Mekateng's profile - activity

Saving real time data How can save a data to a file (it can be txt file) in real time when we click with the mouse on th

Hi, I want to do same thing but unfortunately ı did not solve my problem yet. If you don't mind, would you please share

Hi @Perrary, I want to obtain the odometry with Arduino Uno too. Could you please share the ros and arduino code with me

I want to do same thing but unfortunately ı did not solve my problem yet. If you don't mind, would you please share the

I want to do the same thing too. Could you please share the arduino and python code (ros code) about this topic.

Do you have the arduino encoder code you use next to this code for a real application? If yes, could you please share it

Did you solve the problem? If do, could you please share the code?

What is the meaning of these ? (<limit effort="3" velocity="1.178465545" lower="0.0" upper="3.14"/>) on the urdf model. ı changed limit effort or velocity but nothing changed

Hi, I obtained 3d image using 2d urg-04lx-ug01 .There is an object at a distance of 1 meter. How do ı see that distance in Rviz or in a terminal ? or can ı see object distance ?

Hi, I obtained 3d point cloud using 2d rotating laser scanner on a base frame . But now I want to this mounted on a vehicle. How can I do it?

Hİ, did you solve it?

Hi, I want to know that Is possible to measure linear velocity with 3DM-GX1 model IMU on ROS? Thanks in advance.

Hi, The following code allows a rotating laser scanner to detect the object closest to itself using the LaserScan(scan topic) message.But ı want to this using pointcloud . How can I do this? How do we make a change in the code below for this? thanks in advance.

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Point, PoseStamped, PointStamped
import tf2_ros
import PyKDL
import tf2_geometry_msgs
from math import cos,sin
class LaserRot(object):
    def __init__(self):
        self.laser=LaserScan()
        self.laserS=rospy.Subscriber("/scan", LaserScan, self.laser_callback)
        self.closestP=rospy.Publisher("/closest_point", PointStamped, queue_size=1)
        self.tf_buffer=tf2_ros.Buffer(rospy.Duration(1200.0))
        self.tf_listener=tf2_ros.TransformListener(self.tf_buffer)


        self.get_transform()

    def get_transform(self):
        try:
            self.transform = self.tf_buffer.lookup_transform("base_link", "laser", rospy.Time(0), rospy.Duration(1.0))
        except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
            rospy.logerror("Error getting transform")
            print "Error"

    def laser_callback (self, msg):
        self.laser=msg
        self.get_transform()

    def publish_closest_obstacle(self):
        laser = self.laser.ranges
        shortest_laser = 10000
        point=Point()
        for i in range(len(laser)):
            if laser[i] < shortest_laser:
                angle=self.laser.angle_min + i*self.laser.angle_increment
                x=laser[i]*cos(angle)
                if x>-0.2:
                    shortest_laser=laser[i]
                    point.x=x
                    point.y=shortest_laser*sin(angle)
        pose=PoseStamped()
        pose.header=self.laser.header
        point.z=0.0
        pose.pose.position=point
        pose_transformed= tf2_geometry_msgs.do_transform_pose(pose, self.transform)
        point_transformed=PointStamped()


        point_transformed.header=pose_transformed.header
        point_transformed.point = pose_transformed.pose.position
        self.closestP.publish(point_transformed)

rospy.init_node("compute_closest_obstcl")
r=rospy.Rate(10)
lr=LaserRot()

while not rospy.is_shutdown():
    lr.publish_closest_obstacle()
    r.sleep()

How to save OctoMap data everytime? Hi, I'm getting a 3D map using the OctoMap server package. But As the vehicle moves