I got CMVision blob tracking to work (Ubuntu 10.04 & Diamond ROS), now I could really use a node to read subscribe to the published blobs, and publish R/C servo camera tracking.
I've started to write a node, and I've studied the headers, but it's not clear to me what structure I need for the blobs. If I can subscribe to the blobs, I can work out the centroid of the biggest blob or two, and then probably publish a servo command to the ros_arduino_bridge.

Surely there is already a node to read the blobs that I can use or study!

Thanks,

Alan KM6VV

I'm having problems running the razor_imu_9dof package.

Diamondback on Ubuntu 10.04

roslaunch razor_imu_9dof razor.launch

Initial problem of not finding ttyUSB1 was edited to ttyUSB0 in razor.launch and node.py files.

I start razor_imu_9dof with my Razor board connected, the two visualization windows come up on the screen, and it may or may not run for a few seconds (watching graphics and rostopic echo /imuRaw), and then the process dies. Graphics stay up, node dies.

Traceback (most recent call last):
  File "/home/turtlebot/ros_workspace/razor_imu_9dof/razor_imu_9dof/nodes/node.py", line 73, in <module>
    line = ser.readline()
  File "/usr/lib/python2.6/dist-packages/serial/serialutil.py", line 60, in readline
    c = self.read(1)
  File "/usr/lib/python2.6/dist-packages/serial/serialposix.py", line 320, in read
    buf = os.read(self.fd, size-len(read))
OSError: [Errno 11] Resource temporarily unavailable
[node-1] process has died [pid 2964, exit code 1].
log files: /home/turtlebot/.ros/log/cc609c80-8b2d-11e2-b23a-0016ea6f4f4c/node-1*.log

other messages like "out of range" and literal for float() also occur. the output from the Razor is clean as viewed on the Arduino IDE serial monitor, and will run forever.

Any thoughts?

Alan KM6VV

How can I run a simple Python program under ROS (turtlebot is already running)? How do I launch (start?) it?

Alan KM6VV

Has anyone interfaced a 9DOF IMU like Sparkfun's Razor or the APM's from DIY Drones?

Each has software already, but what level of information should the IMU publish to ROS?

Thanks,

Alan

I'm trying to build Ardusim for use on my turtlebot. ROS Electric, Ubuntu 10.04 and I issued these commands:

alan@alan-desktop:~$ cd ~/ros_workspace

alan@alan-desktop:~/ros_workspace$ svn checkout http://isr-uc-ros-pkg.googlecode.com/svn/stacks/lse_arduino/trunk/ardusim

alan@alan-desktop:~/ros_workspace$ cd ardusim alan@alan-desktop:~/ros_workspace/ardusim$ rosmake

But, I don't think it found everything:

Failed to find stack for package [lse_sensor_msgs] Failed to load rosdep.yaml for package [lse_sensor_msgs]:Cannot locate installation of package lse_sensor_msgs: [rospack] couldn't find package [lse_sensor_msgs]. ROS_ROOT[/opt/ros/electric/ros] ROS_PACKAGE_PATH[/home/alan/ros_workspace:/opt/ros/electric/stacks] Failed to find stack for package [cereal_port] Failed to load rosdep.yaml for package [cereal_port]:Cannot locate installation of package cereal_port: [rospack] couldn't find package [cereal_port]. ROS_ROOT[/opt/ros/electric/ros] ROS_PACKAGE_PATH[/home/alan/ros_workspace:/opt/ros/electric/stacks]

So what is the proper way to get and build Ardusim?

Thanks,

Alan

I've got a single SRF08 ranger running on the supplied 0xF8 address, but I can't get it to work on the other addresses (I need several sensors). I have verified the ranger to be addressed to 0xE8, but the ranger does not reply to either the programmed address 0xE8, or the +4 address the author uses for subsequent calls.

The author suggests:

New_Address += 4; // offset address not sure why this is but it works for this address

http://www.ros.org/wiki/rosserial_arduino/Tutorials/SRF08%20Ultrasonic%20Range%20Finder

I have implemented a multi-ranger program in the past (on a 2620 PIC), and I didn't need to do any "+4" trick to get it working. It also worked on all six addresses. I have not yet "ported" my my code to the Atmel (I wanted to use the Sonar_srf08 library).

There is a newer version of the library, but it's essentially the same, just added gain and range parameters to several wire.writes.

http://playground.arduino.cc/Main/SonarSrf08

Any ideas or fixes?

Thanks, Alan

I'm trying to compile razor_imu_9dof under diamond (?), but I get this error: CMake Error" the source directory "/home/paralax2/github/razor_imu_9dof/razor_imu does not exist.

I don't care about paralax2, can I use this package? Found a razor.launch file.

So I get 37 packages with 1 failure. Is it the git depository?

Thanks,

Alan KM6VV

I'm trying to run: $ rostopic pub /pan_tilt_node/pan_tilt_cmd pan_tilt_node/PanTiltCmd --once 90 90 $ rostopic pub /pan_tilt_node/pan_tilt_cmd pan_tilt_node/PanTiltCmd --once 45 45

1

But it only functions once on the first pub command. Alternating values of the pan and tilt do not create any additional movement, although the node reports the parameters.

2

If I try to do both pan and tilt to - 90 --once -- -90 -- -90 I get a parameter error "--".

Example from: http://pharos.ece.utexas.edu/wiki/index.php/How_to_Control_the_Lynx_Motion_Pan-Tilt_Assembly_from_ROS

Thanks, Alan KM6VV

I bought a Logitech F710 joystick to run the turtlebot. installed turtlebot_teleop_joystick says can't open joytick /dev/input/js0 I drove with keyboard OK.

Ubuntu 10.4 electric ROS

Thanks,

Alan

I have a Phoenix aircraft simulator package which uses a USB adapter to allow my Toshiba R/C transmitter to be used as a joystick.

Will Ubuntu/ROS be able to find and use it?

Thanks,

Alan

Thanks for the URL, Youtube video makes it look like it would be too slow for a blob camera.

yes. Seems like there should be a way.... Alan

I have a Logitech USB camera interfaced to ROS. But after adding a Hero3 camera to my 'bot, I'd like to use it for both ROS blob tracking and video capture.

Is there a way to do this? There is a USB connector on the camera for updating from a PC.

Alan KM6VV