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2016-11-09 03:58:19 -0600 commented question Best way to rosmaster on Android

I've been trying this for a couple of days and found out that most of ROS core is written entirely in python (roscore, rosnode, roslaunch, rostopic, rosservice ...), which I haven't realized before. I'm currently experimenting with the QPython runtime. I'll post updates.

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2013-05-13 03:32:14 -0600 asked a question tabletop_object_detector's academic article

On which academic article is the method used in http://www.ros.org/wiki/tabletop_object_detector (tabletop_object_detector) based? The authors seem to be Marius Muja and Matei Ciocarlie, who both seem to have done several studies on the subject. However, I am not able to locate THE study that they have implemented, if there is any.

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2012-12-30 23:09:01 -0600 asked a question gazebo_ros_controller_manager update rate

Hello All,

This is not a question but an explanation I wanted to make based on painful experience while trying to set the joint state publish rate. When using gazebo_ros_controller_manager plugin, there is this abundant example that you're supposed to include in your robot description:

<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>1000.0</updateRate>
  <robotParam>robot_description</robotParam>
  <robotNamespace>/</robotNamespace>
</controller:gazebo_ros_controller_manager>

According to gazebo_ros_controller_manager source located in the pr2_gazebo_plugins stack, updateRate and alwaysOn do nothing and can be removed. There is this little explanation which I ran into by chance at pr2_controller_manager's wiki page:

The controller manager publishes the state of all joints over ROS, as sensor_msgs/JointState messages. These messages appear on the joint_state topic, at 100 Hz. You can change this publishing frequency by setting the joint_state_publish_rate parameter.

Therefore you must add

<param name="pr2_controller_manager/joint_state_publish_rate" value="250.0" />

to your launch file, or declare the parameter manually, for publishing joint states at 250Hz.

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2012-11-17 08:26:01 -0600 answered a question Activating shading for a .stl based environment in gazebo

I had the exact same problem today. STL files exported by Blender somehow do not receive shading when spawned inside Gazebo. Tried reversing/recalculating normals to no avail. Just import the STL into Meshlab and export it without doing anything. This enabled the shading for the mesh.