simon.xm.lee's profile - activity

BTW, my robot is differential drive robot

I just survey the feasibility by using the 2D navigation with Moveit!. My robot has no arm.

Now I just survey the feasibility by using the 2D navigation with Moveit!, because my robot has no arm. I just want to k

I know Moveit! is the most used for robot with arms or quadrotors. My robot has no arm and only can move by wheels. It can navigate by 2D navigation stack(costmap_2d) now. Maybe my robot will has arms in the future, therefore I want to use 3D navigation stack(Moveit!). Can I use Moveit! to do 3D navigation even the robot without arm?

It works. Many thanks.

I try to use hand-held kinectv2 to record map and follow the steps in tutorials(RGB-D Hand-Held Mapping With a Kinect). Then I can record map by following steps in rtabmapviz, but fail in rviz. There is an error in "Global Status". It show "Fix Frame [map] is not exist". How do I setup?

Below are my steps:

$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

I use ar_track_alvar to detect bundle with kinectv2. After I setup launch file and marker.xml, I can run my launch file. The ar_pose_marker and visualization_marker topics can be publish. And I move the ar_maker into the view of kinect, I also can see the data changing by rostopic echo visualization_marker. Therefore I can make sure the al_track_alvar stack should be available. However, I run rviz and add the visualization_marker topic to visualize it, but I cannot see anything. Does anyone give suggestions?

<launch>
<arg name="marker_size" default="6.1" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="/kinect2/hd/image_color" />
<arg name="cam_info_topic" default="/kinect2/hd/camera_info" />
<arg name="output_frame" default="/kinect2_rgb_optical_frame" />
<arg name="bundle_files" default="$(find al_track_alvar)/bundles/MarkerData_0_1_2.xml" />
<node name="ar_track_alvar" pkg="ar_track_alvar" type="findMarkerBundlesNoKinect" respawn="false" output="screen"
 args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame) $(arg bundle_files)" />
</launch>

Hi Chengwei,

I already fix this problem and I can share my experience to you.

1. You can visualize the pointcloud2 points by choose the topic on RVIZ. You can check the obstacle which cannot clear whether is caused by noise points from original pointcloud2 topic.

2. If yes, you may need to calibration the sensor which produce pointcloud2 data(maybe camera, or others).

3. If no, please change below parameters: (1) z_resolution (2) z_voxels (3) max_obstacle_height

For max_obstacle_height, I suggest you to set it as slightly higher than the height of your robot.

For z_resolution and z_voxels, I suggest you to set them as below condition. z_resolution * z_voxels = max_obstacle_height

(ex. If the max_obstacle_height set to 1.00, z_resoultion and z_voxels should set 0.2 and 5. Because 0.2 * 5 = 1.00)

Hope these suggestion can help you.

Hi chengwei, have you try map_type parameter to "voxel"?

Hi chengwei, Do you solve this problem? I also encounter this problem too. If you solve it, can you share the answer?

Thanks a lot