Pedro's profile - activity

Hi!

I'm following the arm_navigation tutorials and I went through the planning description configuration wizard successfully. However, when trying 'Planning Components Visualizer', I couldn't get my custom robot to avoid a pole, it would always go through it as if it wasn't there.

All links of my robot were defined as cylinders in the urdf file, but when I converted them to boxes, the robot started avoiding the pole successfully.

Is this supposed to be like this, or is it a bug (or my problem maybe)?

Thanks in advance!

Hi,

I'm trying to use camera_pose_calibration to calibrate my Asus Xtion depth camera to a RGB camera. I calibrated both cameras and the launch file, except for this warning

"[ WARN] [1346835528.616595129]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions."

starts everything normally. But when I try to start calibrate_2_camera.launch, I get the following error:

"Creating aggregator for ['/gscam', '/camera/rgb']

ERROR [1346837613.386631463]: Unable to convert '8UC3' image to bgr8: 'Unsupported conversion from [8UC3] to [bgr8]' "

Which keeps repeating periodically. This happens both with the built in RGB camera (for that I use a bag file) and an external RGB camera. The version of camera_pose_calibration that I'm using comes from here.

Does anyone know what's causing this and/or how to solve it? Thanks in advance!

Hello,

if I need to include nodes from a GPL licensed package (e.g. ar_pose) in my application's launch file, can my software have a proprietary license and be commercialized? I'm not linking ar_pose to my own code, I'm just subscribing to its published topics. And if I make some changes to ar_pose, I would just have to publish ar_pose with my modifications, right?

Thanks in advance!

checkout openni_camera to a folder in your ROS_PACKAGE_PATH; download the patch file; cd to your new openni_camera directory; apply patch ($patch -b -p1 -i <path to your patch file>); compile openni_camera ($rosmake openni_camera); if you give me your email it's easier.

I just noticed that in SXGA, if I subscribe to the rgb image topic and depth image topic at the same time, it freezes. Do you have the same issue? CHz, download gistfile1.txt from gist.github.com/jonbinney/4508201, apply it in the openni_camera package with the 'patch' command and then compile it.

that is the solution which doesn't accept the other resolutions (VGA and QVGA) now, right?

Thanks! For now I'll just use a recorded video and cv_bridge worked fine.

Hi,

is there a way to get a video stream from an android phone's camera in the pc and publish it as a sensor_msgs/Image message?

Also, is there a package to convert a recorded video file into sensor_msgs/Image messages?

Thanks in advance!

Hi AnSooooo, I'm not sure whether using /torso_lift_link frame would cause the program to crash, but either way, I think you're supposed to use the camera frame, just don't forget to create a static tf transformation between the camera frame and an existing frame of your system. Also, make sure that the usb_cam node is publishing correctly with: rosrun image_view image_view image:=/usb_cam/image_raw

Here are my launch files for the usb_cam node and alvar:

<launch>
    <node pkg="tf" type="static_transform_publisher" name="world_to_cam" 
    args="0 0 0.5 -1.57 0 -1.57 world usb_cam 10" />
    <node pkg="usb_cam" type="usb_cam_node" name="usb_cam">
    <param name="camera_frame_id" type="string" value="/usb_cam" />
    <param name="video_device" type="string" value="/dev/video0"/>
    <param name="image_width" type="int" value="1280" />
    <param name="image_height" type="int" value="720" />
    <param name="pixel_format" type="string" value="yuyv"/>
<rosparam param="D">[0.21582, -0.68937, -0.00314, -0.00033, 0.0]</rosparam>
<rosparam param="K">[1196.80797, 0.0, 608.49624, 0.0, 1187.99243, 379.59537, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="R">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="P">[1201.46741, 0.0, 604.19097, 0.0, 0.0, 1206.73816, 377.82261, 0.0, 0.0, 0.0, 1.0, 0.0]</rosparam>
    </node>
</launch>

<launch>
    <arg name="marker_size" default="3.0" />
    <arg name="max_new_marker_error" default="0.08" />
    <arg name="max_track_error" default="0.2" />
    <arg name="cam_image_topic" default="/usb_cam/image_raw" />
    <arg name="cam_info_topic" default="/usb_cam/camera_info" />    
    <arg name="output_frame" default="/usb_cam" />

    <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />
</launch>

I hope this helps.

Same problem here. SXGA is not supported by openni_camera for the Asus Xtion, even though the device supports it. I don't know if someone has a workaround for this though, I tried it myself and failed. I added a ticket here https://kforge.ros.org/openni/trac/ticket/58 .

thanks, it works like a charm! I'm just disappointed that the environment_server doesn't update its collision map, even though the collision_map coming from octomap_server is changing. It appears that it just reads the first CollisionMap message and keeps it.

yangyangcv, I have the same problem as jwrobbo, but if I do as you say (set use_monitor=true), I get these messages and Planning Components Visualizer doesn't start:

[ INFO] [1351174361.245739218]: Waiting for robot state ...
[ INFO] [1351174361.245842988]: Waiting for joint state ...
[ INFO] [1351174361.882383328]: Waiting for environment server planning scene registration service /register_planning_scene
[ INFO] [1351174361.884368908]: waitForService: Service [/register_planning_scene] has not been advertised, waiting...
[ INFO] [1351174362.178102236]: Waiting for planning scene service /environment_server/set_planning_scene_diff
[ INFO] [1351174362.181309526]: waitForService: Service [/environment_server/set_planning_scene_diff] has not been advertised, waiting...

Do you know how to solve this? Thanks!