Benjamin Blumer's profile - activity

If you want to record a whole namespace, e.g., "stereo", you can make use of Python's "in" operator. rosbag filter old_

I stumbled upon this question again. The answer has a few parts:

A) There's a fix to the image_pipeline collection of packages that fixes issues with stereo_view. At the time of writing, it's been pulled into the repository, but it's not a part of the binary yet. So you have to build it from scratch. Just download the package and put it in your catkin workspace and catkin_make. As long as the workspace is sourced, this package will be used instead of the binary that comes with ROS.

B) To run the calibration, you might need to add the --approximate=0.1 flag. e.g. rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 --approximate=0.1 right:=/stereo/right/image_raw left:=/stereo/left/image_raw left_camera:=/stereo/left right_camera:=/stereo/right

C) Make sure your cameras are loading their calibration files by adding <param name="camera_info_url" value="package://PATH_TO_YOUR_FILE/right_camera.yaml"/> to the launch file (where PATH_TO_YOUR_FILE can be a ros package and right_camera.yaml is the calibration file (.yaml) generated by the calibration code).

D) When running stereo_proc, include the approximate sync parameter. e.g.: ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc stereo:=stereo image:=image_rect _approximate_sync:=true

E) When running the viewer, include the approximate sync parameter. e.g.: rosrun image_view stereo_view stereo:=stereo image:=image_rect _approximate_sync:=True

@gvdhoorn & @Dave Coleman, is there a list of dependencies with version numbers? Preferred install sources/techniques for those dependencies? I keep getting a whole bunch of build errors.

Were you using the gazebo_ros_joint_pose_trajectory plugin?

I found a bug in it today and it looks like it's been that way for years. The upshot is that all the time_from_starts were getting zerod regardless of the message sent to Gazebo.

If you're interested in seeing the cause, check out this pull request.

The latter bunch of packages worked for me.

Robo -- which part of Bences solution worked for you? I'm having a similar problem. I can see the rectified output images, but not a disparity image.

It would help if you would proof read your question -- the title even cuts off at the middle of a sentence :)

But in general, Gazebosim ( gazebosim.org ) is a very good, open-source, free robot simulation tool that plays nicely with ROS.

First of all, I don't think those casts ( (my_robot::GripperState::Request &) ) before the _2 and _3 are necessary.

But, most importantly, I think you're numbering your arguments incorrectly. _2 should be _1 and _3 should be _2. Those underscored arguments refer to the args passed to the boost functor returned by boost::bind; so having 2 and 3 implies that it's receiving 3 arguments and it should ignore the first. When, in reality, ROS only passes it two arguments (the request and the response).

Hi all,

I'm trying to model a ball. I'm not having any luck with making it bounce. I try to set the restitution coefficient in my URDF code, but when I look at the properties of the ball in Gazebo (ball1 -> ball -> link -> collision -> surface) the restitution_coefficient is still equal to zero.

I'm running Fuerte on Ubuntu 12.04.

The URDF:

 <robot name="my_ball">
  <link name="ball">
    <inertial>
      <origin xyz="0 0 0" /> 
      <mass value="0.0027" />
      <inertia  ixx="0.00000072" ixy="0.0"  ixz="0.0"  iyy="0.00000072"  iyz="0.0"  izz="0.00000072" />
    </inertial>
    <visual>
      <origin xyz="0 0 0"/>
      <geometry>
        <sphere radius=".040" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0"/>
      <geometry>
        <sphere radius=".040" />
      </geometry>
      <surface>
           <bounce restitution_coefficient = "1"/>
      </surface>
    </collision>

  </link>
  <gazebo reference="ball">
    <material>Gazebo/Orange</material>
    <kd value = "100">
    <kp value = "999999">
        <mu1>1</mu1>
    <mu2>1</mu2>
  </gazebo>
</robot>

I'm loading the ball using:

rosrun gazebo spawn_model -file `pwd`/ballmodel.urdf -urdf -z 10 -x 1 -y -2 -model ball1

Yeah, I was hoping for a ROS config file to edit. In the absence of such a file, I'll settle for making an alias.

I'm hoping to set it so that when I catkin_create_pkg the package.xml will be populated with my name as the maintainer and my email address as the maintainer email. It'd also be a bonus to have GPLV3 set as the license.

Is there anyway to achieve this?

Thanks for the answer! I'm not currently working on this part of my project, but when I return to it, I'll be sure to come back and mark yours as the right answer if it works.

An easy way to get a single message is this:

 msg = rospy.wait_for_message("my_topic", MyType)

This returns the message, and shuts down after receiving one message. You can specify a timeout as the third argument. It also doesn't require using a global.

This: http://answers.ros.org/question/46613/rospy-how-do-you-unsubscribe-to-a-topic-from-within-the-callback/ solution works, at the cost of having to make the subscriber global.

Based on the upvotes, I'm guessing this works for others. For me though, cb_once is receiving a None, and I get the exception "AttributeError: 'NoneType' object has no attribute 'unregister'".

What does the generated URDF look like?

Does the <gazebo reference="x"> match the <link name="y"> ?

Try adding:

<gazebo reference="PinkCube">
    <material>Gazebo/Blue</material>
</gazebo>

between the </link> and </robot> tags. That should make it blue. If so, we're on the right track. From there you can play around with the different materials available. In Fuerte, they're listed in here: /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo-1.0.2/Media/materials/scripts/Gazebo.material for Groovy, I think the G in "Gazebo.material" is lower case.

Hi all,

I'm following the tutorial here: http://www.ros.org/wiki/ROS/Tutorials/CreatingMsgAndSrv#Common_step_for_msg_and_srv .

I created the package in the previous tutorial. My catkin_ws is in a different location than used in the tutorial though. Mine is in a dropbox folder (~/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/src/beginner_tutorials).

When I execute catkin_make (step 4 in the tutorial),

~/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws$ catkin_make
Base path: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws
Source space: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/src
Build space: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/build
Devel space: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/devel
Install space: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/devel;/opt/ros/groovy
-- This workspace overlays: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/devel;/opt/ros/groovy
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using CATKIN_TEST_RESULTS_DIR: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/build/test_results
-- catkin 0.5.65
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - beginner_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- beginner_tutorials: 2 messages, 1 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/benjaminblumer/Dropbox/RoboticsResearch/Bablumer/trunk/catkin_ws/build"
####
[  9%] [ 18%] Generating Lisp code from beginner_tutorials/Num.msg
Generating C++ code from beginner_tutorials/Num.msg
[ 27%] Generating Python from MSG beginner_tutorials/Num
[ 54%] [ 54%] [ 63%] Built target beginner_tutorials_genlisp
Generating Python msg __init__.py for beginner_tutorials
Generating Python srv __init__.py for beginner_tutorials
[ 81%] Built target beginner_tutorials_genpy
[100%] Built target beginner_tutorials_gencpp

The tutorial says this should generate a folder called msg_gen in the package folder. This directory doesn't appear to exist anywhere.
However, under catkin_ws/devel/lib/python2.7/dist-packages/beginner_tutorials/msg there is a _Num.py file. Is this the expected behaviour? It'd be much nicer for the generated files to be in the same directory as all of the code I've been writing -- the catkin_ws/src/beginner_tutorials directory. Can this be done?

The link to the stacklist at ros.org/wiki is broken. It takes me to an error page saying

Not Found The requested URL /browse/stack_list.php was not found on this server. Apache/2.2.14 (Ubuntu) Server at www.ros.org Port 80

A) Does anyone have a working link?

B) Who should I report this to?

For posterity: the solution is to remove libshiboken. This forces the installer to use an alternative library. The command to be used is "sudo apt-get remove libshiboken*". Hopefully there's nothing else on your system that depends on it. This also fixes the same failure in Ubuntu 13.10.