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2019-08-19 14:58:50 -0500 | marked best answer | Aruco marker crash (ubuntu14.4) Hello, i want to detect markers and there position. I found the acuro markers and the ROS nodes that sounded promising. I found these two tutorials (one, two). Both seem to use the same package and almost the same launch file. But both tutorials seem to use a different Ubuntu (I'm using 14.04), since in my registry the following for example is not found (apt-get update already tried):
So i installed openCV with the help of one of the forum members (thanks again), but had to change some of the constants defined in openCV2 to the new ones used in openCV3 and also installed the usb-cam-lib. With the launch files of the tutorials i managed to get some images out of the cam (viewed in rviz) and even calibrated the cam with this tutorial (no mater how well it worked, at least i was able to finish all the steps): Now to the part that's not working. So far everything was just the preparation for the real node from Arcuro. But when i start the launch file from one of the tutorials mentioned at the beginning, the following happens: Even when i try to start the node directly it's not working: which is one of the most useless errors i got in the last weeks - so short. Google told me that it might be some errors/warnings during catkin_make, but no errors at all and warnings occur only at nodes i wrote myself and are not launched right now, nor required by the aruco's nodes. Anybody has a hint, what's going wrong? How can i find out what the real error is? Like the last time: Thanks everybody reading through this and for every help. Lukas |
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2019-03-01 16:32:07 -0500 | marked best answer | unexpected robot behaviour with navigationstack Hello everybody, i have some problems again and hope someone can help me. Following scenario:
I'm pretty sure the move_base package is quiet powerful, but now comes the weird thing: the robot doesn't follow the path at all. It seems like it is ignoring the path at all and trying to find a way to the goal of it's own with horrible results. Something like:
One idea i had is that this might be the escape sequences that the move_base-node provides. So i tried to switch them off. The base is still doing point turns and also driving backwards. So, before i start programming my own node that takes the path (list of stamped points) and calculate the velocity commands for x/theta, is anybody here experienced enough for being able to make a guess based on the "files" above what might cause this behavior? Thanks for everybody taking the time for reading this. Lets start with the shortened .launch file: And here are the .yaml files - unfortunately they are all separate in the tutorial and i don't know if i can mix them all together in one big file (especially since two of them are loaded with a name space tag): [costmap_common_params.yaml] [local_costmap_params.yaml] (more) |
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2018-12-07 12:58:20 -0500 | asked a question | tf from rosbag within node tf from rosbag within node Hello, i recorded 40 rosbags with my mobile base moving autonomously. I just recorded the tf |
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2018-10-10 09:53:17 -0500 | commented answer | Check if messages are published on a topic just write a subscriber (like in the tutorial) that hooks on the topic you are interested in. Then, once the callback ge |
2018-10-07 10:46:50 -0500 | marked best answer | launch "global_planner" without move_base Hey everybody, I'm still working on my platform which is already running in the meantime. But I had to do some workarounds. To be more precise i didn't manged to set up the move_base to work with my bot. Either it is the setup/params or the odometry (which i programmed myself). But the Pathfinding works so far. So i programmed a path executor. A node, that just follows the path (the green line from the (global?) planner - NAVfn_path). No local planner, nothing extra. Just try to follow this line as close as possible. The bot is really slow - no dynamics to take into account. Moving objects are avoided because the path gets recalculated once every second or so. Now to the "problem": i want to get rid of all the unneeded code running inside of move_base. So i tried to set up a costmap (costmap_2d) with the parameters i used with the move_base (since the costmap there just looks nice as it is right now :D). The standalone costmap looks as expected in rviz. Next step would be to start the "global_planner". from this link it is doing everything i need. I can even change the type of calculation there. And i hope i can just reinit the planner once it dies because the goal lies within an obstacle (the move_base tends to do this. The carrot_planner would do what i need, but ignores obstacles at all - even walls). But ... how do i call the planner? I just tried the [tab] just auto completed the command. So i would expect the node exists. I added it to the launch file i had prepared and it worked. for the goal i used Well, the planner complained the bot is outside of it's costmap. So i displayed it in rviz. And yes, it's outside, or more resize at 0.0/0.0 . And the costmap is blank. The costmap from the costmap_2d-node looks still nice and the bot is at the correct position (amcl works fine). ==>> How do i tell the "global_planner" to use the costmap of the "costmap_2d" ? the documentation doesn't name anything like this. No topic the node subscribes to or a parameter with the name. all in all the documentation seems to be limited to the minimum since the planner doesn't seem to be intended to be used outside of move_base at all ? rosparam list: Launchfile (shorted/abstract): params.yaml (but since ... (more) |
2018-10-05 13:29:51 -0500 | answered a question | launch "global_planner" without move_base And i would like to answer my own question. it came to me as i wrote down that the two nodes have almost exactly the sam |
2018-10-05 13:22:55 -0500 | asked a question | launch "global_planner" without move_base launch "global_planner" without move_base Hey everybody, I'm still working on my platform which is already running in t |
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2018-08-31 09:58:55 -0500 | answered a question | What is the difference between geometry and tf quaternions? As a noob i always are happy if a "nice" answer is provided. One, that can be copy-pasted. Because most likely someone w |
2018-08-29 09:03:18 -0500 | answered a question | Load two urdf models in one launch file Ok, once again the complete things i have done: in the launch file: <!-- don't forget the [$(find xacro)/xacro.py] |
2018-08-29 08:30:47 -0500 | marked best answer | Load two urdf models in one launch file Hello, i'm trying to load two models in one lunch file. I have one file for a robot arm and one for the base, that is intended to carry the robot arm around. Each separated works but as i try to load them together only the last model is loaded. Basically that's not surprising for me since i load both with the "robot_description" parameter and therefor overwrite the first loaded model. But how is it done the correct way? As i name the descriptions different, rviz complains about not having a properly set "robot_description" parameter. Keeping one "robot_description" and naming the other different leads to a white model with TF complaining about not having a transform tor every of the links. So, how to load both models from one launch file? Thanks to everyone. UPDATE: I tried what gvdhorn suggested. I created a file "jaco_mp470.xacro", that only contains the following lines: And than tried to load it with: But rviz tells me that the robot_description parameter is not loaded. So what do i miss? Snippet of old launch file: |
2018-08-29 08:30:41 -0500 | commented answer | Load two urdf models in one launch file how embarrassing, it's a typo. Wrote "paran" instead of "param". Now it's a "permission denied", but i guess that's not |
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2018-08-29 07:54:16 -0500 | edited question | Load two urdf models in one launch file Load two urdf models in one launch file Hello, i'm trying to load two models in one lunch file. I have one file for a r |
2018-08-29 07:51:19 -0500 | commented answer | Load two urdf models in one launch file Now i get it. the <xacro:[robot_name]="" prefix="[???]"/> is how the instance is initialized. Thought that's part |
2018-08-29 07:24:53 -0500 | commented answer | Load two urdf models in one launch file Problem for now is indeed that i don't have a xacro macro. My urdf.xacro just starts with <robot name="..." xmlns:xac |
2018-08-29 07:22:24 -0500 | edited question | Load two urdf models in one launch file Load two urdf models in one launch file Hello, i'm trying to load two models in one lunch file. I have one file for a r |
2018-08-29 07:17:41 -0500 | commented answer | Load two urdf models in one launch file Since working with ROS i came across many questions without a real answer (especially for beginners). So i would like to |
2018-08-29 06:43:45 -0500 | commented answer | Load two urdf models in one launch file Oh yea, totally forgot: thanks for your answer. |
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2018-08-29 06:42:55 -0500 | edited question | Load two urdf models in one launch file Load two urdf models in one launch file Hello, i'm trying to load two models in one lunch file. I have one file for a r |
2018-08-29 06:29:11 -0500 | commented answer | Load two urdf models in one launch file About the xacro file: it seems like i'm still doing something wrong. I updated my question. May i ask you to have a look |
2018-08-29 06:26:30 -0500 | commented answer | Load two urdf models in one launch file jea, you are right. That line seems not to be needed. I just ripped apart and reassembled the xacro-file from the jaco a |
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2018-08-28 12:06:39 -0500 | asked a question | Load two urdf models in one launch file Load two urdf models in one launch file Hello, i'm trying to load two models in one lunch file. I have one file for a r |
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2018-08-21 08:21:35 -0500 | commented question | unexpected robot behaviour with navigationstack min/max are set to the same value by purpose. By that i want to make sure that i always know, how fast the robot is. It' |
2018-08-21 07:32:02 -0500 | asked a question | unexpected robot behaviour with navigationstack unexpected robot behaviour with navigationstack Hello everybody, i have some problems again and hope someone can help m |