danielsnider's profile - activity

We're using rtabmap and only our local costmap is incorrectly rotated 90 degrees :(. We've tried using TF to rotate a few things with the static_transform_publisher but haven't been successful. Do you have any suggestions? See screenshots:

Incorrect: (the local cost map)

Correct: (the global cost map)

Thank you!

I'm having trouble logging a float64 value. Here's my arduino code (I'm using rosserial):

void jt_callback(const trajectory_msgs::JointTrajectory &msg) {
  // http://docs.ros.org/kinetic/api/trajectory_msgs/html/msg/JointTrajectoryPoint.html
  trajectory_msgs::JointTrajectoryPoint *points = msg.points;  <-- is this correct?
  sprintf(log_msg,"points[0].positions[0] = %f",points[0].positions[0]);  <-- correct?
  nh.loginfo(log_msg);
}

Output:

[INFO] [1487350593.639400, 5453.955000]: points[0].positions[0] = ?

The correct value should be 0.1 not ?.

Also, when I try %d or %i the output value is -13108.

Any help is much appreciated!

What is the error message that you see?

What is the error message that you se?

I've created a simple arm and I want to control it using a joystick.

Here's my launch file:

<launch>
  <include file="$(find cougarbot)/cougarbot.launch"/>
  <include file="$(find cougarbot_moveit_config)/launch/joystick_control.launch"/>
  <include file="$(find cougarbot_moveit_config)/launch/move_group.launch"/>
  <include file="$(find cougarbot_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="True"/>
  </include>
</launch>

The error I'm getting is from joystick_control.launch is "[FATAL] Check if you started movegroups. Exiting." Here's the full stack trace:

$ roslaunch cougarbot_moveit_config joystick_control.launch 
[ INFO] [1486692499.658150322]: Loading robot model 'cougarbot'...
[ INFO] [1486692499.659144317]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1486692499.660517007]: Could not identify parent group for end-effector 'hand'
[ INFO] [1486692500.876474349, 182.851000000]: Loading robot model 'cougarbot'...
[ INFO] [1486692500.877637693, 182.851000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1486692500.878770531, 182.851000000]: Could not identify parent group for end-effector 'hand'
[FATAL] [WallTime: 1486692501.117867] [0.000000] Check if you started movegroups. Exiting.
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/moveit_ros_visualization/moveit_joy.py", line 42, in <module>
    app = MoveitJoy()
  File "/opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 381, in __init__
    self.updatePlanningGroup(0)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 405, in updatePlanningGroup
    raise rospy.ROSInitException(msg)

rospy.exceptions.ROSInitException: Check if you started movegroups. Exiting.

For the subscriber's drop count, you'll have to check within your own subscriber that the header.seq number is always in

You can see the number of dropped messages from the publisher's queue by enabling topic statistics. Read more about it h

You can see the number of dropped messages from the __publisher's__ queue by enabling topic statistics. Read more about

You can see the number of dropped messages by enabling topic statistics. Read more about it here: http://wiki.ros.org/To

You can see the number of dropped messages by enabling topic statistics. Read more about it here: http://wiki.ros.org/To

In ROS1 this works. You can even see it yourself on this line of code in rospy's implementation: if self.last_seq_ + 1

In ROS1 this works. You can even see it yourself on this line of code in rospy's implementation: if self.last_seq_ + 1

Bit of background:

I want to use point_click_publisher to publish lat/lon coordinates of tile map.

Answer:

The easiest way would be to type /wgs84 in the Frame dropdown for the point click plugin.

That will make the published point have the /wgs84 frame and contain longitude for the x coordinate and latitude for the y coordinate.

Source: https://github.com/swri-robotics/mapv...

But how do I to make the /wgs84 frame available?

I'm following the steps that were given, but still no wgs84 frame...

The /wgs84 frame is not a true tf frame (since it can't be defined with a simple translation and rotation), so it won't be available through the standard tf interfaces. For the point_click_publisher you would just type /wgs84 into the frame dropdown box. This will work as long as the /local_xy_origin has been published and the tf frame it is associated with is connected to the frame mapviz is displaying.

I see in your launch file that the initialize origin node is set to 'auto' and will only publish the origin once it receives a GPS message. Can you confirm that the /local_xy_origin topic has been populated? If not, you can set it to one of the manually defined origins instead of 'auto'.

To use the /wgs84 frame in code as if it were a tf frame you would use swri_transform_util::TransformManager in place of a tf::TransformListener and use swri_transform_util::Transform instead of tf::Transform. The transform manger wraps the standard tf listener and also listens for the local xy orign so it can perform the conversion to and from lat / lon and frames in the tf tree.

Source: https://github.com/swri-robotics/mapv...

My roslaunch file mapviz.launch.

Launch log output:

process[swri_transform-1]: started with pid [125343]
process[mapviz_ubuntu_125328_4724633399611045863-2]: started with pid [125344]
process[initialize_origin-3]: started with pid [125345]
process[rosapi-4]: started with pid [125346]
[139911776519936] [/initialize_origin/initialize_origin:101]: Local XY origin is "auto"
[139911776519936] [/initialize_origin/initialize_origin:104]: Local XY frame ID is "/world"
[139911776519936] [/initialize_origin/initialize_origin:121]: Subscribed to NavSat on /gps/fix
Warning: TF_OLD_DATA ignoring data from the past for frame robot_base at time 1.49455e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 273 in /tmp/binarydeb/ros-kinetic-tf2-0.5.15/src/buffer_core.cpp
[139911042692864] [/initialize_origin/gps_callback:54]: Got NavSat message. Setting origin and unsubscribing from NavSat.
[7ff0bf201880] [/mapviz_ubuntu_125328_4724633399611045863/TileMapPlugin::PrintError:245]: Error: No transform between /wgs84 and map
[7ff0bf201880] [/mapviz_ubuntu_125328_4724633399611045863/PointClickPublisherPlugin::PrintError:169]: Error: Unable to find transform from map to wgs84.

My tf tree:

I am using the latest mapviz packages available for ubuntu 16.04. Any thoughts?

THANK YOU, this feature would be awesome!

Yes! Thank you! Putting a forward slash is important -- so "/wgs84" rather than "wgs84". We opened an issue for this: h

how do I to make /wgs84 frame available? Bit of background: I want to use point_click_publisher to publish lat/lon coor

I figured out how to fix this problem for me: Follow install steps for the ros warehouse http://moveit.ros.org/install

Same problem for me

Worked for me in kinetic: export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playground.