vik748's profile - activity

Image transport Framerate / processing overhead issue Hi, We have written a ROS driver for the Point Grey Blackfly S (an

Hi, I have a pretty high quality IMU (VN-100) for which I want to test the performance with IMU-only EKF filter. I have setup my system inspired this post. However, I am experiencing the issue that the resulting /filtered/odometry shows zeros for linear displacements x,y and z.
Any hints or suggestions would be very welcome. Thanks in advance. I am setting up the system as follows:imu_ekf.launch :

 <launch>    
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 1.5708 0 3.1416 base_link imu" />    
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
    <rosparam command="load" file="$(find imu_vn_100)/launch/imu_only_ekf.yaml" />
     <param name="odom_used" value="false"/>
      <param name="imu_used" value="true"/>
      <param name="vo_used" value="false"/>        
  </node>
</launch>

imu_only_efk.yaml:

frequency: 50
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link #base_link  # Defaults to "base_link" if unspecified
world_frame: odom           # Defaults to the value of odom_frame if unspecified
imu0: /imu/imu
imu0_config: [true, true, true,
              true,  true,  true,
              true, true, true,
              true,  true,  true,
              true,  true,  true]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #
imu0_remove_gravitational_acceleration: true
use_control: false
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

Cheers...

Here is how I was launching velocity smoother from my minimal.launch for the Teleop velocity smoother: <include fi

Why are you using the same variable name for all the publishers?

Hi, I am trying to run the full example in the cv_bridge tutorial at http://wiki.ros.org/cv_bridge/Tutoria... . I am having serious trouble compiling the node. I get the following undefined reference errors for opencv functions as follows:

CMakeFiles/c_test_node.dir/src/c_test_node.cpp.o: In function `ImageConverter::ImageConverter()':
c_test_node.cpp:(.text._ZN14ImageConverterC2Ev[_ZN14ImageConverterC5Ev]+0x3f1): undefined reference to `cv::namedWindow(cv::String const&, int)'
CMakeFiles/c_test_node.dir/src/c_test_node.cpp.o: In function `ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
c_test_node.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x1bd): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
c_test_node.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x1e2): undefined reference to `cv::waitKey(int)'
collect2: error: ld returned 1 exit status
c_test/CMakeFiles/c_test_node.dir/build.make:132: recipe for target '/home/auv/c_test_ws/devel/lib/c_test/c_test_node' failed
make[2]: *** [/home/auv/c_test_ws/devel/lib/c_test/c_test_node] Error 1
CMakeFiles/Makefile2:1813: recipe for target 'c_test/CMakeFiles/c_test_node.dir/all' failed
make[1]: *** [c_test/CMakeFiles/c_test_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I have tried updating the include lines from:

#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

to

#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>

However, I am not having luck with that either.

Any help or insight on this is very appreciated.

As per @Maarten 's suggestion, I am including my CMakeLists.txt here:

cmake_minimum_required(VERSION 2.8.3)
project(c_test)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
  tf
)
catkin_package(
CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)
add_executable(c_test_node src/c_test_node.cpp)
target_link_libraries(c_test_node ${OpenCV_LIBS} ${catkin_LIBRARIES})

After a lot of searching, this is what I needed. A comment, the unit_vector conversion might not make sense depending o

@Mikhail I am just getting the path and printing it out with cout. I am not doing anything with it currently.

ros::package::getPath seg faults in kinetic I am trying to use the ros::package::getPath() command to find path to a con

As per @Maarten 's suggestion, updating the CMakeLists.txt as follows, seems to have solved the issue cmake_minimum_req

@Maarten I was doing find_package(OpenCV REQUIRED), but had commented it out. Now that in combination with target_link_

cv_bridge tutorial example not compiling in ROS Kinetic and Ubuntu 16.04 Hi, I am trying to run the full example in the

@Maarten thanks for the suggestion. Unfortunately adding the flag doesn't seemed to have helped. I will updated the qu

cv_bridge tutorial example not compiling in ROS Kinetic and Ubuntu 16.04 Hi, I am trying to run the full example in the

Using ekf_localization_node from robot_localization package for IMU only navigation Hi, I have a pretty high quality IMU

@SprGrf I am trying to do the same thing, IMU only navigation. Were you able to figure this out?

link text This is what solved it for me. Now this is a setting you can change in the launch file itself.

this link is dead!!

How did you solve the issue?

Jeff, I think your issue has to do with networking. Sounds like your computer is not able to talk to the Lidar via Ethe

Were you able to achieve your goal of eliminating Ad Hoc communication?

Is there a way to add this flag for an individual file and not the entire project?

Is there a way to add this flag for an individual file and not the entire project?

Make sure you are able to ping the Lidar first before trying to use the driver. If you are unable to ping try changing n

still same issue...

Same here...