internal] [2011-04-28 10:17:46,613] [thread 0x7f821803a770]: [DEBUG] TCP socket [58] closed 
[roscpp_internal] [2011-04-28 10:17:49,618] [thread 0x7f820c5d8950]: [DEBUG] Accepted connection on socket [9], new socket [58]
[roscpp_internal] [2011-04-28 10:17:49,618] [thread 0x7f820c5d8950]: [DEBUG] TCPROS received a connection from [10.68.0.1:37309]
[roscpp_internal] [2011-04-28 10:17:49,618] [thread 0x7f820c5d8950]: [DEBUG] Connection: Creating ServiceClientLink for service [/pr2_controller_manager/list_controllers] connected to [callerid=[/arms_controllers_stopper] address=[TCPROS connection to [10.68.0.1:37309 on socket 58]]]
[roscpp_internal] [2011-04-28 10:17:49,618] [thread 0x7f820c5d8950]: [DEBUG] Service    client [/arms_controllers_stopper] wants service [/pr2_controller_manager/list_controllers] with md5sum [39c8d39516aed5c7d76284ac06c220e5]
[roscpp_internal] [2011-04-28 10:17:49,619] [thread 0x7f821803a770]: [DEBUG] TCP socket [58] closed
[roscpp_internal] [2011-04-28 10:17:49,695] [thread 0x7f820c5d8950]: [DEBUG] Accepted connection on socket [9], new socket [58]
[roscpp_internal] [2011-04-28 10:17:49,695] [thread 0x7f820c5d8950]: [DEBUG] TCPROS received a connection from [10.68.0.1:37314]
[roscpp_internal] [2011-04-28 10:17:49,695] [thread 0x7f820c5d8950]: [DEBUG] Connection: Creating ServiceClientLink for service [/l_forearm_cam_trigger/set_waveform] connected to [callerid=[/camera_synchronizer_node] address=[TCPROS connection to [10.68.0.1:37314 on socket 58]]]
[roscpp_internal] [2011-04-28 10:17:49,696] [thread 0x7f820c5d8950]: [DEBUG] Service client [/camera_synchronizer_node] wants service [/l_forearm_cam_trigger/set_waveform] with md5sum [cbb7e900a71a9a437da9999c8d39fff4]
[roscpp_internal] [2011-04-28 10:17:49,696] [thread 0x7f821803a770]: [DEBUG] TCP socket [58] closed
[roscpp_internal] [2011-04-28 10:17:49,697] [thread 0x7f820c5d8950]: [DEBUG] Accepted connection on socket [9], new socket [58]
[roscpp_internal] [2011-04-28 10:17:49,697] [thread 0x7f820c5d8950]: [DEBUG] TCPROS received a connection from [10.68.0.1:37315]
[roscpp_internal] [2011-04-28 10:17:49,697] [thread 0x7f820c5d8950]: [DEBUG] Connection: Creating ServiceClientLink for service [/r_forearm_cam_trigger/set_waveform] connected to [callerid=[/camera_synchronizer_node] address=[TCPROS connection to [10.68.0.1:37315 on socket 58]]]
[roscpp_internal] [2011-04-28 10:17:49,697] [thread 0x7f820c5d8950]: [DEBUG] Service client [/camera_synchronizer_node] wants service [/r_forearm_cam_trigger/set_waveform] with md5sum [cbb7e900a71a9a437da9999c8d39fff4]
[roscpp_internal] [2011-04-28 10:17:49,698] [thread 0x7f821803a770]: [DEBUG] TCP socket [58] closed
[roscpp_internal] [2011-04-28 10:17:49,698] [thread 0x7f820c5d8950]: [DEBUG] Accepted connection on socket [9], new socket [58]
[roscpp_internal] [2011-04-28 10:17:49,698] [thread 0x7f820c5d8950]: [DEBUG] TCPROS received a connection from [10.68.0.1:37316]
[roscpp_internal] [2011-04-28 10:17:49,698] [thread 0x7f820c5d8950]: [DEBUG] Connection: Creating ServiceClientLink for service [/head_camera_trigger/set_waveform] connected to [callerid=[/camera_synchronizer_node] address=[TCPROS connection to [10.68.0.1:37316 on socket 58]]]
[roscpp_internal] [2011-04-28 10:17:49,698] [thread 0x7f820c5d8950]: [DEBUG] Service client [/camera_synchronizer_node] wants service [/head_camera_trigger/set_waveform] with md5sum [cbb7e900a71a9a437da9999c8d39fff4]
[roscpp_internal] [2011-04-28 10:17:49,699] [thread 0x7f820c5d8950]: [DEBUG] Accepted connection on socket [9], new socket ...
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2014-04-20 06:47:30 -0600 marked best answer how to increase move_arm action speed ?

Hi all,

I'm currently testing on PR2, with the "move_arm to joint position" client, the motion's stability when stopping. In order to find the highest speed which ensure a smooth stop, I need to change arm's speed. Does anyone knows how to do that ?

Guido

2014-04-20 06:47:27 -0600 marked best answer Callbacks in pr2 controllers

Hi ros answers users,

I'm currently trying to make a custom controller work on pr2. I have two subscribers inside the controller.My problem is that their respective callbacks are not called. Moreover I noticed that the existing controllers on pr2 (namely joint_spline_controller and joint_velocity_controller ) don't call spinOnce. Still, they use subscribers and callbacks. So my question is how and when are callbacks called for a controller ?

Guido

2014-01-28 17:31:01 -0600 marked best answer How to build sbpl_arm_planner ?

Hi there,

I'm trying to work with python scripts which use sbpl. However I'm having a hard time building sbpl_arm_planner, it spits me a list of errors :

    In file included from /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp:32:0:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/occupancy_grid.h: In member function ‘void sbpl_arm_planner::OccupancyGrid::addPointsToField(const std::vector<btVector3>&)’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/occupancy_grid.h:198:33: error: no matching function for call to ‘distance_field::PropagationDistanceField::addPointsToField(const std::vector<btVector3>&)’
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/occupancy_grid.h:198:33: note: candidate is:
  /home/gmanfred/devel/ros/packs/arm_navigation/distance_field/include/distance_field/propagation_distance_field.h:131:16: note: virtual void distance_field::PropagationDistanceField::addPointsToField(const std::vector<tf::Vector3>&)
  /home/gmanfred/devel/ros/packs/arm_navigation/distance_field/include/distance_field/propagation_distance_field.h:131:16: note:   no known conversion for argument 1 from ‘const std::vector<btVector3>’ to ‘const std::vector<tf::Vector3>&’
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp: In member function ‘void sbpl_arm_planner::OccupancyGrid::addCollisionCuboid(double, double, double, double, double, double)’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp:176:41: error: no matching function for call to ‘distance_field::PropagationDistanceField::addPointsToField(std::vector<btVector3>&)’
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp:176:41: note: candidate is:
  /home/gmanfred/devel/ros/packs/arm_navigation/distance_field/include/distance_field/propagation_distance_field.h:131:16: note: virtual void distance_field::PropagationDistanceField::addPointsToField(const std::vector<tf::Vector3>&)
  /home/gmanfred/devel/ros/packs/arm_navigation/distance_field/include/distance_field/propagation_distance_field.h:131:16: note:   no known conversion for argument 1 from ‘std::vector<btVector3>’ to ‘const std::vector<tf::Vector3>&’
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp: In member function ‘void sbpl_arm_planner::OccupancyGrid::visualize()’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/occupancy_grid.cpp:208:10: error: ‘class distance_field::PropagationDistanceField’ has no member named ‘visualize’
  make[3]: *** [CMakeFiles/sbpl_arm_planner.dir/src/occupancy_grid.o] Error 1
  make[3]: *** Waiting for unfinished jobs....
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/sbpl_arm_model.cpp: In member function ‘bool sbpl_arm_planner::SBPLArmModel::computeTranslationalIK(std::vector<double>, double, std::vector<double>&)’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/sbpl_arm_model.cpp:1031:19: warning: variable ‘g’ set but not used [-Wunused-but-set-variable]
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/bfs_3d.cpp: In member function ‘bool sbpl_arm_planner::BFS3D::runBFS()’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/bfs_3d.cpp:236:33: warning: ‘statespace3D’ may be used uninitialized in this function [-Wuninitialized]
  In file included from /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/sbpl_collision_space.h:35:0,
                   from /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/robarm3d/environment_robarm3d.h:46,
                   from /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/src/discrete_space_information/robarm3d/environment_robarm3d.cpp:31:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/occupancy_grid.h: In member function ‘void sbpl_arm_planner::OccupancyGrid::addPointsToField(const std::vector<btVector3>&)’:
  /home/gmanfred/devel/ros/packs/full-body-nav/sbpl_arm_planner/include/sbpl_arm_planner/occupancy_grid.h:198:33: error ...
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