piraka9011's profile - activity

Thank you for the explanation

See relevant GitHub tracking ticket with more info and steps here.

I am attempting to build a ROS2 package that uses ROS1 bridge (rosbag2_bag_v2) in a GitHub Actions CI pipeline. I am able to install the dependencies for ROS1 which include python3-catkin-pkg. However, when I run apt-get install ros-melodic-desktop, it automatically removes python3-catkin-pkg:

The following packages will be REMOVED: python3-catkin-pkg python3-rosdep python3-rosdep-modules python3-rosdistro python3-rospkg

Is there a reason this occurs and is it possible to install a ROS1 distro without removing python3-catkin-pkg

Installing ros-melodic-desktop uninstalls python3-catkin-pkg See relevant GitHub tracking ticket with more info and step

Hi all,

I'm working with a Clearpath Husky on ROS Indigo, Ubuntu 14.04. I'm trying to remap the topic that move_base publishes its Twist messages on to ('cmd_vel') to another name that I can use with a topic_tools mux. I was able to do so by changing the move_base.launch file in the jackal_navigation package, however, I want to know if there's a way to do so without changing the source of the original package.

I created my own launch file that launches the jackal_navigation amcl_navigation.launch file and tried to remap the move_base publishing topic using <remap from="cmd_vel" to="/new_cmd_vel"/>, however, this did not work.

Are there any services or parameters that I am unaware of that remap the navigation stacks Twist message publisher?

Thanks in advance!

Edit: Below is the launch file I am using and how I tried to remap the topic

<launch>
    <include file="$(find jackal_gazebo)/launch/jackal_world.launch">
        <arg name="config" value="front_laser"/>
    </include>
    <include file="$(find jackal_navigation)/launch/amcl_demo.launch">
        <arg name="map_file" value="/home/river/gazebo_map.yaml"/>
        <!-- This is how I tried to change it -->
        <remap from="cmd_vel" to="/nav_vel"/>
    </include>
    <include file="$(find jackal_viz)/launch/view_robot.launch">
        <arg name="config" value="localization"/>
    </include>
    <!-- How I would like to use my renamed topic (in a multiplexer) -->
    <node name="topic_tools_mux" pkg="topic_tools" type="mux" 
        args="/cmd_vel /bsc_jackal/bsc_vel /bsc_jackal/key_vel /bsc_jackal/nav_vel mux:=bsc_mux">
    </node> 
</launch>

Below is the modified source launch file for Jackal in jackal_navigation/launch/include/move_base.launch:

<launch>
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find jackal_navigation)/params/map_nav_params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find jackal_navigation)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/move_base_params.yaml" command="load" />

    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>

    <remap from="odom" to="odometry/filtered" />
    <!-- Here is where I remapped the topic -->
    <remap from="cmd_vel" to="/bsc_jackal/nav_vel"/>
  </node>
</launch>

Below is the output of rostopic list | grep vel as Procopio requested. /bsc_jackal/* are the topics generated from the topic_tools mux. /jackal_velocity_controller/cmd_vel is just a relay to /cmd_vel using topic tools (I found this out by looking at the jackal source launch files).

/bsc_jackal/bsc_vel
/bsc_jackal/key_vel
/bsc_jackal/nav_vel
/cmd_vel
/jackal_velocity_controller/cmd_vel
/jackal_velocity_controller/odom
/navsat/fix/velocity/parameter_descriptions
/navsat/fix/velocity/parameter_updates
/navsat/vel

Hi,

I'm trying to get the 'geometry_msgs/Poses' message from the '/move_base/DWAPlannerROS/local_plan' topic for the Kobuki Turtlebot. My current code is as follows: (This is an extremely minimal implementation where I am just accessing the value of the X position).

#!/usr/bin/env python
import rospy
from nav_msgs.msg import Path

def callback(data):
    global xPos
    xPos = data.Pose.position.X;

def getPlan():
    rospy.init_node('plangetter', anonymous=False);

    while not rospy.is_shutdown():
        rospy.Subscriber('/move_base/DWAPlannerROS/local_plan', Path, callback);
        rospy.sleep(1);
        print "X is: " + xPos;

if __name__ == '__main__':
    try:
        getPlan();
    except rospy.ROSInterruptException:
        pass

My questions are:

1) Why am I getting a 'rospkg.common.ResourceNotFound: rosgraph' error when running this code? I have checked my ROS_PACKAGE_PATH and used rospack find rosgraph to confirm that ROS has access to the package. I have also made sure my PYTHONPATH is correct.

2) Am I correctly subscribing to the topic and getting the data? If not, what is the correct way?

Thanks in advance!

I have a program used to read in command velocities from two sources (teleop/navigation), blend them, and then publish the blended velocity to the Turtlebot. While debugging, I noticed that the code never reaches the callback functions and thus, does not update any of the values I need to read in. I have the following:

class BSCFun:

    def __init__(self):
        # Init Node
        rospy.init_node('BSCFun', anonymous=True, log_level=rospy.DEBUG);
        self.pub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size=100);

        # ROS Subscribers
        self.odomSub = rospy.Subscriber('/odom', Odometry, self.odomCallback);
        self.goalSub = rospy.Subscriber('/move_base/current_goal', PoseStamped, self.goalCallback)
        self.velSub = rospy.Subscriber('/cmd_vel_mux/input/navi', Twist, self.optCmdCallback)
        self.teleSub = rospy.Subscriber('/cmd_vel_mux/input/teleop', Twist, self.userCmdCallback);
        self.rate = rospy.Rate(5);

        # Main Loop
        while not rospy.is_shutdown():
            self.BSCFun1();

    def BSCFun1(self):
        # do stuff and get a 'newVelocity'
        vMsg = Twist();
        vMsg.angular.z = newVelocity;
        self.pub.publish(vMsg);
        self.rate.sleep();

    def userCmdCallback(self, msg):
        self.xVelUser= msg.linear.x;
        self.wzVelUser = msg.angular.z; 

    def optCmdCallback(self, msg):
        self.xVel = msg.linear.x;
        self.wzVel = msg.angular.z;
        rospy.loginfo("Updating Opt. Cmd.");

and a bunch of other callbacks.

if __name__ == '__main__':
    try:
        bsc = BSCFun();
    except rospy.ROSInterruptException:
        pass

I use the data from the callbacks in BSCFun1() to calculate a newVelocity and publish accordingly, but the values are not updating and all I get are zeros (the values my variables are initialized in. What seems to be the problem?

@gvdhoorn exactly, each condition has to be a separate executable.

CMake: Iterate over multiple source files for multiple executables Hi, I am trying to minimize the size of my CMakeList

Message Filters Time Sequencer not compiling - Roscpp I'm trying to utilize the ROS Indigo message_filters::TimeSequence

CMake: Iterate over multiple source files for multiple executables Hi, I am trying to minimize the size of my CMakeList

Message Filters Time Sequencer not compiling - Roscpp I'm trying to utilize the ROS Indigo message_filters::TimeSequence

Message Filters Time Sequencer not compiling - Roscpp I'm trying to utilize the ROS Indigo message_filters::TimeSequence

Message Filters Time Sequencer not compiling - Roscpp I'm trying to utilize the ROS Indigo message_filters::TimeSequence

@Procopio please see my edit.

Remapping move_base Twist publisher topic. Hi all, I'm working with a Clearpath Husky on ROS Indigo, Ubuntu 14.04. I'm

Since this launch file is being used by other packages, wouldn't I have to make sure that all the other packages can 'se

Remapping move_base Twist publisher topic. Hi all, I'm working with a Clearpath Husky on ROS Indigo, Ubuntu 14.04. I'm

Remapping move_base Twist publisher topic. Hi all, I'm working with a Clearpath Husky on ROS Indigo, Ubuntu 14.04. I'm

@wh11868 See my first comment for one approach. My current approach is to make a separate thread, using python's Threadi

So this actually worked! Very much appreciated. My implementation had an if/else statement that would decide if we wanted to have a delay or not in the original callback. Either way, good use of timers.

This is an interesting way of going about it...plus you reminded me how to pass two arguments to a callback (did it before but forgot how!) I will test this out when I get to work, thanks.

Is there a way in Rospy to delay incoming messages? Specifically, I wish to delay incoming velocity commands for teleop.

I can't use a sleep because I still need my program/node to run other processes. I was wondering whether the queue size would have something to do with it?

Thanks!