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2018-09-10 23:26:05 -0600 marked best answer How to comunicate with hector_quadrotor UAV in Gazebo

Hi,

I have recently downloaded the hector_quadrotor stack and all works fine. I managed it to spawn my UAV in my simulation, but i don't know how to interact with it from my nodes out.... are there any topic's or so?? Or have you a link where this is described ??

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2017-11-30 10:29:14 -0600 marked best answer odom frame changes hight

Hi,

i have a short question about the odom frame.

How is the wanted behaviour of it ?

My Problem is my odom frames changes it hight all time

it is: 0.31 -> 0.12 -> 0.25 -> 0.31 -> 0.12 .....

Is that the behaviour it should it keep it hight? The UAV is not moving, it just stand on the ground. The x and y coordinate are stable

Can someone please explain me how the odom frame should act ?

2017-07-25 16:59:05 -0600 marked best answer Asctec_Proc - Timeout: 0 bytes available 3 bytes requested

Hi, i try to run ros on the Asctec Pelican, but when i run

roslaunch asctec_proc asctec_driver_nodelets.launch

i get the following error:

[ERROR] [1230811515.060357725]: Read (-1): [ERROR] [1230811515.061434957]: Read failed[ERROR] [1230811515.122562563]: Timeout: 0 bytes available 3 bytes requested[ERROR] [1230811515.123636163]:Error Reading Packet Header: Resource temporarily unavailable

On the Atomboard i have installed Ubuntu 11.10 and ROS-Fuerte.

The ros-node also sais it connects succsesfully to /dev/ttyUSB0, Baudrate 57600.

I have tried it with extern current and with the battery.

Does anyone know how to fix this problem ?

Please tell me if further information is needed

2017-07-03 05:11:02 -0600 marked best answer explore stack

hi, i am trying to use the explore stack in gazebo, but i get the following warnings:

[ WARN] [1342514709.419049768, 713.848000000]: Costmap2DROS transform timeout. Current time: 713.8480, global_pose stamp: 713.5130, tolerance: 0.3000
[ WARN] [1342514708.892588284, 711.502000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2230 seconds

i dont't find a doku about the explore stack just the examples...can anyone help me ?

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2016-05-09 20:56:47 -0600 marked best answer Stage Wifi Model

Hi,

it the stage wifi model [http://playerstage.sourceforge.net/doc/stage-cvs/group__model__wifi.html] available in the stageros node ? I always get Unknown model type wifi in world file

am i doing something wrong or need i to applay a patch? Or isn't it supported by the ros node. Stage Version is 4.1.1

2016-05-09 20:55:46 -0600 marked best answer Connect multiple Roscores to one Stage instance

Hi,

i need to achieve a multi robot simulation in stage with several roscores. Is it possible to connect several roscores to one Stage instance ? So Roscore1 -> Robot1 Roscore2 -> Robot2 Like it works by the MobileSim simulator for rosaria.

And i have to run each roboter in a own roscore, one big roscore is no option

2016-05-08 15:34:00 -0600 marked best answer battery_state_of_charge publishes nothing on Pioneer3DX

Hi,

in the rosaria documentation is written that, if the pioneer supports battery_state_of_charge the topic is published. The topic is published, but there is never any data comming. Does anyone know if the Pioneer3DX supports battery_state_of_charge ? If it supports it, what do i have to do to get the values ?

regards peter

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2015-07-15 13:13:30 -0600 marked best answer Move_base observation_sources data_type uses wrong value

Hi,

iam trying to run the navigation stack with stage, but my move_base is not using the right data_type in its observation_sources.

I get the following error:

[ERROR] [1392014064.082396840, 3.200000000]: Client [/move_base] wants topic /base_scan to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369]. Dropping connection.

The common_costmap.yaml file:

map_type: costmap
transform_tolerance: 50
obstacle_range: 2.5
raytrace_range: 4.0
inscribed_radius: 0.35
circumscribed_radius: 0.4
inflation_radius: 0.6
cost_scaling_factor: 15.0
lethal_cost_threshold: 100
footprint: [[-0.25, -0.25], [-0.25, 0.25], [0.25, 0.25],[0.25, -0.25]]
observation_sources: base_scan
base_scan: {data_type: LaserScan, topic: /base_scan, marking: true, clearing: true}

The parameters are used right, if i use rosparag get /move_base/local_costmap i get:

base_scan: {clearing: true, data_type: LaserScan, marking: true, topic: /base_scan}
circumscribed_radius: 0.4
cost_scaling_factor: 15.0
footprint:
- [-0.25, -0.25]
- [-0.25, 0.25]
- [0.25, 0.25]
- [0.25, -0.25]
global_frame: /odom
height: 4.0
inflation_radius: 0.6
inscribed_radius: 0.35
lethal_cost_threshold: 100
map_type: costmap
observation_sources: base_scan
obstacle_range: 2.5
publish_frequency: 1.0
raytrace_range: 4.0
resolution: 0.01
robot_base_frame: /base_footprint
rolling_window: true
static_map: false
track_unknown_space: true
transform_tolerance: 0.5
unknown_cost_value: 255
update_frequency: 1.0
width: 4.0

--EDIT: The Launch file i am using:

<?xml version="1.0"?>

  <!-- ******************************************************************************* -->
  <!-- ********** START THE GMAPPING NODE ********** -->
  <!-- ******************************************************************************* -->
<launch>
  <arg name="scan_topic" default="base_scan" />
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="base_footprint"/>
    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="0.5"/>
    <param name="maxUrange" value="16.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.01"/>
    <param name="angularUpdate" value="0.01"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>

    <param name="xmin" value="-4.0"/>
    <param name="ymin" value="-4.0"/>
    <param name="xmax" value="4.0"/>
    <param name="ymax" value="4.0"/>

    <param name="delta" value="0.01"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>


  <!-- ******************************************************************************* -->
  <!-- ********** START MOVE BASE ********** -->
  <!-- ******************************************************************************* -->


  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find simple_navigation)/param/common_costmap.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find simple_navigation)/param/common_costmap.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find simple_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find simple_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find simple_navigation)/param/base_local_planner_params.yaml" command="load" />

  </node>

</launch>

I am using ubuntu 12.04 LTS 64 Bit. Running ROS-Groovy (have also installed ROS-Fuerte, but is not in use).

I ... (more)

2015-07-08 13:46:34 -0600 marked best answer lookupTransform base_link to laser0_frame timed out. Could not transform laser scan into base_frame

Hi, i am just trying to use hector_mapping. But if i start it i get : lookupTransform base_link to laser0_frame timed out. Could not transform laser scan into base_frame.

i start hector_mapping like: rosrun hector_mapping hector_mapping is that wrong ??i see it often started via a .launch file.

2015-06-22 00:49:31 -0600 marked best answer hector-mapping Lookup would require extrapolation into the future

Hi,

i try to run hector-slam on the asctec pelican. But when i launch hector-mapping i get the following error:

[ERROR] [1230818054.341736259]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the future.  Requested time 1230818053.694549500 but the latest data is at time 1230818053.195532500, when looking up transform from frame [/base_link] to frame [/nav]

If i am right, that error means that my tf data is to old so it is not used or ? I have tried to set the publish rate of tf higher (up to 1000Hz), but the error keeps. I also have make sure that i do not use the sim time.

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2014-12-03 03:59:08 -0600 marked best answer Can't include message of other package in Catkin

Hi,

we are trying to port our packages to catkin, but we have problems include messages from the other package. The package map_merger need the message pointFromOther robot from adhoc_communication, but he does not find it.

CMakeList.txt from map_merger:

cmake_minimum_required(VERSION 2.8.3)
project(map_merger)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  adhoc_communication
  nav_msgs
  roscpp
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
 add_service_files(
   DIRECTORY srv
   FILES
   transformPoint.srv
 )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   adhoc_communication
   std_msgs  # Or other packages containing msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES map_merger
#  CATKIN_DEPENDS adhoc_communication roscpp
   CATKIN_DEPENDS message_runtime   adhoc_communication
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(map_merger
#   src/${PROJECT_NAME}/map_merger.cpp
# )

## Declare a cpp executable
# add_executable(map_merger_node src/map_merger_node.cpp)
find_package(OpenCV REQUIRED)
add_executable(map_merge_node src/main.cpp src/mapmerger.cpp src/mapmerger.h src/mapstitch.h src/mapstitch.cpp src/updateentry.cpp src/updateentry.h src/updatemanager.cpp src/updatemanager.h )
target_link_libraries(map_merge_node ${OpenCV_LIBS} ${catkin_LIBRARIES} )
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(map_merger_node map_merger_generate_messages_cpp)
 add_dependencies(map_merger_node adhoc_communication_generate_messages_cpp)

## Specify ...
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2014-10-01 09:28:30 -0600 commented answer how to link opencv coorect under hydro

on https://github.com/ros/rosdistro/blob... is no entry for libopencv-dev for ubuntu 12.04. I now get a other error, see edit in the question. WHat do i have to do that it also works for Precise ?

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2014-09-29 10:51:17 -0600 commented answer how to link opencv coorect under hydro

but will that also resolve the error on the jenkins server ?

2014-09-29 09:46:04 -0600 asked a question how to link opencv coorect under hydro

Hi,

we are trying to run the prerealese test on our package. Locall all builds fine, but the jenkins server gehts the following error:

>  Could not find module
> FindOpenCV.cmake or a configuration
> file for package   OpenCV.
> 
>   Adjust CMAKE_MODULE_PATH to find
> FindOpenCV.cmake or set OpenCV_DIR to
> the   directory containing a CMake
> configuration file for OpenCV.  The
> file will   have one of the following
> names:
> 
>     OpenCVConfig.cmake
>     opencv-config.cmake

OpenCV2 is listenes as a dependency in the package.xml:

> <build_depend>opencv2</build_depend>  
> <run_depend>opencv2</run_depend>

And in the CMakeList.txt:

> find_package(OpenCV REQUIRED)
> include_directories(${OpenCV_INCLUDE_DIRS})
> target_link_libraries(map_merger
> ${OpenCV_LIBS} ${catkin_LIBRARIES} )

Local the OpenCVConfig.cmake file (which is missing on the jenkins) is located at:

ls /opt/ros/hydro/share/OpenCV/ -l
total 48
drwxr-xr-x 2 root root  4096 Sep 29 14:41 haarcascades
drwxr-xr-x 2 root root  4096 Sep 29 14:41 lbpcascades
-rw-r--r-- 1 root root 13500 Aug 19 19:45 OpenCVConfig.cmake
-rw-r--r-- 1 root root   376 Aug 19 19:45 OpenCVConfig-version.cmake
-rw-r--r-- 1 root root  2425 Aug 19 19:45 OpenCVModules.cmake
-rw-r--r-- 1 root root 13649 Aug 19 19:45 OpenCVModules-relwithdebinfo.cmake

Does somebody know how i link OpenCV correct ? Or how i could reproduce the Error on my local maschine ?

regards, Peter

EDIT 1:

After changing the dependencies i get the follwoing error:

> Traceback (most recent call last):  
> File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/prerelease",
> line 43, in <module>
>     main()   File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/prerelease",
> line 37, in main
>     build_in_workspace=options.build_in_workspace, sudo=options.sudo,
> no_chroot=options.no_chroot)   File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/test_repositories.py",
> line 69, in test_repositories
>     sudo, no_chroot)   File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/test_repositories.py",
> line 134, in _test_repositories
>     apt_get_install(repo_build_dependencies,
> rosdep_resolver, sudo)   File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/common.py",
> line 28, in apt_get_install
>     pkgs = rosdep.to_aptlist(pkgs)   File
> "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/rosdep.py",
> line 44, in to_aptlist
>     for a in self.to_apt(r):   File "/home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease/jenkins_scripts/rosdep.py",
> line 57, in to_apt
>     return self.r2a[ros_entry] KeyError: 'libopencv-dev' I: Copying
> back the cached apt archive contents
> I: unmounting
> /var/cache/pbuilder/ccache filesystem
> I: unmounting
> /home/rosbuild/hudson/workspace/prerelease-hydro-aau_multi_robot/ARCH_PARAM/amd64/UBUNTU_PARAM/precise/label/prerelease
> filesystem I: unmounting
> /home/rosbuild filesystem I:
> unmounting dev/pts filesystem I:
> unmounting proc filesystem I: cleaning
> the build env  I: removing directory
> /var/cache/pbuilder/build//26131 and
> its subdirectories Build step 'Execute
> shell' marked build as failure