Wim's profile - activity

When I plug in a network cable into the back of the PR2, who do I know it is actually using the wired network and not the wireless network?

On which platforms is ROS supported?

Hi all,

I'm writing a couple simple nodes that should work (they build without errors), but when launched rxgraph and rosnode don't show any publish or subscribe topics from those nodes.

I'm hoping someone can point me in the right direction. I've included one of the nodes below:

edit: updated joy_to_point.cpp per K_Yousif. edit: solution from K_Yousif resolves the issue

joy_to_point.h

#include <ros/ros.h>
#include <ros/node_handle.h>
#include <sensor_msgs/Joy.h>
#include <husky_seeg/XYPoint.h>

class JoyToPoint {

private:
    // Node Handler
    ros::NodeHandle nh;

    // Subscribers
    ros::Subscriber joySub;

    // Publishers
    ros::Publisher pointPub;

    // Parameters
    double rangeAtMax;

    // Messages
    sensor_msgs::Joy joy;
    husky_seeg::XYPoint point;

public:
    JoyToPoint(ros::NodeHandle nh_);
    ~JoyToPoint(){}

    // Callbacks
    void joyCallback( const sensor_msgs::Joy::ConstPtr& j );

};

joy_to_point.cpp

#include "joy_to_point.h"

JoyToPoint::JoyToPoint(ros::NodeHandle nh_) : nh(nh_) {

    // Resolve topic names
    std::string joy_topic  = ros::names::clean(nh.resolveName("/joy"));
    ROS_DEBUG("Subscribing to:\n\t* %s", joy_topic.c_str());

    // Subscribe to input topics.
    joySub = nh.subscribe(joy_topic, 1, &JoyToPoint::joyCallback, this);

    // Get Parameters
    ros::NodeHandle local_nh("~");
    local_nh.param<double>( "range_at_max", rangeAtMax, 1 );

    // Advertise publisher
    pointPub = nh.advertise<husky_seeg::XYPoint>("/XYPoint", 1);
}

void JoyToPoint::joyCallback( const sensor_msgs::Joy::ConstPtr& j ) {
    // Convert Joystick message to a virtual point
    point.x = joy.axes[1] * rangeAtMax;
    point.y = joy.axes[0] * rangeAtMax;

    pointPub.publish(point);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "joy_to_point");
  ros::NodeHandle nh;

  JoyToPoint point(nh);

  ros::spin();
  return 0;
}

Is there a generic driver for webcams to get images on a ROS topic?

The ros package of electric is indeed missing for lucid: http://packages.ros.org/ros-shadow-fixed/ubuntu/pool/main/r/ros-electric-ros/

The 2D plane used by wheel odometry is fixed in the x-y plane, and does _not_ rotate when the robot's pitch or roll angle changes. This was done to prevent the z-coordinate of the robot from drifting away. That said, it would be reasonable to dynamically rotate the plane for wheel odometry.