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2019-03-15 11:20:38 -0600 commented question Moveit octomap collision avoidance using point cloud data from Microsoft Kinect v2

Hi macrot51, unfortunately I never got it to work... Very sorry I can't help you! If you do find an answer please be sur

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2017-09-19 09:33:29 -0600 asked a question How to filter robot from Microsoft Kinect v2 depth images for use with rtabmap?

How to filter robot from Microsoft Kinect v2 depth images for use with rtabmap? Hi again, I've been trying to create a

2017-09-19 09:07:56 -0600 asked a question Moveit octomap collision avoidance using point cloud data from Microsoft Kinect v2

Moveit octomap collision avoidance using point cloud data from Microsoft Kinect v2 Hi again, I've been trying to create

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2017-09-13 12:35:44 -0600 marked best answer Rtabmap reference frame with ur5 and Kinect v2

Hi all,

I've been trying to create a collision map of the surroundings (with rtabmap) for a Universal Robot ur5 using a Microsoft Kinect v2 mounted to an elbow close to the end effector of the robot. I am using ROS Indigo and Ubuntu 14.04.

I have written a .launch file that starts up all the nodes. Most of the elements of the algorithm are working fine, except that I don't seem to get the reference frame for the map right.... What do I need to link the map frame to in order to get the mapping in reference to the robot right even when it's moving (I've written a motion_publisher node that makes the robot follow a trajectory for looking around so as to map the whole area around it).

This is the .launch file I'm using:

<launch>

<!--By default , the database db is not started -->
    <arg name ="db" default ="false"/>

<!--By default , debug mode is switched off -->
    <arg name ="debug" default ="false" />

<!-- Load the URDF , SRDF and other . yaml configuration files on the param server -->
    <include file ="$(find ur5_moveit_config)/launch/planning_context.launch">
        <arg name ="load_robot_description" value ="true"/>
    </include>

<!--Including Kinect Bridge camera driver-->
    <include file ="$(find kinect2_bridge)/launch/kinect2_bridge.launch">
    <arg name ="publish_tf" value="true"/>
    </include>

<!--static_transform_publisher (transformation description) frame_id child_frame_id period_in_ms-->
    <!-- Link kinect2_base_link frame to ee_link -->
    <node pkg ="tf"
    type ="static_transform_publisher"
    name ="kinect2_base_link_tf_broadcaster"
        args ="-0.09 0 0.07 0 0 0 ee_link kinect2_base_link 10"/>

    <!-- Link map frame to ee_link -->
    <node pkg ="tf"
    type ="static_transform_publisher"
    name ="map_tf_broadcaster"
        args ="-0.09 0 0.07 0 0 0 ee_link map 10"/>

<!-- Run UR5 drivers with ip of plugged in robot to connect to it-->
   <include file ="$(find ur_modern_driver)/launch/ur5_bringup.launch">
        <arg name ="robot_ip" value ="192.168.100.200"/>
        <!--<arg name ="limited" value ="true" />-->
        <param name ="reverse_port" value ="REVERSE_PORT"/>
    </include>

<!--Run the MoveIt config for the ur5-->
        <include file ="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
            <arg name ="limited" value ="false"/>
        </include>

<!--Run Rviz and load the saved config to see the state of the move_group node-->
    <node pkg="rviz" 
    type="rviz" 
    name="my_rviz" 
    args="-d $(find MotionPublisher)/launch/rvizconfig_qhdkinect.rviz"/>           

            <!--Starting up rtabmap in mapping mode-->
    <include file ="$(find rtabmap_ros)/launch/rgbd_mapping_kinect2.launch">
    <arg name ="resolution" value="qhd"/>
    </include>

<!--Start Motion Publisher to publish trajectory points for mapping-->
    <node name ="MotionPublisher_node" 
        pkg ="MotionPublisher" 
        type ="MotionPublisher_node"/>
</launch>

With the current configuration (as shown in the .launch file above) the mapping seems to work fine for a while, but after some movements the map seems to loose track... objects are appearing multiple times at different angles from the robot and the map usually shifts to a weird angle from the robot (mostly some sort of an inclined plane to the robots base plane).

To me it looks like the transformations aren't calculated correctly. Sure enough I do get "[ERROR] Found empty JointState message" every now and then... not sure where it's coming from and if there's a connection!

I am not entirely sure ... (more)

2017-09-13 11:18:58 -0600 asked a question Robot self filtering using realtime_urdf_filter with Kinect v2 and ur5

Robot self filtering using realtime_urdf_filter with Kinect v2 and ur5 Hi again, I've been trying to create a collisio

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2017-09-13 09:46:38 -0600 commented question Rtabmap reference frame with ur5 and Kinect v2

Thanks for all the input (and the Karma gvdhoorn :D )! Turns out matlabbes answer took the price and it's working perfec

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2017-09-12 07:40:49 -0600 asked a question Rtabmap reference frame with ur5 and Kinect v2

Rtabmap reference frame with ur5 and Kinect v2 Hi all, I've been trying to create a collision map of the surroundings (

2017-09-08 06:02:41 -0600 marked best answer Kinect working, but not connection to freenect or openni

Hi all,

this seems to be a widespread problem, but even with all the proposed solutions I don't seem to get it to work:

I am trying to use a Microsoft Kinect v2 with ROS.

The camera is connected and I can stream the images using

rosrun kinect2_viewer kinect2_viewer

Therefore I concluded that the basic connection to the camera is working fine. Unfortunately when I try to connect to the camera using freenect

roslaunch freenect_launch freenect.launch

I don't seem to be able to get it to work, producing the following error message:

[ INFO] [1503322404.266304684]: No devices connected.... waiting for devices to be connected

I have also tried using openNI, which produces the same error message in the process.

I know this is a well discussed error in the community and I've tried various suggested solutions from reinstalling freenect and openNI respectively, applying a patch (as seen in: https://answers.ros.org/question/6056... ) and everything else that was suggested...

But so far nothing seemed to work! Still getting the same error about not finding the Kinect...

Any sort of pointer or hint in a direction is extremely appreciated! I'm running out of ideas (even for new ways to google the issue!)

Thanks in advance everyone!

P.S.: I am using ROS Indigo and Ubuntu 14.04 with a Kinect v2 connected to a USB 3.0 port

2017-09-08 03:05:10 -0600 answered a question Kinect working, but not connection to freenect or openni

After trying lots of different drivers and setups I managed to get it to work after reinstalling everything and using Ki

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2017-08-21 06:52:35 -0600 edited question Kinect working, but not connection to freenect or openni

Kinect working, but not connection to freenect or openni Hi all, this seems to be a widespread problem, but even with a

2017-08-21 06:41:25 -0600 asked a question Kinect working, but not connection to freenect or openni

Kinect working, but not connection to freenect or openni Hi all, this seems to be a widespread problem, but even with a

2017-07-12 04:59:05 -0600 commented answer Failed path planning Moveit+RIVZ

Is there no way to just slow down the execution of the planned trajectory so as to give the computer more time for the c