arunavanag's profile - activity

Px4 mavros stuck at HP requesting home position Hello, I am using vicon for position control flight. I am using a holybr

Pass only volume as argument to Sound Play I am using the sound play audio common package. The goal is to have an indica

Pass only volume as argument to Sound Play I am using the sound play audio common package. The goal is to have an indica

Hello,

Is anyone using VS Code to program in ROS? I kind of like this IDE ( haven't used it earlier ) and want to use it as it comes with a lot of features which I like.

My question is when I include <ros/ros.h> it puts a green squiggle below it, and also for service file generated headers it can't really locate them. Any suggestions on how to add on to the path to avoid this.

To be noted, there is no problem in building it as it is already in the path of Linux terminal...

I saw a similar issue but it has not been solved: https://github.com/magazino/pylon_camera/issues/25 I will try opening

I saw a similar issue but it has not been solved: https://github.com/magazino/pylon_camera/issues/25

pylon_camera fps cannot exceed 75 Hello I am using pylon_camera for my Basler acA1300-200uc. However, as put the fps to

Hello All,

I just started out with ROS 2.0. I have the latest build. I am unsure if I am doing something stupid or missing out something. However, I can’t build these simple files. If I should have posted somewhere else kindly let me know.

The command used for building:

ament build --symlink-install --only-package testpackage

Error thrown:

Process package 'testpackage' with context:
--------------------------------------------------------------------------------
 source_space => /home/artc/ros2_ws/src/ros2/testpackage
  build_space => /home/artc/ros2_ws/build/testpackage
install_space => /home/artc/ros2_ws/install
   make_flags => -j4, -l4
  build_tests => False
--------------------------------------------------------------------------------
+++ Building 'testpackage'
==> '. /home/artc/ros2_ws/build/testpackage/cmake__build.sh && /usr/bin/make cmake_check_build_system' in '/home/artc/ros2_ws/build/testpackage'
==> '. /home/artc/ros2_ws/build/testpackage/cmake__build.sh && /usr/bin/make -j4 -l4' in '/home/artc/ros2_ws/build/testpackage'
[ 50%] Built target test_lib
[ 75%] Linking CXX executable test_node
CMakeFiles/test_node.dir/src/test_node.cpp.o: In function `main':
test_node.cpp:(.text+0x161): undefined reference to `testRos2::testRos2()'
test_node.cpp:(.text+0x174): undefined reference to `testRos2::initialize(std::shared_ptr<rclcpp::node::Node>&)'
test_node.cpp:(.text+0x1b0): undefined reference to `testRos2::~testRos2()'
test_node.cpp:(.text+0x1ef): undefined reference to `testRos2::~testRos2()'
collect2: error: ld returned 1 exit status
CMakeFiles/test_node.dir/build.make:123: recipe for target 'test_node' failed
make[2]: *** [test_node] Error 1
CMakeFiles/Makefile2:136: recipe for target 'CMakeFiles/test_node.dir/all' failed
make[1]: *** [CMakeFiles/test_node.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

<== Command '. /home/artc/ros2_ws/build/testpackage/cmake__build.sh && /usr/bin/make -j4 -l4' failed in '/home/artc/ros2_ws/build/testpackage' with exit code '2'
<== Command '. /home/artc/ros2_ws/build/testpackage/cmake__build.sh && /usr/bin/make -j4 -l4' failed in '/home/artc/ros2_ws/build/testpackage' with exit code '2'

This is my test_node.cpp

#include <testpackage/testpackage.h>
 int main(int argc, char * argv[]){
 rclcpp::init(argc, argv);
 auto node = rclcpp::node::Node::make_shared("test");
 testRos2 test_object;
 test_object.initialize(node);
 rclcpp::spin(node);
 return 0;
}

This is my test.cpp

#include <testpackage/testpackage.h>
 testRos2::testRos2(){    }
 testRos2::~testRos2(){  }
 void testRos2::initialize(std::shared_ptr<rclcpp::node::Node>& n){
}

This is my header:

#pragma once
#ifndef TESTPACKAGE
#define TESTPACKAGE

#include <iostream>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std;

class testRos2{

public:
 testRos2();
~testRos2();
 void initialize(std::shared_ptr<rclcpp::node::Node>&);
 };
#endif

CMakeLists:

project(testpackage)

if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

include_directories(include 
            ${rclcpp_INCLUDE_DIRS}
            ${rmw_implementation_INCLUDE_DIRS}
            ${std_msgs_INCLUDE_DIRS})

add_library(test_lib
  src/test.cpp
 )
target_link_libraries(test_lib ${rclcpp_LIBRARIES} ${rmw_implementation_LIBRARIES} ${std_msgs})

add_executable(test_node src/test_node.cpp)
ament_target_dependencies(test_node test_lib rclcpp std_msgs)

install(
 DIRECTORY include/${PROJECT_NAME}/
 DESTINATION include
)

 install(
  TARGETS test_lib test_node 
 ARCHIVE DESTINATION lib
 LIBRARY DESTINATION lib
 RUNTIME DESTINATION bin
)

ament_package()

Hello,

I am using Using ROS Kinetic, Ubuntu 16.04. I try to create a variable of MoveGroupInterface in my class as:

#include <moveit/move_group_interface/move_group_interface.h>

Class Test{
private:
    moveit::planning_interface::MoveGroupInterface right_arm;    
}

It throws me the following error. I suspected its a linking error, however, I checked my CmakeLists.txt and I guess it looks fine:

Error:

/home/artc/catkin_ws/devel/lib/libsw_lib.so: undefined reference to `moveit::planning_interface::MoveGroupInterface::MoveGroupInterface(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<tf::Transformer> const&, ros::WallDuration const&)'
/home/artc/catkin_ws/devel/lib/libsw_lib.so: undefined reference to `moveit::planning_interface::MoveGroupInterface::~MoveGroupInterface()'
collect2: error: ld returned 1 exit status
sawyer_robot/sawyer_interface/CMakeFiles/sw_node.dir/build.make:179: recipe for target '/home/artc/catkin_ws/devel/lib/sawyer_interface/sw_node' failed
make[2]: *** [/home/artc/catkin_ws/devel/lib/sawyer_interface/sw_node] Error 1
CMakeFiles/Makefile2:7765: recipe for target 'sawyer_robot/sawyer_interface/CMakeFiles/sw_node.dir/all' failed
make[1]: *** [sawyer_robot/sawyer_interface/CMakeFiles/sw_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

CmakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(sawyer_interface)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

find_package(catkin REQUIRED COMPONENTS

  moveit_core 
  moveit_ros_planning 
  moveit_ros_planning_interface 
  moveit_visual_tools
  intera_core_msgs
  geometry_msgs
  cmake_modules
  roscpp
  rospy
  std_msgs
  message_generation

)

find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system thread)

catkin_package(
   CATKIN_DEPENDS roscpp rospy std_msgs moveit_ros_planning  moveit_ros_planning_interface moveit_core trajectory_msgs   
   INCLUDE_DIRS include 
   LIBRARIES tcp_comms

)

include_directories(include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIR} 
  ${EIGEN3_INCLUDE_DIRS}
)

add_library(sw_lib
  src/sw.cpp
)

add_dependencies(sw_lib ${catkin_EXPORTED_TARGETS})


add_executable(sw_node src/sw_node.cpp)
add_dependencies(sw_node ${catkin_EXPORTED_TARGETS} sw_lib)
target_link_libraries(sw_node ${catkin_LIBRARIES} sw_lib)


install(TARGETS sw_lib sw_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  DIRECTORY include/${PROJECT_NAME}
  DESTINATION include
)


install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE)


if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)

endif()

When you 3D point cloud, are you using a 3D laser scanner or something like Kinect

For me, the connection wire and device was broken I had to get a new one.

Thanks @harshal. I guess I have taken care of it in the real robot... anyways just a video of the getting stuck thing, y

Running in the simulation with the clearpath husky. I have husky gazebo running at the background. What I intend is to have a set of waypoints and send it as goals through move base.

I tried waypoint_generator at first and declared a set of waypoints around in yaml and when I replayed my map with the yaml the waypoints have already drifted. The yaml looks like series of similar points :

waypoints:
- frame_id: odom
  name: 3.74155664444_0.696490764618
  pose:
    orientation:
      w: 1
      x: 0
      y: 0
      z: 2.4
    position:
      x: 5.0515566444396973
      y: 2.4264907646179199
      z: 0.0

e.g. The originally (1,1,1) position set when replayed has moved to some other location. This is how the drifted waypoints look like.

It could be probably due to the gazebo, for which the world space and coordinates are continuously changing, as a result, the scans don't match too.

Then I also tried using this script that converting amcl pose to 2D Euler and then declares an initial pose and sends a sequence of goals. I configured to my initial pose and a set of 6 points. However as I relaunch the static map, all the points have already moved. As a result, it can never reach its goal and the loop of sending the goal never ends.

Any idea how to stop this drifting of the waypoints and improve the localization.