davinci's profile - activity

I want to map an environment with a single camera which moved through the environment with a known trajectory. So that I create a 3D map. Several SLAM systems can create a (2D or 3D) map and estimate the position of the camera. But in my case this position is already known. So I am looking for a ROS SLAM package that can be supplied with accurate position data. Or a vision package that can be used to do stereovision with movement parallax.

I am running a simulation with gazebo with several nodes that interact with it. Unfortunatly gazebo dies every round every 4 try or something. This is probably due that gazebo isn't fully loaded yet but the other nodes already try to interact. Is it possible to wait in a launch file? I know that you can check for spawning of a model in C++ but I don't want to change the code of other peoples nodes.

For instance:

[INFO] [WallTime: 1362474942.941701] [0.000000] waiting for service /gazebo/spawn_gazebo_model
[ INFO] [1362474942.959366049]: Starting ArSinglePublisher
[ INFO] [1362474942.960436786]:     Publish transforms: 1
[ INFO] [1362474942.961100138]:     Publish visual markers: 1
[ INFO] [1362474942.961786398]:     Threshold: 100
[ INFO] [1362474942.962510092]:     Marker Width: 80.0
[ INFO] [1362474942.963164854]:     Reverse Transform: 0
[ INFO] [1362474942.963834981]:     Marker frame: ar_marker
[ INFO] [1362474942.964532556]:     Use history: 1
[ INFO] [1362474942.968002829]:     Marker Center: (0.0,0.0)
[ INFO] [1362474942.968078677]: Subscribing to info topic
Service call failed: unable to connect to service: [Errno 104] Connection reset by peer
Service call failed: unable to connect to service: [Errno 104] Connection reset by peer
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rviz_marker-10]: started with pid [3694]
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Aborted (core dumped)
[gazebo-2] process has died [pid 3518, exit code 134, cmd /home/lm/fuerte_workspace/simulator_gazebo/gazebo/scripts/gazebo /home/lm/fuerte_workspace/sandbox/ar_joint_controller/model/empty_throttled.world __name:=gazebo __log:=/home/lm/.ros/log/3f24e8ca-8575-11e2-8c2d-00216a4e286a/gazebo-2.log].
log file: /home/lm/.ros/log/3f24e8ca-8575-11e2-8c2d-00216a4e286a/gazebo-2*.log

Or:

[INFO] [WallTime: 1362475473.343128] [0.000000] waiting for service /gazebo/spawn_gazebo_model
[ INFO] [1362475473.566625127]: joint trajectory plugin missing <updateRate>, defaults to 0.0 (as fast as possible)
gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = gazebo::transport::Publisher]: Assertion `px != 0' failed.
Service call failed: unable to connect to service: [Errno 104] Connection reset by peer
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
Aborted (core dumped)

I am trying to build a model of robot arm in simulation with checkerboards on it for image recognition. For this I use the simple arm model. Is there somewhere a good description of all the possibilities of urdf / gazebo models? Because I found from a presentation that you can use for instance patterns:

 <material name="pattern">
    <texture filename="package://roscon_urdf/logo.jpg"/>
</material>

But I could not find this back in the documentation..it did not load either:

 Warning [parser.cc:458] XML Attribute[name] in element[material] not defined in SDF, ignoring.
Error [parser.cc:566] XML Element[texture], child of element[material] not defined in SDF. Ignoring.[material]
Error [parser.cc:557] Error reading element
Error [parser.cc:340] Unable to parse sdf element[gazebo]
Error [parser.cc:299] parse as old deprecated model file failed.
Error [World.cc:1099] Unable to read sdf string
 

The material script line from the simple_arm was replaced with the code above. Loaded with

 rosrun gazebo spawn_model -file simple_arm.model -gazebo -model box 

Aruco is probably looking for a /dev/video* entry while yours is /dev/ueye you should change that in the configuration or remap it somehow.

Image transport is only within ROS. After this import step you can use it.

I don't have experience with that stack. Download and test it to find it out :)

See the http://wiki.ros.org/care-o-bot stack

Hi, I created a URDF file with SolidWorks URDF exoprter, and the robot package whith moveit setup assistant. When I run the demo.launch appears this error:

[ERROR] [1399887795.667244386]: Failed to call service /get_planning_scene at /tmp/buildd/ros-hydro-moveit-ros-planning-0.5.16-0precise-20140401-2011/planning_scene_monitor/src/planning_scene_monitor.cpp:431

The arduino cannot Linux so you cannot install ROS on it. You can use a computer with ROS which sends the commands to the arduino over wifi or xbee.

You should ROS somewhere in loop, phone, arduino. As you can't run ROS on an arduino ROS should run on the phone. Or you should put a computer in between.

When running the Universal robots ur5_driver and connecting to the robot I always see these messages:

[WARN] [WallTime: 1390394126.210844] No calibration offset for joint "shoulder_pan_joint"
[WARN] [WallTime: 1390394126.212435] No calibration offset for joint "shoulder_lift_joint"
[WARN] [WallTime: 1390394126.214354] No calibration offset for joint "elbow_joint"
[WARN] [WallTime: 1390394126.216533] No calibration offset for joint "wrist_1_joint"
[WARN] [WallTime: 1390394126.219127] No calibration offset for joint "wrist_2_joint"
[WARN] [WallTime: 1390394126.222308] No calibration offset for joint "wrist_3_joint"
[ERROR] [WallTime: 1390394126.223789] Loaded calibration offsets: {}

I can however not find anything in the documentation about this. Is this to compensate any drift? Or with the calibration loaded you don't have to initialize the joints by moving them around? How can this be used?

I want to use the ur5 arm in Gazebo under Fuerte (so I can't use MoveIt). The documentation of the UR5 package is absent: http://wiki.ros.org/ur5_gazebo?distro=fuerte unfortunately. But there is a controller file for a JointTrajectoryActionController.

Which packages should I use if I want to sent the tool center point (TCP) to a specific point with collision checking? Should I use joint_trajectory_action, move_arm or arm_navigation The structure of all the system is not very clear to me. Some of the packages above use the other probably, but the high level and low level difference is vague to me

I try to install rosjava_core in Fuerte. I did:

rosws set --git rosjava_core 'https://github.com/rosjava/rosjava_core.git'

    rosws update

But there seems no manifest.xml present anymore? So I can't roscd in to the folder. I also tried rospack profile but that did not work.

I also got this error which I fixed (?) by renaming the .rosinstall file

ERROR in config: Ambiguous workspace: ROS_WORKSPACE=/home/lennart/fuerte_workspace, /home/lennart/fuerte_workspace/rosjava_core/.rosinstall

I have an urdf description of a camera on a robot. On the camera I run the ar_pose detector. The image is correct, but detected location is behind the camera. The problem is that if I change the origin in the urdf the image gets also rotated. How can I get the image and the marker position correctly simultaneously?

I was using a .model file in gazebo with a libgazebo_ros_camera.so camera. But for the PR2 controllers I needed to switch to urdf file. I am now using the libgazebo_ros_prosilica.so camera. But the performance of the tracking of markers using ar_pose seems worse. Therefore I want to try the libgazebo one again. But I cannot get a good urdf description of it. How can I convert this model code to urdf syntax?

 <sensor name='camera' type='camera' always_on='1' update_rate='30' visualize='true'>
        <camera>
          <horizontal_fov angle='1.57079633'/>
          <image width='640' height='480' format='R8G8B8'/>
          <clip near='0.1' far='100'/>
        </camera>
        <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <updateRate>30.0</updateRate>
            <cameraName>usb_cam</cameraName>
            <frameName>/robot_camera_link</frameName>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <hackBaseline>0</hackBaseline>
            <focalLength>320.000101</focalLength>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>

I am trying to get the angle of a joint in Gazebo, with the get_joint_properties service.

rosservice call gazebo/get_joint_properties '{joint_name: arm_base_joint }'
ERROR: Unable to communicate with service [/gazebo/get_joint_properties], address [rosrpc://Flaptop:33666]

 rosservice call gazebo/get_joint_properties '{joint_name: arm_base_joint }'
ERROR: service [/gazebo/get_joint_properties] responded with an error: 

rosservice call gazebo/get_joint_properties '{joint_name: arm_base_joint }'
ERROR: Unable to communicate with service [/gazebo/get_joint_properties], address [rosrpc://Flaptop:45950]

The service is running:

 rosservice info /gazebo/get_joint_properties
    Node: /gazebo
    URI: rosrpc://Flaptop:45950
    Type: gazebo_msgs/GetJointProperties
    Args: joint_name

If I look in rxconsole I can see that the request is made. But why does it not respond? Should there be something extra in the model file?

TCPROS received a connection from [127.0.0.1:45196]

Connection: Creating ServiceClientLink for service [/gazebo/get_joint_properties] connected to [callerid=[/rosservice] address=[TCPROS connection to [127.0.0.1:45196 on socket 53]]]

Service client [/rosservice] wants service [/gazebo/get_joint_properties] with md5sum [*]

Socket [53] received 0/4 bytes, closing

TCP socket [53] closed

Connection::drop(0)

Connection::drop(2)

Connection::drop(2)

Accepted connection on socket [11], new socket [53]

TCPROS received a connection from [127.0.0.1:45204]

Connection: Creating ServiceClientLink for service [/gazebo/get_joint_properties] connected to [callerid=[/rosservice_26050_1360430129445] address=[TCPROS connection to [127.0.0.1:45204 on socket 53]]]

Service client [/rosservice_26050_1360430129445] wants service [/gazebo/get_joint_properties] with md5sum [7b30be900f50aa21efec4a0ec92d91c9]

Connection::drop(2)

TCP socket [53] closed

Connection::drop(0)

Connection::drop(2)

Connection::drop(2)

I am trying to remap a camera stream from /camera to /camera1_ns in gazebo.

<launch>
  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="true" />

  <!-- start gazebo with an empty plane -->
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>

<!-- start gui -->
<node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>

<!-- spawn model -->
 <node name="spawn_arm" pkg="gazebo" type="spawn_model" args="-file simple_arm.model -gazebo -model     simple_arm" respawn="false" output="screen" >

<!-- remapping topics -->

<remap from="/camera1_ns" to="/camera" />
</node>

</launch>

But there is no /camera1_ns listed with rostopic list. Is this approach correct or should it be done otherwise?

Perhaps a stupid question. But roscd sandbox does not work "roscd: No such package/stack 'sandbox'". While it is in the package path and rosws lists it as well..

I am trying to install the articulation package. The documentation states you should do a svn checkout and run rosmake.

But this should now be done using rosinstall? How should this be done? Is there somewhere a clear a example of a .rosinstall file? How are missing dependencies handled then?

In the end I just did it the old way by adding the path and ran rosmake. Only I got this error:Error: package/stack rosgui_paramedit depends on non-existent package rqt_gui_cpp. but should this file not be present in the core installation?

I want to use a phidget interfacekit 8/8/8 with ROS on a Raspberry Pi. But it's not clear to me what best way to do this is, could someone clearify this or point me to a page with clear information? Given the limited space on the Pi I don't want to check out an entire svn if possible.

I want to install the phidget library. There are two libraries?

• Footes: https://phidget.foote-ros-pkg.googlecode.com/hg/
• http://ros.org/wiki/phidgets_ros

EDIT: I used the new overlay method but now I still got a problem. When running: rosrun phidgets_ros interface_kit.py I got this error: rospkg.common.ResourceNotFound: phidgetspp_c_api The problem is that I can't install the phidgetspp_c_api. When installing I got an error with the certificate:

 Command failed: 'hg clone "https://phidget.foote-ros-pkg.googlecode.com/hg" /home/lennart/fuerte_workspace/phidgetspp_c_api'
 errcode: 255:
abort: phidget.foote-ros-pkg.googlecode.com certificate error: certificate is for *.googlecode.com, *.u.googlecode.com, googlecode.com, *.codespot.com, *.googlesource.com, googlesource.com (use --insecure to connect insecurely)
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