kamek's profile - activity

Thanks, this is actually the approach I had taken but I was checking if there was some built-in functionality I didn't know about. Thanks again!

I have a node that has a filename as a private parameter. The files can be located anywhere and have really long filenames. What I would like to do is

$ roslaunch package_name launch_file.launch file:=reallylongfilename12345932.txt

where I running this command from the directory containing the file, so I can take advantage of tab-completing the filenames. I have an arg in my launch file called file that accepts this filename, but not the path. As a result, my node cannot open the file because it doesn't have the full path, just the name.

Short of hardcoding in the path in the launch file, and being able to tab-complete the long file names, is there a way I can pass the full path of the file to my parameter?

I'm using the rosbag API to sequentially process messages in a bag file. Some of these messages are images (of the type sensor_msgs/Image).

Is there an image viewing package that has an API that allows me to pass it an image of that type, and it will show the image? More specifically, I'm looking to do this:

// Specify topics to be read
std::vector<std::string> topics;
topics.push_back(imu_topic);
topics.push_back(camera_topic);
rosbag::View view(bag, rosbag::TopicQuery(topics));

// Loop through messages
BOOST_FOREACH(rosbag::MessageInstance const m, view)
{
  if (m.getTopic() == camera_topic)
  {
    sensor_msgs::Image::ConstPtr image = m.instantiate<sensor_msgs::Image>();
    if (image != NULL)
    {
      // CALL A FUNCTION TO VIEW IMAGE
    }
  }
}

I am having trouble including rosbag as a catkin dependency for my package (to use the C++ API). I have added it as both a build and run dependency in package.xml; i.e.,

<build_depend>rosbag</build_depend>
<run_depend>rosbag</build_depend>

And it is included in the correct places in CMakeLists.txt; i.e.,

find_package(catkin REQUIRED COMPONENTS
   pcl_ros
   roscpp
   rosbag
   sensor_msgs
)

and

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS pcl_ros roscpp sensor_msgs rosbag
)

Yet when I write the simple file

#include <ros/ros.h>
#include <rosbag/bag.h>
#include <string>
#include <iostream>

int main()
{
  rosbag::Bag bag;
  bag.open("test.bag", rosbag::bagmode::Read);

  std::vector<std::string> topics;
  topics.push_back(std::string("chatter"));
  topics.push_back(std::string("numbers"));

  bag.close();
}

I get the following when I invoke catkin_make:

CMakeFiles/write_json.dir/src/write_json.cpp.o: In function `main':
write_json.cpp:(.text.startup+0xe): undefined reference to `rosbag::Bag::Bag()'
write_json.cpp:(.text.startup+0x32): undefined reference to `rosbag::Bag::open(std::string const&, unsigned int)'
write_json.cpp:(.text.startup+0xd1): undefined reference to `rosbag::Bag::close()'
write_json.cpp:(.text.startup+0xe5): undefined reference to `rosbag::Bag::~Bag()'
write_json.cpp:(.text.startup+0xfd): undefined reference to `rosbag::Bag::~Bag()'
collect2: error: ld returned 1 exit status

Does anyone have any idea what I'm doing wrong?

I didn't realize that I needed a setup.py file at the root of my package (I previously thought this was only needed for installing packages). I was used to using Fuerte where this was unnecessary. See here for how to create and use this file:

http://wiki.ros.org/rospy_tutorials/T...

I have set up my ROS package with the following layout:

packagename
  CMakeLists.txt
  package.xml
  |- src/
    |- packagename/
      |- __init__.py
      |- package_file.py
  |- scripts/
    |- node_file.py

And in node_file.py, I'd like to be able to do

from packagename import package_file

But I get cannot import name package file.

Am I laying this out correctly? How do I make my python package visible to node_file.py? I am using ROS Hydro in Ubuntu 12.04 LTS.

I am unable to install Groovy on a fresh install of Ubuntu 11.10 (Oneiric). I get the following:

Reading package lists... Done
Building dependency tree   
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help resolve the situation:

The following packages have unmet dependencies:
 ros-groovy-desktop-full : Depends: ros-groovy-rqt-robot-plugins (= 0.2.7-0oneiric-20130103-2316-+0000) but it is not going to be installed
                           Depends: ros-groovy-robot-model (= 1.9.32-0oneiric-20130103-0134-+0000) but it is not going to be installed
                           Depends: ros-groovy-visualization-tutorials (= 0.7.3-s1357253948~oneiric) but it is not going to be installed
                           Depends: ros-groovy-simulator-gazebo (= 1.7.6-s1357263088~oneiric) but it is not going to be installed
                           Depends: ros-groovy-rviz (= 1.9.18-0oneiric-20130103-2224-+0000) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

I followed the directions exactly as described in the official documentation (including setting up sources, updating repositories, etc. Any suggestions on how to fix this?

Sorry, I never did find a solution. I haven't used the Kinect in ROS any time recently.

Thanks. I suppose it would work using a different LaserScan message that had ranges and bearings rather than ranges, start angle, and angle increments.

That's what I figured, that you'd have to first convert to a pointcloud. Is there a simple way to convert back to a LaserScan message after the transformation? I thought maybe someone had written a LaserScan->PointCloud->Transform->LaserScan tool.

Is there a way to transform LaserScan messages from one frame to another? I'd like to keep the message type (i.e., I don't want a PointCloud message, I want to keep LaserScan). I have a tf tree setup and I simply want my to work with my LaserScan message in a different frame.