guzza's profile - activity

I've successfully gotten rosjava and android to work by following this answer.

Keep sending a Twist messages with your desired yaw rate (angular.z in radians/sec) until it reaches the desired heading. Then, start sending Twist with a zero yaw rate.

I looked at the geometry_msgs::Twist class but that allows you to only set the velocity of a turn. I want to make the turtlebot slowly rotate in place a set number of radians/degrees on command.

Thanks!

I did not see a link to comment on your answer, so I will post my comment here.

Can you provide more details on how your fixed your problem. I am having the same issue with the image_transport_tutorial and have tried multiple solutions to no avail. The project compiles, but when I try to run it, I get a forced close error. Here is a link to more details of the error. I have had this issue for some time now and I have to say that it is pretty discouraging. Any suggestions will be appreciated. Thanks.

I figure out the issue with compiling rosjava.android. I downloaded it using sudo, so it was under root permissions. But I tried to compile it under my normal user login. So under my normal login I was not able to modify certain files during compilation. I just deleted everything and went through the steps without using sudo and it worked.

So now it compiles, but when I try and run android_tutorial_image_transport, the emulator comes up, but I get the following error:

Sorry! The process android.process.acore has stopped unexpectedly. Please try again. Force close

I then followed the steps in this link, but I still get the same error. I also tried downloading the apk and running it on my android phone, but the error is the same.

Here is the runtime console output:

[2011-09-24 16:00:16 - android_tutorial_image_transport] ------------------------------ [2011-09-24 16:00:16 - android_tutorial_image_transport] Android Launch! [2011-09-24 16:00:16 - android_tutorial_image_transport] adb is running normally. [2011-09-24 16:00:16 - android_tutorial_image_transport] Performing org.ros.tutorials.image_transport.MainActivity activity launch [2011-09-24 16:00:16 - android_tutorial_image_transport] Automatic Target Mode: launching new emulator with compatible AVD 'HTC_Evo' [2011-09-24 16:00:16 - android_tutorial_image_transport] Launching a new emulator with Virtual Device 'HTC_Evo' [2011-09-24 16:00:17 - Emulator] emulator: emulator window was out of view and was recentered [2011-09-24 16:00:17 - Emulator] [2011-09-24 16:00:17 - android_tutorial_image_transport] New emulator found: emulator-5554 [2011-09-24 16:00:17 - android_tutorial_image_transport] Waiting for HOME ('android.process.acore') to be launched... [2011-09-24 16:01:02 - android_tutorial_image_transport] HOME is up on device 'emulator-5554' [2011-09-24 16:01:02 - android_tutorial_image_transport] Uploading android_tutorial_image_transport.apk onto device 'emulator-5554' [2011-09-24 16:01:06 - android_tutorial_image_transport] Installing android_tutorial_image_transport.apk... [2011-09-24 16:01:46 - android_tutorial_image_transport] Success! [2011-09-24 16:01:47 - android_gingerbread] Could not find android_gingerbread.apk! [2011-09-24 16:01:47 - android_tutorial_image_transport] Starting activity org.ros.tutorials.image_transport.MainActivity on device emulator-5554 [2011-09-24 16:01:48 - android_tutorial_image_transport] ActivityManager: Starting: Intent { act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] cmp=org.ros.tutorials.image_transport/.MainActivity } [2011-09-24 16:01:51 - android_tutorial_image_transport] Attempting to connect debugger to 'org.ros.tutorials.image_transport' on port 8654

Is there away around this force close error that occurs at runtime?

I tried John's steps, but get an error referring to a missing rosserial_java package when trying to compile rosjava.android (rosmake rosjava.android). I have no problem compiling rosjava.

I figured out the issue with compiling rosjava.android. I downloaded it using sudo, so it was under root permissions. But I tried to compile it under my normal user login. So under my normal login I was not able to modify certain files during compilation. I just deleted everything and went through the steps without using sudo and it worked.

So now it compiles, but when I try and run android_tutorial_image_transport, the emulator comes up, but I get the following error:

Sorry! The process android.process.acore has stopped unexpectedly. Please try again. Force close

I then followed the steps in this link, but I still get the same error. I also tried downloading the apk and running it on my android phone, but the error is the same.

Here is the runtime console output:

[2011-09-24 16:00:16 - android_tutorial_image_transport] ------------------------------
[2011-09-24 16:00:16 - android_tutorial_image_transport] Android Launch!
[2011-09-24 16:00:16 - android_tutorial_image_transport] adb is running normally.
[2011-09-24 16:00:16 - android_tutorial_image_transport] Performing org.ros.tutorials.image_transport.MainActivity activity launch
[2011-09-24 16:00:16 - android_tutorial_image_transport] Automatic Target Mode: launching new emulator with compatible AVD 'HTC_Evo'
[2011-09-24 16:00:16 - android_tutorial_image_transport] Launching a new emulator with Virtual Device 'HTC_Evo'
[2011-09-24 16:00:17 - Emulator] emulator: emulator window was out of view and was recentered
[2011-09-24 16:00:17 - Emulator] 
[2011-09-24 16:00:17 - android_tutorial_image_transport] New emulator found: emulator-5554
[2011-09-24 16:00:17 - android_tutorial_image_transport] Waiting for HOME ('android.process.acore') to be launched...
[2011-09-24 16:01:02 - android_tutorial_image_transport] HOME is up on device 'emulator-5554'
[2011-09-24 16:01:02 - android_tutorial_image_transport] Uploading android_tutorial_image_transport.apk onto device 'emulator-5554'
[2011-09-24 16:01:06 - android_tutorial_image_transport] Installing android_tutorial_image_transport.apk...
[2011-09-24 16:01:46 - android_tutorial_image_transport] Success!
[2011-09-24 16:01:47 - android_gingerbread] Could not find android_gingerbread.apk!
[2011-09-24 16:01:47 - android_tutorial_image_transport] Starting activity org.ros.tutorials.image_transport.MainActivity on device emulator-5554
[2011-09-24 16:01:48 - android_tutorial_image_transport] ActivityManager: Starting: Intent { act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] cmp=org.ros.tutorials.image_transport/.MainActivity }
[2011-09-24 16:01:51 - android_tutorial_image_transport] Attempting to connect debugger to 'org.ros.tutorials.image_transport' on port 8654

Is there away around this force close error that occurs at runtime?

I have tried using multiple version of rosjava (from debian and building straight from source). First question is, which is the preferred method (the method that will give the least amount of problems).

I also downloaded rosjava.android source and tried compiling, android_gingerbread, but get an error referring to missing the rosserial_java package. Not being able to compile rosjava_android seems to be preventing me from running the image_tranport tutorial because when I import the project into Eclipse, I receive an error referring to a missing gen folder within the android_gingerbread project.

Is there a precompiled debian version of rosjava.android available? Also, are there reliable step-by-step instruction available that show what packages to download and how to succesfully run the rosjava tutorials within Eclipse?

Thanks.

Hi guzza,

If i remember well, for the pick action, the motion to the pre-grasp is planified with collision detection. But the last trajectory segment, from pre-grasp to grasp position, is made without collision detection.

I would suggest you to adopt the same approach: go to a pre-push position with a collision aware method and then switch to a non-collision-aware movement.

For how to do this last operation you can take a look at this tutorial.

Hope this helps,

Guido

I want to allow the PR-2 gripper to collide with objects on a table. I am designing linear pushing motions. I am using motion_planning_msgs/CollisionOperation message in the MoveArmGoal message, but it does not seem to work.

Here are the message definitions. I use their example of object1 = "gripper" and object2 = COLLISION_SET_ALL. Any suggestion will be very helpful!

# A definition of a collision operation
# E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions 
# between the gripper and all objects in the collision space

string object1
string object2
string COLLISION_SET_ALL="all"
string COLLISION_SET_OBJECTS="objects"
string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.
float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above
int32 operation
int32 DISABLE=0
int32 ENABLE=1