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Has anyone transitioned from protocol 1.0 to 2.0 following recent firmware upgrades? I'm currently using MX-64T's with the dynamixel_motor stack, but I'm trying to understand what upgrading to protocol 2.0 would entail. Is this as simple as updating the control table addresses in dynamixel_const.py? Or would it be best to incorporate the official Robotis DynamixelSDK package in place of the dynamixel_driver package?

Any advice is appreciated!

Setup: ROS Kinetic, Ubuntu 16.04

on the TurtleBot platform, when launching the move_base node configured for the global_planner/GlobalPlanner, I receive the following error:

Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class global_planner/GlobalPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are navfn/NavfnROS

I load move_base_params.yaml within move_base as follows:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" > <rosparam file="$(find robust_navigation)/param/move_base_params.yaml" command="load" />

where the base_global_planner param is defined in move_base_params.yaml as follows: base_global_planner: "global_planner/GlobalPlanner"

I've re-installed the nav stack and re-built my workspace to no avail.

very sorry, the problem seems to have been caused by sourcing conflicting workspace. this is resolved. thanks!

Failed to create the global_planner/GlobalPlanner planner Setup: ROS Kinetic, Ubuntu 16.04 on the TurtleBot platform, w

The tf2 documentation suggests that the implementation somewhat breaks down in cases where coordinate frames require re-parenting. Is there a reasonable solution for completely reversing the child-parent tree?

A simple example: a serial manipulator has 3 joints, 'joint1', 'joint2', 'joint3', and the tf2 tree is configured to reflect this (joint1 --> joint2 --> joint3). At any point, I'd like to reverse the configuration such that the 'joint3' frame is now effectively treated as the 'joint1' frame (i.e. joint3 --> joint2 --> joint1).

A thought: Would a potential solution be to modify the frame_id for each joint? For instance, before reversing, the frame_ids 'joint1', 'joint2', and 'joint3' would correspond to the physical joint1, joint2, and joint3, respectively. Then, could I simply overwrite the frame_ids linked to the physical joints such that the physical joint1 is represented by frame_id 'joint3', etc. ?

Semi-constrained end-effector goal orientation I'm using MoveIt! with TRAC-IK to do motion planning for a 6-DOF robotic

dynamixel_motor support for protocol 2.0 Has anyone transitioned from protocol 1.0 to 2.0 following recent firmware upgr

I've been searching around through the documentation/forum posts and haven't really found a good walk-through explaining how to set up version control of a ros project using Git. I'll explain what I have and what I'm hoping to do (it's very possible that what I have in mind is not necessarily the most efficient way of maintaining our source code, so feel free to point me towards something more in-line with current convention or best practices). I am fairly inexperienced with ROS and Git.

Just for a very simple example, I have a catkin workspace ros_ws/ and three packages ros_ws/src/my_pkg_1, ros_ws/src/my_pkg_2 and ros_ws/src/other_pkg.

ros_ws/src/my_pkg_1 & ros_ws/src/my_pkg_2 are packages written and maintained solely be me. ros_ws/src/other_pkg is an external repository that I've cloned into my workspace.

I'd like to have version control for my_pkg_1 & my_pkg_2 within my personal repository and be able to pull and update other_pkg as it is maintained externally. Additionally, I don't want to maintain build/ or devel/ (I typically have seen these directories in the .gitignore in other examples as well). In the end, I want to be able to clone this entire project onto a new machine.

Thanks for any guidance or advice! We want to be sure we're starting off with good organization, as I'd imagine it can be painful to try to reorganize later on ...

thanks for the example ... so in this instance, is https://github.com/googlecartographer/cartographer.git or https://git

Guide for managing a ros project with Git I've been searching around through the documentation/forum posts and haven't r

ros kinetic install fails to resolve dependencies (qtbase5-dev) We are operating on a Raspberry Pi 3 Model B, with Debia

ros kinetic install fails to resolve dependencies (qtbase5-dev) We are operating on a Raspberry Pi 3 Model B, with Debia