FrankYou's profile - activity

Hi, DavidN. I followed your instructions, replaced 1st param "base_local_planner" with "move_base/TrajectoryPlannerROS", but the same error appears:timeout exceeded while waiting for service /move_base/TrajectoryPlannerROS/set_parameters...

Hi, shoemakerlevy9. I have tried rosnode list, there is indeed not node called base_local_planner. As you said the base_local_planner was spawned by the move_base, in this case what should I give to the 1st parameter of the Clinet().thanks.

Hello everyone!

I want to modify the max_vel_x in base_local_planner_params.yaml at runtime. I followed the tutorial Dynamic Reconfigure Python Client to create a client :

#!/usr/bin/env python

PACKAGE = 'base_local_planner'
import roslib;roslib.load_manifest(PACKAGE)
import rospy

import dynamic_reconfigure.client

if __name__ == "__main__":
    rospy.init_node("blp_client")

    client = dynamic_reconfigure.client.Client("base_local_planner", timeout=4, config_callback=None)

    r = rospy.Rate(0.33)
    while not rospy.is_shutdown():
    client.update_configuration({"max_vel_x":0.06})
        r.sleep()

Then I ran roslaunch my_new_robot robot_config.launch; roslaunch my_new_robot move_base.launch; rosrun base_local_planner blp_client.py(since I was using navigation).

But errors were reported:

youjian@youjian-laptop:~$ rosrun base_local_planner blp_client.py
Traceback (most recent call last):
  File "/home/youjian/catkin_ws/src/base_local_planner/scripts/blp_client.py", line 16, in <module>
    client = dynamic_reconfigure.client.Client("base_local_planner", timeout=4, config_callback=callback)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/client.py", line 84, in __init__
    self._set_service      = self._get_service_proxy('set_parameters', timeout)       
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/client.py", line 305, in _get_service_proxy
    rospy.wait_for_service(service_name, timeout)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 143, in wait_for_service
    raise ROSException("timeout exceeded while waiting for service %s"%resolved_name)
rospy.exceptions.ROSException: timeout exceeded while waiting for service /base_local_planner/set_parameters

I dig into dynamic_reconfigure/src/dynamic_reconfigure/client.py:

line 65: @param name: name of the server to connect to (usually the node name)

So according to the error, it can't find a node called base_local_planner. Hence, I wonder if base_local_planner is a node,since I don't find ros::init(argc, argv, "base_local_planner") which indicates a node in any files in base_local_planner package. If base_local_planner is not a node, what should I give to the 1st paramenter of the function Client(), or is there another way to modify the max_vel_x at runtime through code not command and rqt_reconfigure gui.

The following is some codes relative to dynamic_reconfigure in base_local_planner/src/trajectory_planner_ros.cpp:

  dsrv_ = new dynamic_reconfigure::Server<BaseLocalPlannerConfig>(private_nh);
  dynamic_reconfigure::Server<BaseLocalPlannerConfig>::CallbackType cb = boost::bind(&TrajectoryPlannerROS::reconfigureCB, this, _1, _2);
  dsrv_->setCallback(cb);

thanks in advance!

Maybe you can get the coordinates(relative to the sensor) of the detected user by utilizing the transform from openni_depth_frame to skeleton point like head_1, left_hand_1 and so on. Depending on the coordinates, you can get the distance from the user to the robot through the X coordinate and whether the robot is on the left or the right of the user through the Y coordinate. Then you can make the robot move right or left or faster according to the above info.

From my experience, it greatly depends on the accuracy of your odometry and imu data.

i find no other ways, so i finally reinstall my ROS and delete the original catkin_ws folder, and recreate my_robot package, after that it works

thank you for your reply. but there is no install folder in /devel dir, maybe your ros version is different from mine...

hello everyone!

I got a problem when i run move_base.launch to realize Navigation. The error info in terminal is:

[move_base-4] process has died [pid 3825, exit code -11, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4.log].
log file: /home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4*.log

i didnt find move_base-4.log, however i find the error info in master.log, the error info is:

[rosmaster.threadpool][**ERROR**] 2016-10-20 22:16:04,075: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 797, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 778, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 571, in create_connection
    raise err
**error**: [Errno 111] Connection refused

actually, i managed to run move_base.launch before, but the robot was navigated weirdly, so i want to make the move_base node print the cmd_vel info. Since i cant find move_base.cpp in /opt/ros/indigo, i copied the move_base package from Github and modified the package, then catkin_make it in catkin_ws. However, i didnt make it. So i deleted all files related to move_base in catkin_ws, the result is i couldnt run move_base.launch any more and constantly report the error above.

i have tried reinstall ros-indigo-move-base, but it didnt work. Could anyone give me some help or suggestions? Do i need to reinstall the ROS?>...<

thanks in advance!

hello everyone!

I got a problem when i run move_base.launch to realize Navigation. The error info in terminal is:

[move_base-4] process has died [pid 3825, exit code -11, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4.log].
log file: /home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4*.log

i didnt find move_base-4.log, however i find the error info in master.log, the error info is:

[rosmaster.threadpool][**ERROR**] 2016-10-20 22:16:04,075: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 797, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 778, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 571, in create_connection
    raise err
**error**: [Errno 111] Connection refused

actually, i managed to run move_base.launch before, but the robot was navigated weirdly, so i want to make the move_base node print the cmd_vel info. Since i cant find move_base.cpp in /opt/ros/indigo, i copied the move_base package from Github and modified the package, then catkin_make it in catkin_ws. However, i didnt make it. So i deleted all files related to move_base in catkin_ws, the result is i couldnt run move_base.launch any more and constantly report the error above.

i have tried reinstall ros-indigo-move-base, but it didnt work. Could anyone give me some help or suggestions? Do i need to reinstall the ROS?>...<

thanks in advance!

hello everyone!

I got a problem when i run move_base.launch to realize Navigation. The error info in terminal is:

[move_base-4] process has died [pid 3825, exit code -11, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4.log].
log file: /home/youjian/.ros/log/b66363a2-96cf-11e6-9e46-e4f89cf5c788/move_base-4*.log

i didnt find move_base-4.log, however i find the error info in master.log, the error info is:

[rosmaster.threadpool][**ERROR**] 2016-10-20 22:16:04,075: Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
    result = cmd(*args)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
    xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
    verbose=self.__verbose
  File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
    return self.single_request(host, handler, request_body, verbose)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request
    self.send_content(h, request_body)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content
    connection.endheaders(request_body)
  File "/usr/lib/python2.7/httplib.py", line 975, in endheaders
    self._send_output(message_body)
  File "/usr/lib/python2.7/httplib.py", line 835, in _send_output
    self.send(msg)
  File "/usr/lib/python2.7/httplib.py", line 797, in send
    self.connect()
  File "/usr/lib/python2.7/httplib.py", line 778, in connect
    self.timeout, self.source_address)
  File "/usr/lib/python2.7/socket.py", line 571, in create_connection
    raise err
**error**: [Errno 111] Connection refused

actually, i managed to run move_base.launch before, but the robot was navigated weirdly, so i want to make the move_base node print the cmd_vel info. Since i cant find move_base.cpp in /opt/ros/indigo, i copied the move_base package from Github and modified the package, then catkin_make it in catkin_ws. However, i didnt make it. So i deleted all files related to move_base in catkin_ws, the result is i couldnt run move_base.launch any more and constantly report the error above.

i have tried reinstall ros-indigo-move-base, but it didnt work. Could anyone give me some help or suggestions? Do i need to reinstall the ROS?>...<

thanks in advance!

Hi! My aim is to use 2 kinects on one PC, one used to get laserscan for SLAM and another used for skeleton tracking.

Right now, I can use 2 kinects on one PC to get color image from one kinect and realize skeleton tracking on the other kinect.

But if I get laserscan from 1st kinect and simultaneously realize skeleton tracking on the other, the skeleton tracking works well while I can't get laserscan data in rviz.

The fact that I failed to get laserscan makes me suspect that whether it is possible that 1st kinect for laserscan&2nd kinect for skeleton tracking on one PC. Or whether my approach is wrong.The following is my approach:

roslaunch openni_launch test.launch(run 2 kinects in test.launch)
rosrun openni_tracker openni_tracker
rosrun rviz rviz(to see the skeleton tracking)
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect1/depth/image_raw
rosrun rviz rviz(to see the laserscan data)

and test.launch:

<launch>  
<!-- Parameters possible to change-->  
<arg name="camera1_id" default="#1" />
<arg name="camera2_id" default="#2" />
<arg name="depth_registration" default="true"/>  

<!-- Default parameters-->  
<arg name="camera1_name" default="kinect1" />  
<arg name="camera2_name" default="openni" />  

<!-- Putting the time back to realtime-->  
<rosparam>  
/use_sim_time : false  
</rosparam>  

<!-- Launching first kinect-->  
<include file="$(find openni_launch)/launch/openni.launch">  
<arg name="device_id" value="$(arg camera1_id)"/>  
<arg name="camera" value="$(arg camera1_name)"/>  
<arg name="depth_registration" value="$(arg depth_registration)" />  
</include>  

<!-- Launching second kinect-->  
<include file="$(find openni_launch)/launch/openni.launch">  
<arg name="device_id" value="$(arg camera2_id)"/>  
<arg name="camera" value="$(arg camera2_name)"/>  
<arg name="depth_registration" value="$(arg depth_registration)" />  
</include>  
</launch>

any idea or suggestion is appreciated! And thanks in advance!