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Hi Guys,

I found this video on Youtube of a QuadCopter mapping a building on a Georeferenced Map:

http://www.youtube.com/watch?v=G_vtm46eGtU

The interface looks to be RVIZ, with the map laid across the ground plane.

Does anyone know how to import a georeferenced Map, such as a geotiff, into RVIZ to get this same effect???

I am looking for a mapping interface that can take geo-referenced maps of satellite imagery and plot the robots path and sensor information on top of it, just like the video. I would also like to select GPS waypoints on the map, and send those to the robot to navigate too.

This needs to be done without connection to the internet.

The only other things I have found are:

rosworldwind - http://www.ros.org/wiki/rosworldwind: World Wind is not supported very well in Ubuntu

ground_station - http://www.ros.org/wiki/ground_station: Related to QuadCopters, and is no longer being updated

gpsd_viewer: http://www.ros.org/wiki/gpsd_viewer: Does not zoom in very good and is no longer being updated

marble_plugin: http://www.ros.org/wiki/marble_plugin: No high resolution Satellite images.

Google Earth/Maps: Google Earth/API has a lot of limitations and there licenses strictly forbids its use with autonomous vehicles. See section 10.2.C at https://developers.google.com/maps/terms

osm_cartography: It displays map features from Open Street Maps into rviz. OSM though does not provide satellite imagery unfortunately.

Looking for your guys thoughts/ideas.

Thank you

UPDATE

Some packages to maybe look into for implementation into rqt are: OSSIM (http://trac.osgeo.org/ossim/wiki) a QT geo app. Here is an example of their viewer: http://trac.osgeo.org/ossim/wiki/OssimPlanet . Also some others: http://www.osgeo.org/

Just confirming the Answer which was given in the comments.

"This is a bug, which has been fixed in Hydro."

Hi Guys,

Using Hydro's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 1000 meters away from the robots current position, if not more.

The local planner that I am using is: dwa_local_planner/DWAPlannerROS

The global planner that I am using is: navfn/NavfnROS

For the local and global costmap, I do not have a "static_map", so that is false, and I have turned rolling_window to true.

What is the best way to send a waypoint that is pretty far away from the robots current position without growing the size of the global costmap to be 1000 x 1000 meters or larger?

I do not want to have the robot plan the whole distance at once, as this would take a very long time, but plan as it goes, maybe every 20 meters without stopping, to get to the 1000 meter waypoint.

Is there a way to do this with the navigation stack?

Thank you in advance for your responses.

Has there been any updates to this since 2011? A more straight forward solution?

Hi @ctguell, the question in this thread, and in the link you posted are different problems then what you are having. Your problem probably has to do with your move_base and gmapping configurations. Please ask a new question, in a new thread and post all your YAML and ros param values/configurations

Hi Guys,

I compiled the navigation stack from source, and I noticed a performance change between the package I built, and the package I pulled from the apt-get server. The move_base that I had built, took way more CPU resources than the one that I pulled down from the server. I did make sure they were the same version. I did notice though that the symbols where stripped from the binaries that were pulled down, but mine still had the debug symbols in them.

For the released ROS packages that are pulled down from the apt-get server, what compiler optimizations are used to build those packages? (Release vs Debug and Optimization Level Number) Where/How is this set? Are all packages in the ROS BuildFarm setup with the same optimizations?

How would I get the navigation stack that I pulled down from source compiling with the same optimization flags as the ones that are released as deb packages?

Is there a way to set the optimization flags for all the packages that I am compiling in my catkin workspace?

Thank you

Hi Guys,

Using Groovy's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 100 meters away from the robots current position, if not more.

The local planner that I am using is: dwa_local_planner/DWAPlannerROS

The global planner that I am using is: navfn/NavfnROS

For the local and global costmap, I do not have a "static_map", so that is false, and I have turned rolling_window to true.

The problem that I have come across is dynamic reconfigure tells me the width and height of the map has a MAX of 20 meters. It does not seem like I can get around this limitation.

I am able to go to successive goals that are less than 10 meters away from the robot, and the robot does fine getting to that position. So it looks like the rolling window is working fine. But when I give a goal at a distance greater than 10 meters it gives off this warning:

"The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."

Is there a way to increase the global costmap greater than 20x20 meters, or another parameter I can change so the global planner can just plan as the robot moves?

Thank you for any suggestions.

EDIT:

So it looks like setting the height and width to greater than 20x20 in my global_costmap yaml file WORKS. This file is called in the launch file. But if move_base crashes and than respawns it will set the height and width of the global costmap back to 20x20. This is bad as the waypoints fall off the global costmap again and the planner fails.

Is there a way to make the parameters persist after a crash and respawn of move_base?

Hi ROS community,

I am running a armhf ubuntu system. I need to install rosdep an wstool. The ROS website says use:

sudo pip install -U rosdep
sudo pip install -U wstool

When I try those commands I get:

Downloading/unpacking rosdep
Cannot fetch index base URL http://pypi.python.org/simple/
Could not find any downloads that satisfy the requirement rosdep
No distributions at all found for rosdep

With rosdep and wstool names changed respectively.

When I go to the website "https://pypi.python.org/pypi"

I get a:

502 Bad Gateway
The server returned an invalid or incomplete response.

Is there a mirror or another way to install the ros python package tools (rosdep, wstool, rospkg, rosinstall, etc) for a non-standard ROS system?

Thank you

Hello,

Is there a new or updated rosinstall file for installing Fuerte from source?

From the wiki: ros.org/wiki/fuerte/Installation/Ubuntu/Source

It pulls down the rosinstall from: ros.org/rosinstalls/fuerte-ros-full.rosinstall

In this file it pulls down the repos from: github.com/wg-debs

The files in that repo no longer exist as they have been moved to this repo I believe: github.com/ros-gbp

Now that the files have been moved, I am not sure about the correct versions I am suppose to pull down as they are not the same.

Does anyone have an updated rosinstall to install the Full version of ROS source for Fuerte?

Thank you

According to this post the global_planner package is a refactoring of the NavFn package.

The global_planner package also has an A* planner implemented and seems to be much cleaner than the NavFn package.

• What is the status of the global_planner package?
• Is it going to eventually replace the navfn package as the default global_planner?
• Is the global_planner package a drop in replacement for the navfn package?
  • If not, how should the global_planner package be setup?

I noticed that the global_planner package does not get pulled down with the navigation stack and needs to be pulled separately with "sudo apt-get install ros-hydro-global-planner". For using with move_base the package does not have the pluginlib xml file that goes with it and it does not export the library as a nav_core plugin in its package.xml. Is there a reason for this? Is this something that is going to be added?

Thank you.