roskidos's profile - activity

gprof for ros moveit plugin is it possible to run gprof on moveit plugin? I have customized some ros moveit rviz plugin

gprof for ros moveit plugin is it possible to run gprof on moveit plugin? I have customized some ros moveit rviz plugin

should moveit.rviz be modified directly

should one directly edit moveit.rviz (generated by Moveit Setup Assistant - MSA) or there's another way to configure how rviz is loaded? e.g. what rviz plugins to use

For example, one has configured this moveit.rviz for one robot. Another one uses MSA to generate config package for another robot but he still wants to imports the configuration from the last moveit.rviz. Should he just manually edit the 2nd moveit.rviz? I am quite certain this process is error-prone. Is there a better way?

I am using ROS Indigo on Ubuntu 14.04

The config rviz save and overwrite does not keep the differences from the 1st rviz even though it "smartly" updates the

The config rviz save and overwrite does not keep the differences from the 1st rviz even though it "smartly" updates the

Since I am mentioning about two different robots, is it possible to simply save to overwrite? I see in .rvi z there's so

should moveit.rviz be modified directly should moveit.rviz be modified directly should one directly edit moveit.rviz (g

I'm getting used to ROS and I've found several times commands have the following syntax:

command package_name package_node

then it raises a question "How can I list all the nodes of that package??" to use in such commands??

I've wrote the original problem here

I'm not an experienced programmer, especially to such a big framework as ROS. So, in this post, I want to share/learn the process I'm using to debug this compilation.

/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:92:26: error: ‘tabletop_collision_map_processing::TabletopCollisionMapProcessing::Request’ has no member named ‘reset_static_map’

for this unknown-member bug, I:

1) looked in CodeAPI or SrvAPI -> even in these 2 sites, I still cannot find where "tabletop_collision_map_processing::TabletopCollisionMapProcessing::Request" is. Is it class member?? or in service's message's header??

2) looked in Change List. This list did not help in specific changes e.g. "0.4.1 (2011-03-03) updated for new ompl_ros_interface"

3) I also used "svn diff old_url new_url" -> result here. It seems there is no change in class member of versions branches/0.4-branch-old2/, branches/0.4-branch-old1/ and the current branches/0.4-branch/ of class/namespace tabletop_collision_map_processing/

Any comments, hints about my debugging? am I lack of something to use these info source for debugging??

Much thanks!!

I'm a beginner of Ubuntu (v12.04) and Fuerte ROS.

I've tried several tutorials in ROS and mostly things were OK.

Now, I'm trying to build some stacks i.e. robotino*. But I cannot use rosdep.

rosdeps: command not found

Did I install ROS incorrectly or lack of some steps to initialize ROS platform?

Thank you!

Hi,

This is a test I created for a customized robot, say DENSO vp6242, which is not available in the original ROS package. This package I create is vp6242_config (according to tutorial, this should be vp6242_moveit_config) with some configurations and Moveit Setup Assistant packge

I'm not certain about how to register this customized package but I used .bashrc and double checked with roscd, rospack find and both recognized vp6242_config package.

However, when I run

roslaunch moveit_planning_execution.launch

the error is returned

Traceback (most recent call last):
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/__init__.py", line 279, in main
    p.start()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 257, in start
    self._start_infrastructure()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 206, in _start_infrastructure
    self._load_config()
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/parent.py", line 121, in _load_config
    self.config = roslaunch.config.load_config_default(self.roslaunch_files, self.port, verbose=self.verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/config.py", line 428, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 698, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 670, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 634, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 553, in _include_tag
    inc_filename = self.resolve_args(tag.attributes['file'].value, context)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 159, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 299, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 312, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 137, in _find
    return _find_executable(resolve_without_path, a, [args[0], path], context)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 173, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: [vp6242_config]

Does ResourceNotFound mean any other error?

Thanks!

Hi,

I've installed ROS Fuerte along with Ubuntu 12.04 for a month or so. Part of my work with ROS is to try it on our lab's robotino.

I simply want to connect my PC as a client (with a wifi stick) to Robotino as an AP to run some robotino demos provided with the stack.

But the result is always like this:

[ WARN] [1351922165.116894137]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1351922165.594054747]:
[ INFO] [1351922167.593944503]: Disconnected from Robotino

I also checked the connection with Robotino View and it worked to capture camera image or other sensors in Robotino View. But it failed to run/compile robotinoView demo in Eclipse and either with ROS robotino stacks i.e robotino_node The IP I used in robotinoView was used again to launch robotino_node

Does launching robotino_node have such trouble? and need much of debuggin or something?? I'm doubting that this relates to the compatibility between CF card v2.x and my current API2 used in ROS robotino_node.

Thank you in advance for any help!!

Cheers, Shawn Le

Hi,

I've installed pr2_object_manipulation with debian package installation

sudo apt-get install ros-fuerte-pr2-object-manipulation

and this also installed other dependencies e.g. tabletop_collision_map_processing, robot_self_filter_color, tabletop_object_detector, ....

However, the automatically installed dependencies are in old versions. I've checked tabletop_collision_map_processing package, the message type of service is

# a list of clusters and database models, directly as produced by the detector
# note that it is possible to not set the Table inside here (leave its
# extents set to zero), in which case it does not get added to the environment
tabletop_object_detector/TabletopDetectionResult detection_result

# whether the current collision models should be reset before adding new models
bool reset_collision_models

# whether the current list of models attached to the robot should be reset
bool reset_attached_models

# what tf frame the results should be returned in
# if empty, results will be in the same frame as the input 
string desired_frame

which belongs to fuerte_old version

the new one should be like following:

tabletop_object_detector/TabletopDetectionResult detection_result
bool reset_collision_models
bool reset_attached_models
bool reset_static_map
bool take_static_collision_map
string desired_frame
.....

this causes the demo/tutorial code for "write a simple pick and place application" fails to compile. Could someone update this debian package? or help me to update it so that the new tutorial code can be run??

Thank you!!

Edit 01: the tutorial code is here in which there are several unknown members used:

// defined in python - line 235 of file _TabletopCollisionMapProcessing.py -> fuerte also has this file
    processing_call.request.reset_static_map = true;
....
processing_call.request.take_static_collision_map = true;

.....
pickup_goal.desired_approach_distance = 0.1;
pickup_goal.min_approach_distance = 0.05;

Hi,

the tutorial code from Write a simple pick and place application

when I used rosmake to build the node, it brought following errors. It looks like being compiled with wrong header files -> many unknown members of class

/home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:171:2: error: stray ‘\302’ in program
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:171:2: error: stray ‘\267’ in program
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp: In function ‘int main(int, char**)’:
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:92:26: error: ‘tabletop_collision_map_processing::TabletopCollisionMapProcessing::Request’ has no member named ‘reset_static_map’    <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<  ERROR
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:97:26: error: ‘tabletop_collision_map_processing::TabletopCollisionMapProcessing::Request’ has no member named ‘take_static_collision_map’ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:126:14: error: ‘object_manipulation_msgs::PickupGoal’ has no member named ‘desired_approach_distance’ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:127:14: error: ‘object_manipulation_msgs::PickupGoal’ has no member named ‘min_approach_distance’ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:159:55: error: ‘struct object_manipulation_msgs::GraspableObject_<std::allocator<void> >’ has no member named ‘type’ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:159:63: error: ‘DATABASE_MODEL’ is not a member of ‘object_manipulation_msgs::GraspableObject’
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:162:70: error: ‘struct object_manipulation_msgs::GraspableObject_<std::allocator<void> >’ has no member named ‘model_pose’ <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
  /home/leshawn/stacks_additional/pr2_SHAWNLE/pr2_pick_and_place_tutorial/src/simple_pick_n_place_app.cpp:182:13: error: ‘object_manipulation_msgs::PlaceGoal’ has no member named ‘place_pose’ <<<<<<<<<<<<<<<<<<<<

I've checked API doc (I used fuerte but the class members are still similar) to see if there is any change in Class definition so those class members are not available anymore. But the fact is those classes are still the same.

Now I'm confused, dunno what's wrong with it. How can it bring up those errors??

Thank you for any support!!

Edit 01: I've compiled the code again in Eclipse with GCC C++ with all the necessary inclusion and configuration. And... still the same unknown class members. So, perhaps the class definition has been through updates/changes compared to the ones used in tutorial code and I'll have to adapt the old version to the new code. If my diagnosis is correct, any hint to speed up this work?? I'm slow at reading such a big ROS header files :((

Thank you!!

Hi, I'm debugging and trying to run a launch file in vision_visp stack which is tutorial.launch

  <node pkg="visp_tracker" type="client" name="tracker_mbt_client">
    <param name="model_path" value="package://visp_tracker/models" />
    <param name="model_name" value="laas-box" />

in parameter "model_path" value is "package://something" -> what's this syntax?? I've replaced with the full path but still didn't work

I believe this is the problem, because from the output:

process[tf_localization-6]: started with pid [18717]
terminate called after throwing an instance of 'std::runtime_error'
  what():  Failed to load the model /home/airlab/SONLE/stacks/vision_visp/visp_tracker/models/laas-box/laas-box.wrl
Do you use resource_retriever syntax?
I.e. replace /my/model/path by file:///my/model/path

I've already fixed one bug in this launch file

 <node pkg="rosbag" type="rosbag" name="rosbag" args="play --clock -l
  $(find visp_tracker)/bag/tutorial-static-box.bag"/>

where type="rosbag" is not correct, there's no rosbag executable in the package but "play" => changed to:

<node pkg="rosbag" type="play" name="rosbag_routine" args=" --clock -l
      $(find visp_tracker)/bag/tutorial-static-box.bag"/>

I'm testing kinect reading using openni_launch following instructions link: openni_launch tutorial

and when I came to the dynamic_reconfigure gui part. My kinect cannot be read anymore. I doubt that it did something to the original driver parameters

I tried to restart my PC and run the tutorial again (without dynamic_reconfigure) then it worked. Then how can I register the points??

What is the problem here?

Edit 01:

I changed Topic to registered depth points (without using dynamic reconfigure) or close RVIZ. All led to the same pending and unable to load kinect again

it only works again when I restart the PC

Edit 02:

I tried with rostopic echo /rosout to see the stream of data. But type of /rosout is rosgraph_msgs/Log and cannot be seen clearly i.e. matrix of number. I don't know how to see the image data yet