hdbot's profile - activity

@Jean_jierrre, have you figured out the solutions? I am having same problem as you for using depth_nav_tools

@gerson_n were you able to apply it?

cliff_detector not working Hello, I am trying to detect down the stairs as an obstacle. I am using depth_nav_tools for

cliff_detector not working Hello, I am trying to detect downstair as an obstacle. I am using depth_nav_tools for doing

The issue gets temporarily fixed, just have to open the cliff_detector and depth_pose in the rviz. I am able to connect

The issue gets fixed, just have to open the cliff_detector and depth_pose in the rviz.

Hello,

I am using ZED camera and the wheel odometry, fused together with robot_localization. My code uses laser_scan_matcher with gmapping to build the map of the environment. I am using deptimage_to_laserscan to convert 3D point cloud to 2D laser scan.

    <launch>

<!--EKF Launch -->
<include file="$(find robot_localization)/launch/EKF_Odom.launch" />

<!--Zed Camera Launch -->
<include file="$(find zed_wrapper)/launch/zed.launch" />

<arg name="base_frame"              default="zed_camera_center"/>


<!-- Depth_image to Laser_Scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
        <param name="scan_height" value="100"/>
        <param name="output_frame_id" value="$(arg base_frame)"/>
        <param name="range_min" value="0.3"/>
        <param name="range_max" value="60"/>
        <remap from="image" to="/zed/depth/depth_registered"/>
    <remap from="scan" to ="/scan"/>

 </node>


<!-- Laser Scan Match -->
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "world"/>
    <param name="base_frame" value="wheelchair_base"/>
    <param name="use_alpha_beta" value="false"/>
    <param name="use_odom" value="true"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="10"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="false"/>
    <param name="use_vel" value="false"/>

 </node>

<!-- Gmapping -->

 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="2.0"/>
    <param name="delta" value="0.02"/>
    <param name="base_frame" value="base_frame"/>
 </node> 

<!--RVIZ launch -->
<node pkg="rviz" type="rviz" name="rviz"/>

</launch>

This is my launch file. When I launch it I get error:

[ WARN] [1552782652.945326528]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 1.14000
  icp_loop: failed: after trimming, only 51 correspondences.
icp: ICP failed for some reason. 
[ WARN] [1552782652.949929738]: Error in scan matching
[ WARN] [1552782652.978282773]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 1.14000

Any idea how I can fix this? Any suggestions are appreciated.

Thanks, Hdbot

cliff_detector not working Hello, I am trying to detect downstair as an obstacle. I am using depth_nav_tools for doing

cliff_detector not working Hello, I am trying to detect downstair as an obstacle. I am using depth_nav_tools for doing

@Jean_jierre, have you figured out the solutions? I am having same problem as you for using depth_nav_tools

@gvdhoorn, Yes I had tried deleting old build and devel. I got the package installed. It needed #include <tf/transfor

Hi All,

I am trying to install depth_nav_tools, however, the catkin_make fails with errors:

In file included from /home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:37:0:
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/include/nav_layer_from_points/costmap_layer.h:95:3: error: ‘tf’ does not name a type
   tf::TransformListener tf_;
   ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp: In member function ‘virtual void nav_layer_from_points::NavLayerFromPoints::updateBounds(double, double, double, double*, double*, double*, double*)’:
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:127:13: error: request for member ‘transformPoint’ in ‘((nav_layer_from_points::NavLayerFromPoints*)this)->nav_layer_from_points::NavLayerFromPoints::<anonymous>.costmap_2d::Layer::tf_’, which is of pointer type ‘tf2_ros::Buffer*’ (maybe you meant to use ‘->’ ?)
         tf_.transformPoint(global_frame, pt, out_pt);
             ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:13: error: ‘tf’ does not name a type
       catch(tf::LookupException& ex)
             ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected unqualified-id before ‘&’ token
       catch(tf::LookupException& ex)
                                ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected ‘)’ before ‘&’ token
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected ‘{’ before ‘&’ token
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:34: error: ‘ex’ was not declared in this scope
       catch(tf::LookupException& ex)
                                  ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:141:7: error: expected primary-expression before ‘catch’
       catch(tf::ConnectivityException& ex)
       ^
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:146:7: error: expected primary-expression before ‘catch’
       catch(tf::ExtrapolationException& ex)
       ^

I am not sure how to fix this, can anyone suggest a way to fix this?

Regards, hdbot

@gvdhoorn, I got the package installed. It needed #include <tf transform_listener.h=""> in the costmap_layer.h fil

@gvdhoorn I tried this, and it didn't work. Still getting same error when building the package.

I tried this, and it didn't work. Still getting same error when building the package.

this is correct way. If you notice in my original code I had it as base_frame. So the system was confused as to while i

I figured out the issues, the base_frame was wrongly written.

error installing depth_nav_tools Hi All, I am trying to install depth_nav_tools, however, the catkin_make fails with e

scaning error for Laser Scan Matcher Hello, I am using ZED camera and the wheel odometry, fused together with robot_loc

Octomap: No Map Recieved Hello, I tried to follow various solutions and examples to launch my octomap in RVIZ. However,

Octomap: No Map Recieved Hello, I tried to follow various solutions and examples to launch my octomap in RVIZ. However,

I did the modifications, but I am still getting no map received. The tf looks like it flows properly when i run it the f

I did the modifications, but I am still getting no map received. The tf looks like it flows properly when i run it the f

SLAM Gmapping map to odom remapping error Hello, I am trying to perform slam_gmapping for my project, and using filtere

I did the modifications, but I am still getting no map received. The tf looks like it flows properly this time, but I am

@kazi ataul goni, you may want to post this question in the forum. This way lot more people will be able to help.

SLAM Gmapping map to odom remapping error Hello, I am trying to perform slam_gmapping for my project, and using filtere

SLAM Gmapping map to odom remapping error Hello, I am trying to perform slam_gmapping for my project, and using filtere