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2015-10-14 16:25:36 -0500 | marked best answer | karto installation Hi all! I'm on a Ubuntu lucid lynx with a ROS Fuerte trying to install slam_karto. In order to do that, im followind the related tutorial: I've already checkouted the code from https://code.ros.org/svn/ros-pkg/stacks/slam_karto/tags/slam_karto-0.4.0 And im following the steps, i go to the checkouted folder, create a 'build' folder and excecute the cmake "Unix Makefiles" .. from this recently created folder. It generates a lot of stuff in the build folder, but when i execute make it does nothing at all. Ok, i go to the karto folder, try with a same recipe (wondering if the folder is not the checkouted but other, cause is not specified in the tutorial), and it not works. Then i tried with a rosmake in the karto folder (slam_karto/karto/$ rosmake) cause i realized theres a manifest.xml in there. It checkout the karto from svn (i dont know which revision or from where cause is not logged) into a karto-svn folder inner my karto/build folder. and then in the karto-svn folder i find a libOpenKarto.so, but i dont know what todo with that. And in other hand, the samples are not compiled. Probably i'm missing something obvious, but i use about 4 hours and i didnt find any clue. Do any one know what could be? Here is tree output of my directory. Thanks in advice! PS: this karto folder is in a folder which is registered in ROS_PACKAGE environment variable. Ok, i've solve this after a few more hours. Here's the trick to make the tutorials. First at all, despite the url given by the tutorial, you want to checkout the code from this url https://code.ros.org/svn/karto Next step, go to the 'source' folder in the checkouted folder. The output of this make will generate a libOpenKarto.a, probably without execution privs, so, lets fix that: Move this file to /usr/lib in order to be findable by the -lOpenKarto compilation flag You must be a sudoer to do this. now, go to the samples folder The output of this process should be the executables of the tutorials, but in order to compile the Tutorial2.cpp you'll need to resolve some dependencies (that i dont resolve yet, when i get that info i'll update this article), just like the README.txt say to. Now you can just execute the Karto_Tutorial1 and get the spected output |
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2014-01-28 17:27:22 -0500 | marked best answer | About TCP protocol implementation I'm making a client from Pharo smalltalk (Pharo 1.4 with the latest CogVM) (To be used from a different machine of the ROS installed). My first goal is make work the turtle simulator from my client. Considering:
header type: master getTopicTypeRelated:/turtle1/command_velocity; #here i get the topicType from getTopicTypes topic: /turtle1/command_velocity; latching: false; callerId: anArbitraryId; messageDefinition: 'float32 linear float32 angular'; md5Sum:'9d5c2dcd348ac8f76ce2a4307bd63a13'. in the body of the request i tried with float numbers (2.0 0.0) for example. All this data in binary. I browse a lot of roscpp, rospy and rosjava code trying to find how them create and serialize the data, but i dont find meaningful differences. I browse the site and the questions several times and i didnt find extensive explanations of the protocol. Maybe am i missing steps? |
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2014-01-20 01:24:30 -0500 | commented answer | Upload packages to respositories Thank you very much! It's very usefull information! |
2014-01-19 09:53:23 -0500 | asked a question | Upload packages to respositories Hi all! Im working on a Pharo library for writing ROS nodes, also in some tools based on this technology and some commands for infraestructure. I am wanting to start to use apt-get for installation because of facility. I was thinking in upload in ubuntu developer, but then im quite sure it will be better to have it here. How do i get a space for uploading my work? I searched through site and google without cool results, there is any tutorial? there is any standar process? Thank you very much! |
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2013-11-20 03:15:47 -0500 | answered a question | Reading OccupancyGrid /map topic. Sorry for bothering, i just got my bug, im not managing well the header in this message, im not sure why, but im on it :). |
2013-11-20 03:01:58 -0500 | asked a question | Reading OccupancyGrid /map topic. Hi all! Im working on the Pharo smalltalk client library for ROS. Im having issues consuming /map from map_server. The map im trying to load is a 4k x 4k grid plus the header and metadata. My problem is that the size that is informed in the firsts 4 bytes, that are suppose to by the size of the packet, inform me a size of 1952544081. (taking in care that the grid is made by 1 byte ints, as much i should expect a size of 16000000 (4000 x 4000 x 1), but the size several orders greater. the first bytes of the stream are: 81 117 97 116 101 114 110 105 111 110 10 35 32 84 104 105 115 32 114 101 112 114 101 112 114 101 115 Any one has any idea?? Thankss |
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2013-08-28 22:23:40 -0500 | commented answer | TF Transforming landmarks Sorry, this problem is getting me crazy :), i dont end to understand it completely.But yes, what i want to do is what you tagged as second! (thank you for put it simple) |
2013-08-27 08:38:15 -0500 | commented answer | TF Transforming landmarks Thanks a lot for helping me! I edited adding more data. basically what happens is that i dont understand how to play with the coordinate system of the landmark because i dont understand how to get the relative rotation between this system and the system of /map. |
2013-08-27 05:57:52 -0500 | asked a question | TF Transforming landmarks Hi All! Im using StarGazer which is a device that read marks in the ceiling of an environment and give as result the distance in X and Y that the device is from the landmark. Also where is heading the device that goes from [-180;180] (We can think that the landmark is the (0,0) of a 2D coordinate system, and also gives info about where the device is heading with degrees in an xy-plane angle). Each landmark is a coordinate system that is kind of fixed ( south is supposed to be -Y if the landmark is located properly). Adding to the hardware definition, i have a robot with a cool odometry and laser, so in my runtime we can find AMCL (using a GMapping map), MoveBase with the default planners. What im trying to do is to store the exact position of a landmark in terms of the /map frame. In order to do that im taking the transformation /map => /base_link (through /odom provided by amcl)and trying to merge that info with the landmark differential readings. So, what i have is the pose of the robot in an instant, and with that, somehow i need to operate it with the distance to the current landmark. The main problem is that the current landmark does not provide the orientation of the associated coordinate system, just the orientation of the robot respect that landmark. The problem is that my maths are not good enough to understand the calculations i need to do (or even explain it properly sadly). What i already tried is to think that the actual orientation of the robot (/base_link), expressed in just one angle (z) is the same as the heading of the device, so if i substract the angle that the device is heading to the /base_link orientation, i should have the relative angle 0 (or 360). But does not work because meanwhile i rotate the robot i should have always the same orientation after the calculations and that is not the result. In kind of logical notation: O(/base_link)=O(ReadingDevice-RespectToAnyLandMark) => O(ReadingDevice-RespectParticularLandmark)=0+AngleBetween(landmarkCoordinateSystemZeroAngle, ReadingDevice). => 0=O(/base_link)-AngleBetween(landmarkCoordinateSystemZeroAngle, ReadingDevice) = landmarkCoordinateSystemZeroAngle-InTermsOf-mapframe. Where O(x) is the orientation One of the usages i want to give to it is to be able to fix some localization when the robot is under a landmark and the pose throught /map => /odom => /base_link is far from the static /map => /landmark{n}. Can someone put a bit of light, maybe about how to use TF, or what should i take in care? |
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2013-06-04 22:17:47 -0500 | commented answer | Turtlebot Explore - Gmappings Thankyou! i will try them :) |
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2013-05-31 07:15:03 -0500 | asked a question | Turtlebot Explore - Gmappings Hi All. I'm trying to make the explore node to work with my turtlebot. Im working with Groovy version of ROS. My structure configuration is Groovy running over Ubuntu 12.04 running over VMWare running over MacOs mountain lion. Groovy running over Ubuntu 12.04 running over TurtleBot's asus. Wifi connection The experiment consist in, launch gmapping_demo.launch, from the turtlebot_navigation stack, in the turtlebot side Then i move the robot a bit in an open room to let gmappings to have some data. I launch the explore.xml from the explore_stage package in order to have the explore functionalities. I also spawn by hand the RViz in order to watch whats happening. With all this setted up, the robot just 3 time moved alone, but i made this same experiment more than 10 times. I start to analyze the command velocity topic, which is always in silence and the /move_base/goal, which stranglely it have a lot of traffic. Taking in count the markers exposed by explore and the goals sent by explore node, and the fact that rxgraph shows me that move_base and explore are connected throught this last topic, the only thing that i can realize is that move_base is not responding to the goals asked. I tryed with the RViz fingering a pose and it works. In all the instances of my experiment, the only error that i get is, sometimes (no more than 3 times in a running of 10mins) an error calculating the transformation between /odom and /map or /odom and /base_link. Just as general knowledge, i remap the base_scan topic to scan in order to keep the consistence in between configurations. If someone have any idea, is really welcome. The rosgraph output is (more) |
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