kitkatme's profile - activity

thanks, that was my confusion, I thought the roslaunch API could only be used if your code was also in python. now I'm t

I need to run the same simulation repeatedly (100 times) and I'd rather not do it manually. However, I have not found any resources describing how to do this in ROS. I have a launch file that runs the simulation once, so ideally I could write code that launches it, cuts it off after simulation time reaches a certain point, then saves and relaunches. How can I do this?

Other details: in ROS melodic, and all my code is in C++.

Monte Carlo simulations- repeated trials I need to run the same simulation repeatedly (100 times) and I'd rather not do

thanks so much!! your suggestion to change the include line to explore_lite/util.h solved the issue. also thanks for the

I know this question has been asked a number of times, and I've gone through and followed the instructions on a number of those answers (for example- here and here), as well as in the documentation for building a custom message. Yet still my message header is not building.

This is the error I get:

/home/erinline/Documents/testsim/src/m-explore/explore/src/explore.cpp:39:10: fatal error: msg/util.h: No such file or directory


#include <msg/util.h>
          ^~~~~~~~~~~~
compilation terminated.
m-explore/explore/CMakeFiles/explore.dir/build.make:86: recipe for target 'm-explore/explore/CMakeFiles/explore.dir/src/explore.cpp.o' failed
make[2]: *** [m-explore/explore/CMakeFiles/explore.dir/src/explore.cpp.o] Error 1
CMakeFiles/Makefile2:23711: recipe for target 'm-explore/explore/CMakeFiles/explore.dir/all' failed
make[1]: *** [m-explore/explore/CMakeFiles/explore.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

This is my CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(explore_lite)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  actionlib
  actionlib_msgs
  costmap_2d
  geometry_msgs
  map_msgs
  move_base_msgs
  nav_msgs
  roscpp
  std_msgs
  tf
  visualization_msgs
  message_generation
)

add_message_files(
  FILES
  util.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  CATKIN_DEPENDS
    actionlib_msgs
    geometry_msgs
    map_msgs
    move_base_msgs
    nav_msgs
    std_msgs
    visualization_msgs
    message_runtime
)

###########
## Build ##
###########
# c++11 support required
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
if(COMPILER_SUPPORTS_CXX11)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
else()
  message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

## Specify additional locations of header files
include_directories(
  ${catkin_INCLUDE_DIRS}
  include
)

add_executable(explore
  src/costmap_client.cpp
  src/explore.cpp
  src/frontier_search.cpp
)
#add_dependencies(explore ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_dependencies(explore explore_lite_generate_messages_cpp)
target_link_libraries(explore ${catkin_LIBRARIES})

#############
## Install ##
#############

# install nodes
install(TARGETS explore
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# install roslaunch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
  find_package(roslaunch REQUIRED)

  # test all launch files
  roslaunch_add_file_check(launch)
endif()

My message is called util.msg, it is in a file called msg within the package file called explore. I must be missing something, since those previous answers seem to work for some folks. Any advice on where I am going wrong would be greatly appreciated!

message header doesn't build I know this question has been asked a number of times, and I've gone through and followed t

Although Husky is not technically supported yet for ROS melodic, it did work to run the Husky demos 1-3 here so I am hopeful I can get the 4th demo to run, frontier exploration. But in running that demo (and it does run, just doesn't do exploration) there is an issue because the files in frontier exploration were moved and renamed in the melodic release. I am fairly new to ROS, so I don't know how to properly make the change.

Here is the original Husky exploration launch file:

<launch>

    <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>

    <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">

        <param name="frequency" value="1.0"/>

        <!-- Should be less than sensor range -->
        <param name="goal_aliasing" value="2.0"/>

        <rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="explore_costmap" />
        <rosparam file="$(find husky_navigation)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />

      </node>
</launch>

The names in both type fields are no longer used. I think explore_server is now called exploration_server, but explore_client I am less sure of. There is something called plugin_client, and the methods in each seem to match up pretty well. Has anyone else already run into this and fixed it? Or if not, does anyone have an idea of the changes that need to be made to the husky files to run the latest version of frontier_exploration?

As mentioned, exploration demo does run, it just does not actually explore. As it starts it gives an error though:

ERROR: cannot launch node of type [frontier_exploration/explore_client]: can't locate node [explore_client] in package [frontier_exploration]
ERROR: cannot launch node of type [frontier_exploration/explore_server]: can't locate node [explore_server] in package [frontier_exploration]

Other info: Ubuntu bionic 18.04, ROS melodic. I'm using the husky package for kinetic and frontier_exploration package for melodic.

Eventually figured it out. Replace the first two nodes shown in the original post (in the exploration.launch file) with:

Yeah when I eventually got it running I got the same severe warning, which didn't make the program crash but no explorat

I am in algorithm development and I just need a robot to test on in Gazebo simulation. I have tried several robots I found online and none seem to work quite right, so I am looking for advice about a robot simulation for ROS Melodic, Gazebo 9, that is compatible with gmapping or hector, and ideally with frontier exploration (explore_lite package). My only specific sensor requirement is that it have lidar.

BTW, I have tried the Husky (bad maps, can't figure out why), the Turtlebot3 (not compatible with explore_lite because it doesn't use move_base for commands), and the Summit XL and XLS (bad localization, both).

Any advice would be greatly appreciated!

No; as mentioned, I followed the virtual SLAM instructions

thanks for pointing me to that launch file!! problem solved! when I run move_base.launch in addition to the turtlebot3 S

ah, thanks for the clarification! to be more specific with the turtlebot3, when I run other robots like the husky, there

thanks, I'll check it out!!

confuses me too, but when it's running the SLAM demo per virtual SLAM instructions here, and I then print the list of to

What robot should I use for SLAM? I am in algorithm development and I just need a robot to test on in Gazebo simulation.

I gave up trying to put ROS on my Mac, that guide didn't work for me (he does mention it doesn't always work). Alternati

husky SLAM demo produces bad map When I run the Husky gmapping/SLAM demo, the resulting map is terrible. It's piecey, no

husky SLAM demo produces bad map When I run the Husky gmapping/SLAM demo, the resulting map is terrible. It's piecey, no