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Can some please give me the correct installation steps for hector_quadrotor (groovy 12.04 + gazebo 1.9) ? After lot of searching I still cant find one source that compiles/works with groovy.

I had made a mistake in my launch file .. thanks :)

Hi. Could someone please help me control cmd_vel published by move_base. And also get rid of some warnings and errors..

The move_base publishes velocities for x upto 0.55 which would be the default. I am just not able to reduce the velocity. what am I missing here ? Is there anything specific I must do so that move_base honors the base_local_planner_params.yaml, besides including it in the launch file ?

I have the following base_local_planner_params.yaml

 TrajectoryPlannerROS:
  max_vel_x: 0.2
  min_vel_x: 0.05
  max_rotational_vel: 0.7
  min_in_place_rotational_vel: .2
  escape_vel: -0.2

  sim_time: 1.7
  sim_granularity: 0.05
  path_distance_bias: 0.6
  goal_distance_bias: 0.6

  acc_lim_th: 3.2
  acc_lim_x: 1.0
  acc_lim_y: 1.0

  holonomic_robot: false

  yaw_goal_tolerance: 3.14
  meter_scoring: true

  dwa: true

The following is a section of the output.

    [ WARN] [1389393721.834474437]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
    [ WARN] [1389393722.974344197]: Camera calibration file /home/puthanpu/.ros/camera_info/rgb_1205100078.yaml not found.
    [ WARN] [1389393722.974506941]: Using default parameters for RGB camera calibration.
    [ WARN] [1389393722.976141033]: Camera calibration file /home/puthanpu/.ros/camera_info/depth_1205100078.yaml not found.
    [ WARN] [1389393722.976883283]: Using default parameters for IR camera calibration.
    [ WARN] [1389393728.166220801]: The scan observation buffer has not been updated for 1.97 seconds, and it should be updated every 0.20 seconds.
    [ INFO] [1389393728.532757155]: MAP SIZE: 1984, 1984
    [ INFO] [1389393728.539124488]: Subscribed to Topics: laser_scan_sensor
    [ INFO] [1389393728.988017605]: Sim period is set to 0.17
    [ WARN] [1389393728.996551422]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
    [ WARN] [1389393729.366238883]: The scan observation buffer has not been updated for 0.22 seconds, and it should be updated every 0.20 seconds.
                            .
                            .
                            .
                            .
    [ WARN] [1389393729.638190310]: The scan observation buffer has not been updated for 0.46 seconds, and it should be updated every 0.20 seconds.
    [ WARN] [1389393729.659189191]: Message from [/depthimage_to_laserscan] has a non-fully-qualified frame_id [camera_depth_frame]. Resolved locally to [/camera_depth_frame].  This is will likely not work in multi-robot systems.  This message will only print once.
    [ERROR] [1389393866.876348681]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

    [ERROR] [1389393866.876469056]: Global Frame: /odom Plan Frame size 41: /map

    [ WARN] [1389393866.876566362]: Could not transform the global plan to the frame of the controller
                            .
                            .
                            .
                            .
    [ERROR] [1389393869.875883203]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1389394091.286731925]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1389394091.286860957]: Global Frame: /odom Plan Frame size 6: /map

[ WARN] [1389394091.286922326]: Could not transform the global plan to the frame of the controller

To know about a pkg use roslocate <arg> pkg_name

for e.g. roslocate info pkg_name (note that output might contain a slightly different pkg_name ...in that case use this name for the below steps)

to install the package

1] roslocate info pkg_name | rosws merge -
2] rosws update pkg_name
3] source all open terminals or simply close and open them to update $ROS_PACKAGE_PATH
4] rosdep update
5] rosdep install pkg_name
6] rosmake pkg_name

There are more ways but this is my fav ... works for me every time !!

@Felix Endres any idea ... i tried few launch files .. none works

yes g2o was the culprit

What changes do I need to make, to the below launch file (demo_gmapping.launch from laser_scan_matcher) to use live /scan data published by pointcloud_to_laserscan instead of the data from demo.bag ?

I have these packages working, with me --> openni_launch openni_camera gmapping laser_scan_matcher pointcloud_to_laserscan

My aim is to create a map of the immediate surroundings and navigate it .. I don't have real odometry data

Any other suggestions of creating 2D maps using Kinect without real odometry is also welcome

[I am using kinect + ROS fuerte + ubuntu 12.04]

<!-- 
Example launch file: uses laser_scan_matcher together with
slam_gmapping 
-->

<launch>

  #### set up data playback from bag #############################

  <param name="/use_sim_time" value="true"/>

  <node pkg="rosbag" type="play" name="play" 
    args="$(find laser_scan_matcher)/demo/demo.bag --delay=5 --clock"/>

  #### publish an example base_link -> laser transform ###########

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  #### start rviz ################################################

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.vcg"/>

  #### start the laser scan_matcher ##############################

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="max_iterations" value="10"/>

  </node>

  #### start gmapping ############################################

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="1.0"/>
    <param name="maxUrange" value="5.0"/>
    <param name="sigma" value="0.1"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.15"/>
    <param name="astep" value="0.15"/>
    <param name="iterations" value="1"/>
    <param name="lsigma" value="0.1"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="1"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="0.4"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="10"/>
    <param name="xmin" value="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>
    <param name="delta" value="0.02"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.05"/>
    <param name="lasamplerange" value="0.05"/>
    <param name="lasamplestep" value="0.05"/>
  </node>

</launch>

I think I have the same error.... symbol lookup error ..... do know how to get correct it ? @yygyt

I tried running

roslaunch openni_launch openni.launch ..... this runs with out issues

but then

george@ulisa:~$ rosrun rgbdslam rgbdslam /home/george/fuerte_workspace/rgbdslam_freiburg/rgbdslam/bin/rgbdslam: Symbol `_ZTVN3g2o19UniformCostFunctionE' has different size in shared object, consider re-linking /home/george/fuerte_workspace/rgbdslam_freiburg/rgbdslam/bin/rgbdslam: symbol lookup error: /home/george/fuerte_workspace/rgbdslam_freiburg/rgbdslam/bin/rgbdslam: undefined symbol: _ZN3g2o11globalStatsE

I am new to ROS .. what causing this ?? By the way I had run this few months back and it had worked .. I cant understand whats happening now.

while running this command

cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/fuerte -DSETUPTOOLS_DEB_LAYOUT=OFF

I got this

CMake Warning at build/cmake/rosunit/rosunit-extras.cmake:17 (message):
  add_pyunit() is deprecated.  For Python tests, use add_nostests() instead.
Call Stack (most recent call first):
  ros_comm/test/test_rosbag/CMakeLists.txt:52 (add_pyunit)

-- +++ rx
CMake Error at /usr/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:97 (MESSAGE):
  **Could NOT find wxWidgets (missing: wxWidgets_FOUND)**
Call Stack (most recent call first):
  /usr/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:288 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake/Modules/FindwxWidgets.cmake:831 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  rx/CMakeLists.txt:6 (find_package)

noob alert

how do I get past this !! I have already have Diamondback and now I am trying to install fuerte ( on Fedora 17 ) without removing Diamondback I am installing fuerte because I am confused whether the stacks openni_camera openni_tracker and openni_launch would work alright with Diamondback ... what I understand is the older stack openni_kinect is now divided into 2 - openni_camera and openni_tracker .. and their pages show install commands only for fuerte also there is more support for fuerte now i think