Jason's profile - activity

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Are you talking about editing the code? If so then what I did was copy the sicklmswrapper over to my robot_2dnav package and edit that code as mentioned but I'm not sure that it called to that package or the unwritable one in the ros stack. Any ideas of if I should do that differently?

Yes I did step 1.3 in the link and had the rw in the return line. Also I ran the dmesg command and it said that USB0 was connected. I don't have any other software to run the SICK with personally, but the grad students use it with some program on the Windows side but they aren't particularly familiar with Linux either. Also I meant to say it's not registered under my computer, like as a removable device. I.hope thus helps narrow down some things?

Hello. When trying to connect the SICK LMS 291 camera to the computer using the navigation stack launch file:

<launch> <node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" output="screen"> </node>

<node pkg="robot_2dnav" type="odometry" name="odometer" output="screen">

</node>

</launch>

it hangs at: * Attempting to initialize the Sick LMS... Attempting to open device @ /dev/ttyUSB0

for around ten seconds then responds with:

ERROR: I/O exception - SickLMS::_setupConnection: - Unable to open serial port ERROR: I/O exception - SickLMS::_setupConnection: - Unable to open serial port [sicklms-1] process has died [pid 11826, exit code 2]. log files: /home/jason/.ros/log/2c3bbec6-72be-11e0-b96b-0016ea7abacc/sicklms-1*.log

or using the sicktoolbox_wrapper tutorial- http://www.ros.org/wiki/sicktoolbox_w... - it just hangs at:

*** Attempting to initialize the Sick LMS...
Attempting to open device @ /dev/ttyUSB0

indefinitely. I was wondering if anyone had an idea of what I was doing wrong? I am connected via a serial to usb connector and am running ubuntu 10.10. Also when I open the C: drive it doesn't show that the SICK is connected, and I'm not sure if it is supposed to or not before I correctly run the commands I'm trying to run above. Any help would be greatly appreciated! Thanks, Jason

Sorry it's been awhile since I asked this I've been stuck doing other work. If you were running the tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup and you were to run the line roscreate-pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep to create your package, what would your dependencies be for your setup? I created the transform function and it seems to work fine, but I'm unsure as to where to put the sample Odometry code and how to reference the transform code. I'm trying to do roscreate-pkg robot_2dnav move_base robot_setup_tf sicktoolbox_wrapper and then I'm unsure what to put for the odometer dependency. Also the robot_setup_tf doesnt take so is this not how to reference the tf I created earlier in that same tutorial? Any help would be greatly appreciated. Thanks

Sorry it's been awhile since I asked this I've been stuck doing other work. If you were running the tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup and you were to run the line roscreate-pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep to create your package, what would your dependencies be for your setup? I created the transform function and it seems to work fine, but I'm unsure as to where to put the sample Odometry code and how to reference the transform code. I'm trying to do roscreate-pkg robot_2dnav move_base robot_setup_tf sicktoolbox_wrapper and then I'm unsure what to put for the odometer dependency. Also the robot_setup_tf doesnt take so is this not how to reference the tf I created earlier in that same tutorial? Any help would be greatly appreciated. Thanks

I'll answer in two parts:

1. Sample Navigation Using SICK
   Take a look at cwru-ros-pkg for a complete navigation stack setup using the SICK laser. The launch files you should look at are the cwru_bringup_no_tele.launch and cwru_nav/start_nav.launch (though start_nav.launch assumes that someone has already brought up a map_server, like in cwru_nav/start_amcl_2ndfloor.launch). You should be able to trace the included launch files, configs and such to get an example working navigation stack for our differential drive robots.
2. Odometry for the Pioneer
   Yes, you can use something like p2os to get odometry from a Pioneer. See the Getting Started with p2os tutorial for how to setup your Pioneer. As long as p2os outputs reasonable odometry estimates and the required transforms, you should be able to use your SICK to make a map with gmapping.

Hello everyone,

I was wondering if anyone had a working version of a launch file for a navigation stack, using a SICK LMS rangefinder for the sensor and their odometer and transform nodes, that they could let me look at to get a better understanding of how the navigation stack fits together. I've been doing the tutorial RobotSetup for the navigation stack, and after completing the transform configuration portion and using

node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" output="screen"

with its corresponding parameters for the sick lms rangefinder I seem to be hung up. I don't quite understand where to put the odometry code, nor how to reference the transform configurations or odometry file for the node requirements during the launch file. Also, I'm using a Pioneer AT3 so I didn't know if there was an odometry package for this robot or not? Or if it is possible to use ROSARIA or p2os to build a map of a building with the robot?

Any help would be greatly appreciated! Thanks, Jason