NKCT's profile - activity

Sorry. I don't have docking station. So I can't try auto docking working and I have no idea that help you.

Thank you very much for your advise.I succeeded in installing kobuki package!

I've installed ros on the Raspberry Pi 2 model B following this tutorial.Then, I'm installing kobuki following this tutorial .But I can't install kobuki package.

I execute command "$ sudo apt-get install ros-indigo-kobuki ros-indigo-kobuki-core". Then I get a following error message.

pi@raspberrypi:~ $ sudo apt-get install ros-indigo-kobuki ros-indigo-kobuki-core
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-indigo-kobuki : Depends: ros-indigo-kobuki-auto-docking but it is not going to be installed
                     Depends: ros-indigo-kobuki-bumper2pc but it is not going to be installed
                     Depends: ros-indigo-kobuki-capabilities but it is not going to be installed
                     Depends: ros-indigo-kobuki-controller-tutorial but it is not going to be installed
                     Depends: ros-indigo-kobuki-description but it is not going to be installed
                     Depends: ros-indigo-kobuki-keyop but it is not going to be installed
                     Depends: ros-indigo-kobuki-node but it is not going to be installed
                     Depends: ros-indigo-kobuki-random-walker but it is not going to be installed
                     Depends: ros-indigo-kobuki-rapps but it is not going to be installed
                     Depends: ros-indigo-kobuki-safety-controller but it is not going to be installed
                     Depends: ros-indigo-kobuki-testsuite but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

I have no idea how I can solve the error. Can you please give me information on that?

I'm installing ROS Indigo on the Raspberry Pi 2 model B(jessie). I'm following this tutorial .But I can't install ROS!!

On 3.2.1 Unavailable Dpendencies, libconsole-bridge-dev of the tutorials, I execute command "$ apt-get source -b console-bridge'".Then I get a following error message.

    Linking CXX static library libgtest.a
cd /home/pi/ros_catkin_ws/external_src/console-bridge-0.3.2/obj-arm-linux-gnueabihf/test && /usr/bin/cmake -P CMakeFiles/gtest.dir/cmake_clean_target.cmake
CMake Error: Error in cmake code at
/home/pi/ros_catkin_ws/external_src/console-bridge-0.3.2/obj-arm-linux-gnueabihf/test/CMakeFiles/gtest.dir/cmake_clean_target.cmake:1:
Parse error.  Expected a command name, got unquoted argument with text "ick]r�
                                                                              ".
CMake Error: Error processing file: CMakeFiles/gtest.dir/cmake_clean_target.cmake
test/CMakeFiles/gtest.dir/build.make:88: recipe for target 'test/libgtest.a' failed
make[3]: *** [test/libgtest.a] Error 1
make[3]: Leaving directory '/home/pi/ros_catkin_ws/external_src/console-bridge-0.3.2/obj-arm-linux-gnueabihf'
CMakeFiles/Makefile2:154: recipe for target 'test/CMakeFiles/gtest.dir/all' failed
make[2]: *** [test/CMakeFiles/gtest.dir/all] Error 2
make[2]: Leaving directory '/home/pi/ros_catkin_ws/external_src/console-bridge-0.3.2/obj-arm-linux-gnueabihf'
Makefile:130: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/pi/ros_catkin_ws/external_src/console-bridge-0.3.2/obj-arm-linux-gnueabihf'
dh_auto_build: make -j1 returned exit code 2
debian/rules:7: recipe for target 'build' failed
make: *** [build] Error 2
dpkg-buildpackage: error: debian/rules build gave error exit status 2
Build command 'cd console-bridge-0.3.2 && dpkg-buildpackage -b -uc' failed.
E: Child process failed

I have no idea how I can solve the error. Can you please give me information on that?

Now,I'm studying ROS and using and my ROS robot,kobuki. However,I have trouble changing the velocity of the robot!

I set the max_vel_x value to 0.1 of "kobuki_navigation/param/dwa_local_planner_params.yaml" , and I launch ROS nodes with "kobuki_navigation/launch/kobuki_navigation.launch".Then the Terminal window displays "/move_base/DWAPlannerROS/max_vel_x: 0.1" in the parameters list.

However,when I operate my ROS robot with "2D Nav Goal" of RVIZ, the velocity of my robot is obviously faster than 0.1 m/s! I checked topic by "rostopic echo /cmd_vel",and then it shows "linier: x: 0.55"!! Why I can't change the velocity of my robot and what is the "0.55" of "linier: x: 0.55"?

(I tried setting not only 0.1 but also the other "max_vel_x" value, for example 0.2, 0.3, the result is the same. )

Can you please give me information on that?

”Execution environment”

OS：ubuntu 14.04LTS

ROSver：indigo

I'll show "dwa_local_planner_params.yaml" and "kobuki_navigation.launch" below.

Here is "dwa_local_planner_params.yaml "

    DWAPlannerROS:

    # Robot Configuration Parameters - Kobuki
  max_vel_x: 0.1 
  min_vel_x: 0.0

  max_vel_y: 0.1
  min_vel_y: 0.0

  max_trans_vel: 0.1
  min_trans_vel: 0.1
  trans_stopped_vel: 0.1

  max_rot_vel: 1.0 
  min_rot_vel: 0.4  
  rot_stopped_vel: 0.4

  acc_lim_x: 0.05
  acc_lim_theta: 2.0
  acc_lim_y: 0.0 

# Goal Tolerance Parameters
  yaw_goal_tolerance: 0.3 
  xy_goal_tolerance: 0.03 

# Forward Simulation Parameters
  sim_time: 1.0       
  vx_samples: 6       
  vy_samples: 1       
  vtheta_samples: 20  

# Trajectory Scoring Parameters
  path_distance_bias: 64.0      
  goal_distance_bias: 24.0      
  occdist_scale: 0.5            
  forward_point_distance: 0.325 
  stop_time_buffer: 0.2         
  scaling_speed: 0.25           
  max_scaling_factor: 0.2       

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05  

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true
  global_frame_id: odom

meter_scoring: true

Here is "kobuki_navigation.launch".

<launch>

  <!-- kobuki model -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />

  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="5.0" />
  </node>

  <!-- sensor -->
  <node pkg="urg_node" type="urg_node" name="kobuki_urg_node" output="screen">
    <param name="frame_id" value="base_scan" />
  </node>

  <!-- tf -->
  <node pkg="kobuki_tf" type="kobuki_tf" name="kobuki_tf" output="screen">
  </node>

  <!-- Map server-->
  <arg name="map_file" default="/home/nkc/Desktop/Map/Map.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
  </node> 

  <!-- AMCL -->
  <include file="$(find kobuki_navigation)/launch/amcl.launch.xml"/>

  <!-- move_base -->  
 <arg name="cmd_vel_topic" default="/mobile_base/commands/velocity" />
  <arg name="odom_topic" default="odom" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find kobuki_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find kobuki_navigation)/param/move_base_params.yaml" command="load" />
 <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>



</launch>