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2019-07-15 12:58:49 -0500 commented answer Creating a ROS Driver to interface with an open source controlled robot arm

Thank you for the suggestion. I should have mentioned that I have already looked into MK and want to avoid using it. It

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2019-07-14 15:49:12 -0500 edited question Creating a ROS Driver to interface with an open source controlled robot arm

Creating a ROS Driver to interface with an open source controlled robot arm Hi I have started the research process for

2019-07-14 15:48:54 -0500 edited question Creating a ROS Driver to interface with an open source controlled robot arm

Creating a ROS Driver to interface with an open source controlled robot arm Hi I have started the research process for

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2019-07-14 15:47:03 -0500 edited question Creating a ROS Driver to interface with an open source controlled robot arm

Creating a ROS Driver to interface with an open source controlled robot arm Hi I have started the research process for

2019-07-14 15:46:06 -0500 edited question Creating a ROS Driver to interface with an open source controlled robot arm

Creating a ROS Driver to interface with an open source controlled robot arm Hi I have started the research process for

2019-07-14 15:42:16 -0500 asked a question Creating a ROS Driver to interface with an open source controlled robot arm

Creating a ROS Driver to interface with an open source controlled robot arm Hi I have started the research process for

2019-05-20 02:17:44 -0500 marked best answer Find joint axes with RViz TF, rather than link axes?

Hi

I am new to ROS and RViz and am getting used to the display options. I am learning kinematics. As I understand it, when you click the TF box in RVIz, this will show you your link axes.

However, I would like to view the joint axes.

This is because I have been told the URDF axis orientation for the robot I am looking at is different to those you would find in a Denavit Hartenberg analysis (Its the KUKA KR210). I may have to apply further rotations to make them match. I would like a visual representation of the URDF joint orientations to aid my understanding as I go about finding the DH equations and HT's for each joint.

Is it possible to display the URDF joint axes, as opposed to the URDF link axes?

Thanks!

2019-04-21 09:11:04 -0500 marked best answer ros_control requirements

Hi

Required info: Distro: Kinetic, Ubuntu 16.04 The robot is running on a gaming laptop and brings up kinect2_bridge, roboclaw_node and the rplidar_node and sends data over home wifi. I view the data on a remote PC via RVIZ.

Most of my experience up to this point has been with simulated robots and gazebo. I have gone through the tutorials on making a real robot and have a fully built bot IRL. It teleoperates fine and I can make maps, though my odometry appears to suffer from inaccuracy. I am trying to eliminate issues that might be causing it, such as simply not having configured my robot properly.

I have read through the wiki pages on the navigation stack and I would like to better understand at what point ros_control becomes necessary in a robot build please. I am referring to this diagram: image description.

My robot has two motors with quadrature encoders being driven by a roboclaw motion control board. it uses the custom roboclaw_node which subscribes to cmd_vel and publishes odom plus some motor status messages. It has its own PID control built in.

At what stage would the roboclaw_node appear in the attached diagram? I am not sure if I am missing something from my build. As mentioned, at present I am teleoperating the robot in order to make maps. I am not navigating yet.

This is the urdf representation of my real robot image description Now If that were in gazebo, I would put libdiffdrive in the .gazebo file and set the front caster to have zero friction and gazebo would take care of creating robot movement, which is reflected in RVIZ. However now of course, RVIZ only has the drive wheel encoder odometry to inform its position. Is RVIZ really giving me an accurate representation of movement if there is no model to inform it how the three wheels, 2 x drive plus 1 x caster, interact?

Is ros_control and RobotHW always needed in every build? Or does the roboclaw node effectively take care of everything?

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2019-04-18 04:50:56 -0500 commented answer ros_control requirements

Thank you, that answers my question.

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2019-04-18 04:48:42 -0500 commented question ros_control requirements

Thank you, that answers my question. I will close it.

2019-04-17 16:24:41 -0500 edited question ros_control requirements

ros_control requirements Hi Required info: Distro: Kinetic, Ubuntu 16.04 The robot is running on a gaming laptop and br

2019-04-17 16:19:27 -0500 edited question ros_control requirements

ros_control requirements Hi Required info: Distro: Kinetic, Ubuntu 16.04 The robot is running on a gaming laptop and br

2019-04-17 16:18:47 -0500 asked a question ros_control requirements

ros_control requirements Hi Required info: Distro: Kinetic, Ubuntu 16.04 The robot is running on a gaming laptop and bri

2018-08-30 22:18:15 -0500 asked a question Usage Documentation for libDiffDrivePlugin6W?

Usage Documentation for libDiffDrivePlugin6W? I have seen the page covering the general hector gazebo plugins http://wik

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2018-01-17 05:51:58 -0500 commented answer install ROS Kinetic in Ubuntu 16.04

@jayess nope, couldn't type a single thing. Just an immediate big red banner saying FORBIDDEN. Works now though, glitch.

2018-01-14 05:05:36 -0500 marked best answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Hi

Edit: See self- reply for semi-successful update, though I still cannot get a pointcloud topic publishing (just depthcloud)

I have been trying for 8.5 hours today to try and get my kinect v1 to output a depth pointcloud to RVIZ as per the ROS tutorial. I found the ROS kinect setup instructions tough to follow, so initially I made the install by following this reddit guide.

Thereafter I could get the kinect to work by cd'ing to the openni directory it created, and using the samples to view image and depth data. However once out of the directory and entering roslaunch openni_launch openni.launch, though it would run openni with no error messages, no topics would publish, except static_tf, rosout and rosout_agg). I was unable to bring up the depth camera points topic in rviz and the topics selector under PointCloud2, when added to rviz, was empty. When trying to run rosrun image_view image_view image:=/camera/rgb/image_color, a window would appear and immediately crash.

Then I tried using freenect1 and got the additional topics of: /camera/depth_rectify_depth/parameter_descriptions and /camera/depth_rectify_depth/parameter_updates by using variations on the command roslaunch freenect_launch freenect.launch.

rosrun image_view image_view image:=/camera/rgb/image_color would still crash (consistent issue across all attempts).

I tried editing the openni launch file to add in the device ID in place of the default '#1', no dice.

Eventually I tore everything out and went back to try and work through the ROS Wiki instructions. It says something about using rgbd.launch as of hydro, but the instructions still appear to require the installation of openni nonetheless. Eventually I tried to reinstall following this page http://wiki.ros.org/openni_camera but despite following the line of advice that says

... after you have installed the OpenNI, and be ready to clone the git files for SensorKinect,DO NOT change directory!Otherwise you cannot generate the Redist directory for installation of SensorKinect

The Redist folder still would not generate. Its not clear which folder you should actually be in and I tried a fair few, to no result.

I also tried good old sudo apt-get install ros-kinetic-openni-camera ros-kinetic-openni-launch. Nada.

So after a day of trying to make it work and scouring google, I am completely stumped. No error messages, but no topics either :(

Does the Kinect V1 actually work still with Ubuntu 16.04 and Kinetic? Or has something changed? Is there a current up to date ROS approved one-pager with the process detailed?


Edit: Update:

Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more topics, though this does not include point cloud (camera/depth/points):

/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered ... (more)

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2018-01-14 04:49:48 -0500 commented answer install ROS Kinetic in Ubuntu 16.04

@jayess because of the big red box that came up when I tried to comment on zahra.kh's post, saying "forbidden"

2018-01-13 18:39:28 -0500 answered a question install ROS Kinetic in Ubuntu 16.04

Right, I would add this as a comment, but its "forbidden" so will put as an answer. Perhaps a mod can change it if its n

2018-01-13 18:37:42 -0500 answered a question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Right I found the problem. I recently installed Jetpack 3.1 on an nvidia TX2, which somehow affects the apt-get update c

2018-01-13 18:34:08 -0500 answered a question install ROS Kinetic in Ubuntu 16.04

Have you by any chance recently installed an Nvidia TX2? There is a bug with the jetpack installation that wipes out the

2018-01-10 03:08:40 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi Edit: See self- reply for semi-successful updat

2018-01-10 02:53:01 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi Edit: See self- reply for semi-successful updat

2018-01-10 02:31:27 -0500 received badge  Notable Question (source)
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2018-01-09 19:07:05 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi Edit: See self- reply for semi-successful updat

2018-01-09 19:06:23 -0500 edited answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 18:08:59 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi Edit: See second reply for semi-successful upda

2018-01-09 18:08:04 -0500 edited answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 17:45:31 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi I have been trying for 8.5 hours today to try a

2018-01-09 17:44:49 -0500 edited answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 17:42:04 -0500 edited answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 17:26:26 -0500 edited answer Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 17:26:02 -0500 answered a question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Update: Intermittently, I can get roslaunch freenect_launch freenect.launch device_id:={serial number} to give me more

2018-01-09 16:45:53 -0500 answered a question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

A little progress. After another complete reinstall of all the components, I have some additional topics showing with r

2018-01-09 14:30:54 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics Hi I have been trying for 8.5 hours today to try a

2018-01-09 14:28:55 -0500 edited question Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to output topics

Cannot get Kinect V1 and ROS Kinetic / Ubuntu 16.04 to work Hi I have been trying for 8.5 hours today to try and get my