mzWang's profile - activity

My guess is that the transform can be achieved from time to time and an octomap can be generated seldomly (?) This is en

... the maximum rate I can get is 20.819 Hz, which is the same as the rate of the /odom being published. HOWEVER, I just

Yes they actually have something in common. Those other links being published at high rate are all fixed links, while th

Oh... Yes the on board pc does have a 8 cores CPU. It's a 7th i7 of a NUC. Is there anything I can do to solve this prob

Yes of course. Please see the updated edit. Hope the format works. Thank you!

how to fix very low frame publish rate of turtlebot Hi all, I'm trying to use moveit it to control a turtlebot arm moun

Please see the edit for the 'top' results. It seems not very bad to me. Thank you!

how to fix very low frame publish rate of turtlebot Hi all, I'm trying to use moveit it to control a turtlebot arm moun

I tried to run everything on the robot, and I don't have that synchronization warning anymore. Thank you! However I'm fa

https://answers.ros.org/question/309317/how-to-fix-very-low-frame-publish-rate-of-turtlebot/

I tried to run everything on the robot, and I don't have that synchronization warning anymore. Thank you! However I'm fa

Hi all,

I'm using Moveit to control a turtle arm on a turtlebot. I want to use the kinect on turtlebot for perception. I followed the perception tutorials to setup the yaml and launch files, but I can't get octomap in RViz. I can still plan a path though, just without any information from the environment.

When I'm starting the camera and then start the moveit, the part of output I believe that is related is as following:

[ INFO] [1542892231.060107356]: Loading robot model 'turtlebot'...
[ INFO] [1542892238.874967176]: Using planning interface 'OMPL'
[ INFO] [1542892239.110417144]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1542892239.490668958]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1542892239.720272956]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542892240.192941838]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542892240.446976426]: Param 'jiggle_fraction' was set to 0.05
[ WARN] [1542892240.475931732]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      18
    CameraInfo messages received: 263
    Synchronized pairs:           0
[ INFO] [1542892240.730520809]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1542892240.730652536]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1542892240.730686255]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1542892240.730709452]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1542892240.730730508]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1542892240.730760984]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1542892241.636168685]: Loading robot model 'turtlebot'...
[ INFO] [1542892246.831242386]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [1542892246.831393129]: Returned 1 controllers in list
[ INFO] [1542892249.116548731]: Starting scene monitor
[ WARN] [1542892250.476377562]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      19
    CameraInfo messages received: 297
    Synchronized pairs:           0
[ INFO] [1542892250.689720358]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1542892251.107535720]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1542892252.256660823]: Trajectory execution is managing controllers
[ INFO] [1542892256.244297990]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.15/planning_scene_monitor/src/planning_scene_monitor.cpp:498
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[ WARN] [1542892260.475968817]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      21
    CameraInfo messages received: 305
    Synchronized pairs:           0
[ INFO] [1542892261.431886845]: Constructing new MoveGroup connection for group 'arm' in namespace ''
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...

It complains about two things, the first one is the depth image and camera info are not synchronized. I don't know how to solve this because those are published by the kinect driver. The second problem is it "Failed to call service get_planning_scene". Please help me on this. How can I get the perception working in moveit?

Thank you!!!

how to fix very low frame publish rate of turtlebot Hi all, I'm trying to use moveit it to control a turtlebot arm moun

Thank you!!! This explanation sounds super reasonable. I'll try your suggestion and let's see. Thanks again!

moveit Failed to call service get_planning_scene Hi all, I'm using Moveit to control a turtle arm on a turtlebot. I wan

how to use moveit to control a robot arm on a mobile base Hi, I have a turtlebot and a turtlebot arm (with some modific

You are correct! I need to put those sources in right scope. Thanks again!

Hi,

I'm using the move base on my robot for navigation, but I have some special needs regarding how the global map and local map should be updated. The robot have two sensors for mapping, a depth camera (/point_cloud) and a laser scan (/scan). And I will publish another topic which includes the point clouds of verified obstacles (/verified_cloud). For the local map, I want to update it with the laser scan result. For the global map, I want to update it with only the verified point clouds that I published (/verified_cloud). If there is nothing published on /verified_cloud topic, I don't want the global map gets updated even the laser scan found an obstacle.

I have my yaml files like this:

costmap_common_params.yaml

obstacle_range: 2.5 
raytrace_range: 3.0
robot_radius: 0.25
inflation_radius: 0.5

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true


observation_sources: point_cloud_sensor

point_cloud_sensor: {sensor_frame: map, data_type: PointCloud2, topic: /verified_clouds, marking: true, clearing: false}

local_costmap_params.yaml

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05


observation_sources: laser_scan_sensor 

laser_scan_sensor: {sensor_frame: base_range_sensor_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

However, I find that the global map is still getting updated from the laser scan results. Can you help me stop the global map updating from laser scan? Thanks in advance!!!

I see. Thank you! I'll try it out tomorrow.

Hi,

I try to navigate the robot in an environment with movable obstacles. Instead of making the robot avoid all the obstacles it found, I want the robot to test if an obstacle is movable first. If the robot finds an obstacle is movable, I don't want the robot to register that obstacle on the global map.

To be more specific, I have a pre-define static global map, which only records those unmovable obstacles. I want to use this global map to plan the path for the robot. When the robot find a new obstacle using its sensors, the robot can first tell if the obstacle is movable. If the obstacle is defined as movable, the global map shouldn't be changed and robot will just assume there is no such an obstacle. In other case, when an obstacle is defined as movable, the location and corresponding inflation area of the obstacle should be updated on the global map. Then the robot can use the new map to plan a path. Meanwhile, the local costmap should behave just as normal.

Hope I expressed myself clearly. Is this achievable with costmap_2d? What should I look into to achieve this? Thanks in advance!!!

Please see this link: https://answers.ros.org/question/306040/can-i-update-global-map-with-only-one-specific-pointcloud-

Thanks again! Although I didn't find a perfect answer to the original problem, I do figure out a way to work around. Sin

Can I update global map with only one specific pointcloud topic? Hi, I'm using the move base on my robot for navigation

Thank you for your reply! I think I got the idea of how to use a costmap layer to update as I need. The next problem is

how to update the static global map only when needed? Hi, I try to navigate the robot in an environment with movable ob

Thanks for the tips! :)

Hi All,

I have an Orbbec Astra Pro camera and I can get the RGB image using libuvc_camera package. However, the RGB image I get doesn't look very good. You can see the image below.

It looks like there's one yellow layer on top of the image. I was told this is due to a bad white balance. I tried to enable the auto_white_balance setting in libuvc but it makes no difference. This is the launch file I ran:

<launch>
  <group ns="camera">
    <node pkg="libuvc_camera" type="camera_node" name="mycam">
      <!-- Parameters used to find the camera -->
      <param name="vendor" value="0x0"/>
      <param name="product" value="0x0"/>
      <param name="serial" value=""/>
      <!-- If the above parameters aren't unique, choose the first match: -->
      <param name="index" value="0"/>

      <!-- Image size and type -->
      <param name="width" value="640"/>
      <param name="height" value="480"/>
      <!-- choose whichever uncompressed format the camera supports: -->
      <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg -->
      <param name="frame_rate" value="15"/>

      <param name="timestamp_method" value="start"/> <!-- start of frame -->
      <param name="camera_info_url" value="file:///tmp/cam.yaml"/>

      <param name="auto_exposure" value="3"/> <!-- use aperture_priority auto exposure -->
      <param name="auto_white_balance" value="true"/>
    </node>
  </group>
</launch>

Does anyone known how to solve this while balance problem with my astra pro camera? I'm running this on Ros-Kinetic with Ubuntu 16.04. Thanks!