TifferPelode's profile - activity

Hello everyone,

I'm writing a rviz panel.

When I change namespace (tiffer_panel -> Tiffer) in my code, and change the PLUGINLIB_EXPORT_CLASS.

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(Tiffer::TifferPanel,rviz::Panel )

After Compiled, when I run rviz with this panel, got this

PluginlibFactory: The plugin for class 'Tiffer' failed to load.  Error: MultiLibraryClassLoader: Could not create class of type tiffer_panel::TifferPanel

It seems not change. But when I change the namespace back (Tiffer -> tiffer_panel), it works well again...

Can someone tell me what's wrong with this?

Hello everyone, now I have a task about navigation. I want my robot to have different speeds in different environments. Just like this:

• At corridor : 0.5m/s

• At parlor : 0.25m/s

• etc...

  Now my question is how to reconfigure my robot's speed when navigation? This is my design step:

• First, Navigate to a place.

• When it finished, reconfigure robot speed.

• Then navigate to next place.

  Can anyone tell me if it is possible?

  Or there are other way to do this?

Hello everyone,

 I run catkin_make to build my package with this Warning:



-- +++ processing catkin package: 'katrina_gui'
-- ==> add_subdirectory(katrina_gui)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'system_lib' but neither
  'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  katrina_gui/CMakeLists.txt:22 (catkin_package)

My Environment Is:

Ubuntu 16.04 
ROS-Kinetic

I run this package under ROS-Indigo before, how can i fix this?

Hello everyone,

I have some question when i write a panel for Rviz, when i add a extra .h file for my project. After CATKIN_MAKE with no Error, when i add it in Rviz, it show me this :

PluginlibFactory: The plugin for class 'Tiffer' failed to load.  Error: Failed to load library /home/tiffer/tiffer-catkin/devel/lib/libtiffer_panel.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/tiffer/tiffer-catkin/devel/lib/libtiffer_panel.so: undefined symbol: _ZN12tiffer_panel18CruiseLocationTool12onInitializeEv)

But I had add it in cpp, I use Kinetic under Ubuntu 16.04.

When I remove this .h file from my project, my panel works well again. Can someone tell my what's wrong with it?

Here is my .h file:

#ifndef TIFFER_CRUISELOCATION_H
#define TIFFER_CRUISELOCATION_H

#ifndef Q_MOC_RUN

#include <ros/ros.h>
#include "rviz/default_plugin/tools/pose_tool.h"

#endif

#include <QObject>
#include <QInputDialog>

using namespace rviz;

namespace tiffer_panel
{
    class Arrow;
    class DisplayContext;
    class StringProperty;

    class CruiseLocationTool : public PoseTool
    {
        Q_OBJECT
        public:
            CruiseLocationTool();
            virtual void onInitialize();

        protected:
            virtual void onPoseSet(double x, double y, double theta);

        private Q_SLOTS:
            void updateTopic();

        private:
            ros::NodeHandle nh_;
            ros::Publisher pub_;
    };    
}
#endif

When I was writing a Qt5 widget use tf2, I got all zero when print Translation and Rotation.

I reviewed some similar questions and modified my program, it was written inside the UI's constructor, just like this:

tf2_ros::TransformListener tfListener(tfBuffer, nh_);

connect(ui->testButton, SIGNAL(clicked()), this, SLOT(testTf2()));

try{
    if(tfBuffer.canTransform("map", "base_link", ros::Time::now(), ros::Duration(1)))
        ts = tfBuffer.lookupTransform("map", "base_link", ros::Time::now(), ros::Duration(0));
} catch (tf2::TransformException &ex) {
    ROS_WARN("%s", ex.what());
}

And in testTf2(), I print ts.

qDebug() << ts.transform.translation.x;
qDebug() << ts.transform.rotation.w;
etc.

I had set the target_time and time_out param, and in case, add a canTransform func, but still got 0.

With rosrun tf tf_echo map base_link print:

- Translation: [-0.478, 0.148, 0.017]
- Rotation: in Quaternion [0.000, 0.000, -0.802, 0.597]
            in RPY (radian) [0.000, 0.000, -1.862]
            in RPY (degree) [0.000, 0.000, -106.708]

I also run rosrun tf2_tools view_frames.py, it seems good.

I want to know if my method is wrong, or the parameters set are wrong?

lookupTransform("map", "base_link", ros::Time::now(), ros::Duration(1)); It delay for 0.15s, how can I deal with it? L

lookupTransform("map", "base_link", ros::Time::now(), ros::Duration(1)); It delay for 0.15s, how can I deal with it? `

lookupTransform("map", "base_link", ros::Time::now(), ros::Duration(1)); It delay for 0.15s, how can I deal with it? `

it delay for 0.15s, how can I deal with it? [ WARN] [1530356857.871087341]: Lookup would require extrapolation into the

it delay for 0.15s, how can I deal with it? [ WARN] [1530356857.871087341]: Lookup would require extrapolation into the

it delay for 0.15s, how can I deal with it?

it delay for 0.15s, how can I deal with it?

Thank you for your detailed explanation. In fact if I change the Duration parameter in canTransform,it throw out a time

Hello Vincenz, I suggest you use connect, with SIGNAL and SLOT. here is a part of my code. In constructor : QPushButt

TF2 lookupTransform problem in Qt5 When I was writing a Qt5 widget use tf2, I got all zero when print Translation and Ro

I think you may put this in your .h file, try put them at ,cpp file and compile again.

Thank you for your detailed explanation, it really wake me up.

Hello everyone,

I wanna update tf to tf2 in my code, but get some question about it.

There are tf part :

tf::TransformListener listener;
tf::StampedTransform transform;
try
{
    listener.waitForTransform("/map", "/base_link", ros::Time::now(), ros::Duration(2));
    listener.lookupTransform("/map", "/base_link", ros::Time(0), transform);
}
catch(tf::TransformException ex)
{
    ROS_ERROR("%s", ex.what());
    ros::Duration(1.0).sleep();
    QMessageBox::information(this, "Error", QString::fromStdString(ex.what()));
    return ;
}
geometry_msgs::Transform tt;
tf::transformTFToMsg(transform, tt);
pose.position.x = tt.translation.x;
pose.position.y = tt.translation.y;
pose.position.z = tt.translation.z;
pose.orientation.x = tt.rotation.x;
pose.orientation.y = tt.rotation.y;
pose.orientation.z = tt.rotation.z;
pose.orientation.w = tt.rotation.w;

pose is a parameter, via geometry_msgs::Pose &pose

When I follow the doc to update to tf2, I get some wrong.

There are tf2 part:

tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
geometry_msgs::TransformStamped transformStamped;

try
{
    transformStamped = tfBuffer.lookupTransform("/map", "/base_link", ros::Time(0));
}
catch (tf2::TransformException &ex){
    ROS_WARN("%s", ex.what());
    ros::Duration(1.0).sleep();
}
geometry_msgs::Transform tt;
tf::transformTFToMsg(transformStamped, tt);

I Don't know how to transfrom data under tf2, and I didn‘t find the relevant function in doc.

I want to know how to modify my code to achieve the same result?

Is there a function just like transformTFToMsg I can replace?

Tf to tf2 upgrade adaptation problem Hello everyone, I wanna update tf to tf2 in my code, but get some question about

There is Github Project which achieved a global planner, you can refer this.