cluelessnigerian's profile - activity

Hi, I'm tracking an object using a kinect and trying to publish the tf transform of that object in a "/map frame. I'm able to return the object's x, y and depth data using OpenCV. However, I'm struggling with the tf stuff. I've written a function which is meant to update the transform

void updatetransform(double x, double y, double z)
{
     r = -1.5708;
     p = 0;
     y = -3.1415;

   static tf::TransformBroadcaster br;  

  transform.setOrigin(tf::Vector3(x, y, z));
  quaternion.setRPY(r,p,y);  //where r p y are fixed 
  transform.setRotation(quaternion);

  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "kinect2_ir_optical_frame","drone/base_link"));

  ROS_INFO("Sent Drone Transform at %f %f %f", x, y, z);

}

and in my launch file

<launch>
  <node name = "Drone_Detector" pkg="detector" type="detect_drone" output="screen" />
  <node pkg="tf" type="static_transform_publisher" name="baselink" args="0 0 1 -1.5708 0 -1.5708 /map /kinect2_link 50" />
</launch>

But when I run Rviz, using "/map" as a fixed frame, the drone/base_link tf isn't shown in the screen. I've attached a picture of what it looks like at this link. My x,y and depth values are okay from what the kinect but the transform is wrong. Am I doing something wrong here?

Also here's my tf_tree which looks about right to me. Link here

Transform from map to odom for robot using rtabmap I built a custom robot using URDF and I'm trying to view the position

I think I'm probably not calculating the transform properly. -438 and -323 are actual pixel positions of the object I'm

I took your advice and took a look at TF -> Frames. The X,Y,Z values in the relative position are about right for dro

transform (x,y,z) coordinate from kinect to /map frame using tf Hi, I'm tracking an object using a kinect and trying to

@matlabbe, I wasn't publishing tf when running the kinect bridge. Silly error really. I also managed to solve my first question. Thanks for all your help

Hello, I'm using rtab map and a kinect to generate a map of a corridor. I was wondering if it was possible to fly a UAV to a known point within the generated map.

My project statement requires me to:

• Manually map and generate a pointcloud of an environment.
  • Using the generated map, fly a quadcopter/ UAV autonomously to a point within the generated map.

I'm able to use rtab map to generate a map of an environment however, I'm not sure where to start for the second point. I can't seem to find anything relating to the second point.. Could someone please point me in the right direction.

I've been looking at laser sensor datasets online over the weekend and I'm not quite sure how to visualize the output in Rviz. I don't have a laser sensor but I want to get an understanding of what the output of these devices look like.

For example, at the following link, there's a bag file which you can download and play using rosbag play. I run the command and I can get an output of the x y z position data by using

rostopic echo

on the /microstrain/imu topic but when I run rviz nothing shows up.

I guess my question is:

1. What are the general steps required to view a visual representation of what is recorded in bagfiles (especially laser scanners)

2. Are there any good tutorials out there to help with this? I've been searching all weekend and it seems most tutorials miss out something I'm meant to know as a complete newbie

Thanks, that makes sense now. I was wondering what rosmake was referring to as I'd never come across in all the tutorials I'd come across

Yes it is.

Hi, I'm new to ROS and I've been trying to check out the package at the following link: https://github.com/dimatura/loam_cont... . I've cloned it to my catkin workspace but when I try to build the package using

catkin_make

it doesn't seem to recognise the package. This is my output:

-- Using CATKIN_DEVEL_PREFIX: /home/daniel/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/daniel/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.4
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/daniel/catkin_ws/build

Am I doing something wrong? Could someone please point me in the right direction?