agurman's profile - activity

Thanks for all the useful comments guys. @gvdhoorn, you are correct, the VM is behind the firewall and i am trying to co

Thanks for all the useful comments guys. @gvdhoorn, you are correct, the VM is behind the firewall and i am trying to co

Thanks for all the useful comments guys. @gvdhoorn, you are correct, the VM is behind the firewall and i am trying to co

Thanks for all the useful comments guys. @gvdhoorn, you are correct, the VM is behind the firewall and i am trying to co

Thanks for all the useful comments guys. @gvdhoorn, you are correct, the VM is behind the firewall and i am trying to co

Hey guys,

I just have a few question based on localization and mapping with an RTK GPS setup for outdoor navigation.

I'm running a setup with RTK GPS positioning and heading, i use a dual kalman filter setup of the robot_localization package to produce an odom (wheel odometry + imu + gps heading) and map (wheel odometry + imu + gps heading + gps position) frame, Now my questions are:

1. Can i localize my robot in a provided static map (say using map_server) using only RTK GPS (no amcl), i understand the navsat_transform_node i am using provides a transform for the map->odom frame (and implicitly map->base_link) and in conjuction with the utm transform i can localize the robot in the world, but upon initialization how does the robot know where to start in a given map (map and odom frame at t=0 start at the robot's origin), would i need to apply some sort of offset to the static map based on the robot's gps position on start, if so how?

2. Is is possible to manually build a static map offline instead of using a real-time mapping algorithm such as SLAM. For example by grabbing a satellite image of the target field and building a map image based on some grid with a resolution and then coloring (as per value interpretation standards of the map_server package) the respective free, unknown and occupied space?.

ROS over VPN, communicate on different subnet Hey guys, Brief of my current setup, I have access to a VPN network using

I managed to resolve this issue. For anyone encountering this in the future, within the configuration web interface for

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Thanks tom for that reply! I did manage to figure this out, when i start my mapping routine, i save the current gnss pos

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

Velodyne VLP16 frequency too low Hey guys, Im running a velodyne VLP16, however i am having issues with it's publish fr

You are correct, the origin of a map is the bottom left corner, this logic is fine, and based on the origin parameter in

Hey! thanks for the reply, unfortunately this doesnt work for me. If i have a map say, Map A, with some origin, and i go

Unfortunately this doesnt work for me. If i have a map say, Map A, with some origin, and i go out and record another map

Merge multiple saved maps Hey guys, Does anyone know of any package, or method, to combine multiple saved maps. I am no

Hey guys,

Im trying to use ros3djs to setup a web interface and load my URDF. I've seen this problem around on the net but nobody seems to have a fix for it? My urdf just isn't loading however there is no visible errors. Below is how i am currently loading in the urdf:

this.rosBridgeServer = new ROSLIB.Ros({
  url: 'ws://localhost:9090'
})
//Create 3D Ros viewer.
this.rosViewer3D = new ROS3D.Viewer({
  divID : this.rosViewer3DContainer.id,
  width : 800,
  height : 600,
  antialias : true,
  intensity : 0.05,
  background : '#303030'
});

// Add a grid.
this.rosViewer3D.addObject(new ROS3D.Grid());

// Setup a client to listen to TFs.
this.rosTFClient = new ROSLIB.TFClient({
  ros : this.rosBridgeServer,
  angularThres : 0.01,
  transThres : 0.01,
  rate : 10.0
});

// Setup the URDF client.
this.rosUrdfClient = new ROS3D.UrdfClient({
  ros : this.rosBridgeServer,
  tfClient : this.rosTFClient,
  path : 'http://127.0.0.1:3000/',
  rootObject : this.rosViewer3D.scene,
  loader : ROS3D.COLLADA_LOADER,
  param: 'robot_description'
});

I am using the following library versions (where ros3djs is the most recent version downloaded for local debugging):

<script src="https://static.robotwebtools.org/threejs/r89/three.min.js"></script>
<script src="https://static.robotwebtools.org/threejs/current/STLLoader.js"></script>
<script src="https://static.robotwebtools.org/EventEmitter2/0.4.14/eventemitter2.js"></script>
<script src="https://static.robotwebtools.org/ros3djs/0.18.0/ColladaLoader.js"></script>
<script src="https://static.robotwebtools.org/roslibjs/0.20.0/roslib.min.js"></script>
<script src="/js/ros3d.js"></script>

All my mesh files are in both .stl and .dae, i know the collada loader is working because i can load a mesh completely fine by using the ros3djs MeshResource:

const mesh = new ROS3D.MeshResource({
    resource: 'warthog_description/meshes/chassis.dae',
    path: 'http://localhost:3000/',
    warnings: true
});

this.rosViewer3D.add(mesh)

and in ros3d.js in the Urdf class if i make the following change to load the meshes instead of the SceneNode all the meshes from the urdf file are loaded (but of course not correctly linked to their respective TF's as SceneNode does)

Line 54670 from ros3d.js:

// ignore mesh files which are not in Collada or STL format
if (fileType === '.dae' || fileType === '.stl') {
  // create the model
  var mesh = new MeshResource({
    path : path,
    resource : uri,
    loader : loader,
    material : colorMaterial
  });

  // check for a scale
  if(link.visuals[i].geometry.scale) {
    mesh.scale.copy(visual.geometry.scale);
  }

  // create a scene node with the model
  var sceneNode = new SceneNode({
    frameID : frameID,
    pose : visual.origin,
    tfClient : tfClient,
    object : mesh
  });
  // this.add(sceneNode);
  this.add(mesh); // ADDING THIS LINE LOADS ALL MESHES COMPLETELY FINE??????
} else {
  console.warn('Could not load geometry mesh: '+uri);
}

Issue solved! For anyone who run's into this issue, my problem was that the tf2_web_republisher node wasn't running. Th

A couple of things, how are you handling your IMU data, is it being passed through a filter such as imu_filter_madgwick

ros3djs URDF not visible, but mesh loading works? Hey guys, Im trying to use ros3djs to setup a web interface and load